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Silvio Simani Silvio Simani –– Advanced Issues of Wind Turbine Modelling and ControlAdvanced Issues of Wind Turbine Modelling and Control

Advanced Issues of Advanced Issues of Wind TurbineWind Turbine

Modelling and ControlModelling and ControlSilvio SimaniSilvio Simani

Department of Engineering, University of FerraraDepartment of Engineering, University of FerraraViaVia SaragatSaragat 1E 44123 Ferrara (FE), ITALY1E 44123 Ferrara (FE), ITALY

Ph./Fax:+390532974844Ph./Fax:+390532974844Email: Email: silviosilvio..simanisimani@@unifeunife.it.it. URL: . URL: www.silviosimani.itwww.silviosimani.it

Available from:Available from: http://www.http://www.silviosimanisilviosimani.it/talks.html.it/talks.html

mailto:[email protected]






http://www.silviosimani.it/

25/11/201525/11/2015 ACD 2015 ACD 2015 –– Pilsen, Czech Republic. 19Pilsen, Czech Republic. 19--20 Nov. 201520 Nov. 2015 2


General considerationsGeneral considerationsAdvanced controlAdvanced controlFDI/FTC general structuresFDI/FTC general structuresFault modelsFault modelsCompetition challengesCompetition challengesWind turbine modelling issuesWind turbine modelling issuesConcluding remarksConcluding remarksSelected referencesSelected references

Discussion TopicsDiscussion Topics



Energy and Control IssuesEnergy and Control Issues



Control systems have high influence on the total Control systems have high influence on the total cost of energycost of energyFocus on Focus on advancedadvanced control solutionscontrol solutions

Condition monitoringCondition monitoringFault diagnosis and fault tolerant controlFault diagnosis and fault tolerant control

The design of control solutions is enhanced by the The design of control solutions is enhanced by the development of development of highhigh--fidelity fidelity benchmarkbenchmark models models and and prototypesprototypes

Modelling issuesModelling issues

Solutions characterised by craftsmanship, quality, Solutions characterised by craftsmanship, quality, reliabilityreliability, and proven technology, and proven technology



Advanced Control Advanced Control SolutionsSolutions

““Sustainable ControlSustainable Control””



Advanced ControlAdvanced Control

(FDI)(FDI) (FTC)(FTC)



SafetySafety--Critical SystemsCritical Systems



ModelModel--based FDIbased FDI and and FTCFTC are proposed as new are proposed as new

approaches for approaches for sustainablesustainable (high degree of (high degree of

reliability and availability) wind turbine controlreliability and availability) wind turbine control

ManageManage loads loads (storms, (storms, ……)) and faultsand faults

NOTENOTE: FTC was developed as aerospace topic, : FTC was developed as aerospace topic,

focussed mainly on NASA projects, motivated by focussed mainly on NASA projects, motivated by

advanced aircraft that could be reconfigured by advanced aircraft that could be reconfigured by

control through a high degree of flight surface control through a high degree of flight surface

redundancyredundancy



MotivationsMotivations



HarshHarsh environment asks for the system to be environment asks for the system to be well protected well protected OffshoreOffshore wind turbineswind turbines are standare stand--alone alone power plants in inadequate service and power plants in inadequate service and maintenance attendancemaintenance attendanceSafetySafety--related control systems to help avert related control systems to help avert major incidents resulting from lightning, major incidents resulting from lightning, storms, gusts and other storms, gusts and other periodicperiodic incidentsincidents,, and and faultsfaults that affect the energy drive train and the that affect the energy drive train and the electricity productionelectricity production



ExampleExample……



A 5 MW wind turbine stopped will loose 24A 5 MW wind turbine stopped will loose 24 MWhMWh per per day in production if 40% wind capacity is assumedday in production if 40% wind capacity is assumed

Combine this with Combine this with difficult difficult accessibilityaccessibility at an offshore wind at an offshore wind farm, it might take days before a farm, it might take days before a fault is cleared fault is cleared Advanced Advanced FDIFDI and and FTCFTC included in included in the control system the control system could provide could provide information on the faultinformation on the fault, thus , thus allowingallowing forfor correct correct and and fasterfasterrepair if required, and/or repair if required, and/or continued continued energy generationenergy generation eventually at lower level until eventually at lower level until maintenance servicemaintenance service

Cost of energy (15Cost of energy (15--35%)35%)



FDI/FTCFDI/FTCFundamentalsFundamentals



PFTC: Robust fixed structure controllerPFTC: Robust fixed structure controllerNo fault information providedNo fault information provided

AFTC: RealAFTC: Real--time controller reconfigurationtime controller reconfigurationFault reconstructionFault reconstruction



General Fault General Fault ModesModes



Fault

Time

Abrupt

Incipient

Intermittent

AbruptAbrupt faultfault: : e.g.e.g. failuresfailuresIncipientIncipient faultfault: : i.e.i.e. hard to detecthard to detectIntermittentIntermittent faultfault: : e.g.e.g. disconnectionsdisconnections



Fault exampleFault example……



System RequirementsSystem Requirements



Safeguard w.r.t. all the different types of loads that Safeguard w.r.t. all the different types of loads that inflict a wind turbine and regulate accordingly inflict a wind turbine and regulate accordingly

loads from the environmentloads from the environment (e.g. storms, waves, wind (e.g. storms, waves, wind shear and wakes),shear and wakes),loads from the wind turbineloads from the wind turbine itself (e.g. blades itself (e.g. blades aerodynamic imbalances, yaw misalignments), aerodynamic imbalances, yaw misalignments), loads from the systemloads from the system (start/stop and turbine failures)(start/stop and turbine failures)

Analyse system performance to avoid instabilitiesAnalyse system performance to avoid instabilitiesBalancing efficient production with lifetime Balancing efficient production with lifetime considerations considerations Ensure redundant system capabilities to allow Ensure redundant system capabilities to allow production until service and maintenance production until service and maintenance (O&M) (O&M) areare possiblepossible



WWind ind TTurbineurbine MMaintenanceaintenance



High degree of reliability and availability (sustainability) High degree of reliability and availability (sustainability) is required and at the same expensive and safety critical is required and at the same expensive and safety critical maintenance work can occurmaintenance work can occurSite accessibilitySite accessibility, system availability not always ensured, , system availability not always ensured, severe weather conditionssevere weather conditions (+ sea installations)(+ sea installations)

FTC and FDI researches are stimulated in this application FTC and FDI researches are stimulated in this application area since important aspects for area since important aspects for decreasing wind energy decreasing wind energy cost and increasing electrical grid penetration cost and increasing electrical grid penetration FTC can enhance specific control actions to prevent plant FTC can enhance specific control actions to prevent plant damage and ensure system availability during malfunctionsdamage and ensure system availability during malfunctions

Maintenance costs Maintenance costs (O&M) (O&M) andand offoff--timetime can be significantly can be significantly reducedreduced



International ChallengeInternational Challenge



kkkk--electronicelectronic (Denmark) together with(Denmark) together with MathWorksMathWorkslaunched a number of benchmark models for fault launched a number of benchmark models for fault detection and accommodation, which allows turbine detection and accommodation, which allows turbine owners and researchers to find the best schemes to owners and researchers to find the best schemes to handle different faults.handle different faults.

Based on these modelsBased on these models,, a series of competitiona series of competitionssand challenges have been launchedand challenges have been launched

Simple Wind Turbine FDI/FTC benchmark modelSimple Wind Turbine FDI/FTC benchmark model

Advanced WT FDI / FTC benchmark modelAdvanced WT FDI / FTC benchmark model

Wind farm FDI/FTC benchmark modelWind farm FDI/FTC benchmark model



Benchmark Model MotivationBenchmark Model Motivationss



Wind turbine benchmarks were proposed to Wind turbine benchmarks were proposed to provide generic platforms provide generic platforms (freely available) (freely available) for for designing and testing different FDI and FTC designing and testing different FDI and FTC solutionssolutionsThe target was researchers in the FDI and FTC The target was researchers in the FDI and FTC community, such that they can apply and community, such that they can apply and compare their methods on wind turbine compare their methods on wind turbine realistic installationsrealistic installationsTThe model is generiche model is generic,, it can be provided to the it can be provided to the publicpublicSolutions finally verified on accurate wind turbine Solutions finally verified on accurate wind turbine models (confidential)models (confidential)



Competition ChallengesCompetition Challenges



Fault diagnosis and faultFault diagnosis and fault--tolerant control tolerant control scheme designsscheme designsDesign procedureDesign procedure

ModellingModelling

Describe the considered systemDescribe the considered systemFault analysisFault analysis

Identify faults to be handledIdentify faults to be handledDetect, isolate (and estimate faults)Detect, isolate (and estimate faults)FaultFault--tolerant controltolerant control

Based on signal correctionBased on signal correctionBased on scheduling and reconfiguration of the Based on scheduling and reconfiguration of the controllercontroller



Modelling TopicsModelling Topics



Coupled aeroCoupled aero--hydrohydro--servoservo--elastic elastic interactioninteraction

Models originate from Models originate from different disciplinesdifferent disciplines

WindWind--InflowInflow

WavesWaves

AerodynamicsAerodynamics

HydrodynamicsHydrodynamics

Structural dynamicsStructural dynamics

Control systemsControl systems

MultiMulti--PhysicsPhysicsSimulation ToolSimulation Toolss



NREL Design CodesNREL Design Codeshttp://wind.nrel.gov/designcodeshttp://wind.nrel.gov/designcodes

One set of modelsFAST

– aeroelasticityTurbSim

– turbulent inflowOthers… e.g.

ADAMS (MSC)

Freely availableUsed heavily in industry, academia and other governmental research organizationsImportant for control systems design

National Renewable Energy LaboratoryNational Renewable Energy Laboratory



Design CodesDesign Codes ExamplesExamples

Coupled AeroCoupled Aero--HydroHydro--ServoServo--Elastic SimulationElastic Simulation



Wind Turbine ComponentsWind Turbine Components



Stochastic wind model including tower shadow and Stochastic wind model including tower shadow and wind shearwind shearActuator modelsActuator modelsZeroZero--mean Gaussian distributed measurement noisemean Gaussian distributed measurement noise



Measurement SensorsMeasurement Sensors



MeasurementsMeasurements



Wind Turbine ActuatorsWind Turbine Actuators



Actuator ModelsActuator ModelsPitch actuator modelPitch actuator model

Generator and converter Generator and converter modelmodel

Generator powerGenerator power



DriveDrive--traintrainmodelmodel

Hydraulic Hydraulic pitch systempitch system

GeneratorGenerator &&converter converter

modelsmodels

Wind Turbine SubmodelsWind Turbine Submodels



Aerodynamic Aerodynamic torque and tiptorque and tip--

speed ratiospeed ratio

Wind speed is not unknown,Wind speed is not unknown,but measured but highly noisybut measured but highly noisy

Aerodynamic ModelAerodynamic Model



SimulinkSimulink--based Schemebased Scheme

(Active FTC/FDIR)(Active FTC/FDIR)



Wind Turbine SimulatorsWind Turbine Simulators



Turbine Model &Turbine Model & ControllerControllerRoutines for pitch, torque, & Routines for pitch, torque, & yaw controllersyaw controllersDynamic link library (DLL):Dynamic link library (DLL):–– DLL interface routines DLL interface routines

included with FAST archiveincluded with FAST archive–– Can be Fortran, C++, etc.Can be Fortran, C++, etc.

MATLAB/SimulinkMATLAB/Simulink::–– FAST FAST implemented as Simplemented as S--

Function blockFunction block–– Controls implemented in Controls implemented in

blockblock--diagram formdiagram form



Reference ControllerReference Controller



Reference ControllerReference Controller2 working 2 working conditions: (I) conditions: (I) partial & (II) partial & (II) full loadfull loadApproximates Approximates the the configuration configuration of an existing of an existing control control systemsystemUsed in the Used in the design of the design of the fault fault diagnosis diagnosis algorithmsalgorithms



Fault AnalysisFault Analysis



FMEAFMEA



Fault ScenarioFault Scenario



Fault ExamplesFault Examples



FTC General StructureFTC General Structure

PFTCPFTC: Robust fixed structure controller : Robust fixed structure controller AFTCAFTC: Real: Real--time controller reconfigurationtime controller reconfiguration



Fault AccommodationFault Accommodation



FTC Solutions: PassiveFTC Solutions: Passive



FTC Solutions: ActiveFTC Solutions: Active



FDI FDI && FTC CompetitionFTC Competitionss



Two competitions in two parts launched Two competitions in two parts launched on on (I) (I) wind turbine wind turbine and (II) wind farm and (II) wind farm benchmark modelbenchmark modelss

Part IPart I.I.I on FDI: solutions were presented in two on FDI: solutions were presented in two invited sessions at IFAC World Congress, Milan, invited sessions at IFAC World Congress, Milan, Italy, 2011Italy, 2011Part Part I.I.II on FTC: solutions were presented in two II on FTC: solutions were presented in two and a half invited sessions at IFAC Safeand a half invited sessions at IFAC SafePProcessrocess, , Mexico City, Mexico, 2012 Mexico City, Mexico, 2012 Three prizes for each part was sponsored byThree prizes for each part was sponsored by kkkk--electronic a/s andelectronic a/s and MathworksMathworks



Part IPart II.II.I on FDI: solutions were presented in on FDI: solutions were presented in one one invited invited

session at session at 2014 IFAC World Congress,2014 IFAC World Congress, Cape Town, Cape Town,

South Africa, August 2014South Africa, August 2014

Part Part II.II.II on FTC: solutions were presented in II on FTC: solutions were presented in one one invited invited

session at IFAC Safesession at IFAC SafePProcessrocess, , Paris, France, September Paris, France, September

20152015

Three prizes for each part was sponsored by Three prizes for each part was sponsored by MathworksMathworks



•• CUSUM Based Detection (CUSUM Based Detection (BorchersenBorchersen et al. 2014)et al. 2014)–– Wind direction and speed estimationWind direction and speed estimation–– Comparison of different sets of wind turbines with similar operaComparison of different sets of wind turbines with similar operational tional

conditions, used to generate residualsconditions, used to generate residuals–– CUSUM method for FDICUSUM method for FDI

•• Interval Parity Equation (Interval Parity Equation (BlesaBlesa et al. 2014)et al. 2014)–– Interval parity equations for FDI.Interval parity equations for FDI.–– Bounded description of noise and modelling errorsBounded description of noise and modelling errors–– FDI based on onFDI based on on--line interval prediction bound violations + structural line interval prediction bound violations + structural

analysisanalysis

•• Fuzzy Residual Generators (Fuzzy Residual Generators (SimaniSimani et al. 2014et al. 2014))–– TakagiTakagi--Sugeno models Sugeno models for residual generationfor residual generation–– DataData--driven approachdriven approach–– Adaptive thresholding logic for FDIAdaptive thresholding logic for FDI

FTC CompetitionFTC Competition: Results: Results



ConclusionConclusionAdvanced FDI and FTC in wind turbines are Advanced FDI and FTC in wind turbines are motivatedmotivated

Wind turbine benchmark models are Wind turbine benchmark models are requiredrequired

FDI schemes were developedFDI schemes were developed

FTC solutions were proposedFTC solutions were proposed

Wind turbine benchmark models and Wind turbine benchmark models and challenges were launchedchallenges were launched



Conclusion (contConclusion (cont’’d)d)Current stateCurrent state--ofof--thethe--art design toolsart design tools

Originate in separate disciplinesOriginate in separate disciplinesClassical modelling toolsClassical modelling tools

Good for turbines that are operating below rated wind Good for turbines that are operating below rated wind speedspeedStructurally stiffStructurally stiffVery little yawVery little yawLow turbulenceLow turbulence

Next generation turbinesNext generation turbinesLarger and more flexibleLarger and more flexibleMore accurate modelsMore accurate modelsCloser couplingCloser couplingAdvanced control schemesAdvanced control schemes



Recent ChallengesRecent ChallengesOriginal benchmark model is combined withOriginal benchmark model is combined withNRELNREL’’ss FASTFAST to provide a FDI and FTC test case to provide a FDI and FTC test case with a more detailed aerodynamic and structural with a more detailed aerodynamic and structural model model Contributions were submitted as invited session at Contributions were submitted as invited session at ACC 2013ACC 2013 (June 17 (June 17 –– 19, 2013, Washington, DC)19, 2013, Washington, DC)A benchmark model for FDI and FTC of wind A benchmark model for FDI and FTC of wind turbines on a turbines on a wind farm levelwind farm level have been proposed, have been proposed, and a competition in two parts and a competition in two parts –– FDI and FTC have FDI and FTC have been launched and been launched and still still runningrunningThe wind farm model is quite (too?) simplifiedThe wind farm model is quite (too?) simplified



Research IssuesResearch Issues

Wind Farm FDI/FTCWind Farm FDI/FTC

Road wind turbulenceRoad wind turbulence

Open problemsOpen problems

FloatingFloating Wind TurbineWind TurbineControlControl



Forthcoming EventsForthcoming Events



SysTolSysTol’’1616: 3: 3rdrd Conference on Control Conference on Control and Faultand Fault--Tolerant SystemsTolerant Systems, , September September 77--9, 2016 9, 2016 –– Barcelona, Catalonia, SpainBarcelona, Catalonia, SpainIFAC WC 2017IFAC WC 2017: World Congress, : World Congress, Toulouse, France. 9Toulouse, France. 9--14 July, 201714 July, 2017SafeProcess 2018 (SafeProcess 2018 (announced during announced during the SafeProcess in Paris, August 2015): the SafeProcess in Paris, August 2015): August/Sept. (to be defined) 2018, August/Sept. (to be defined) 2018, Warsaw, PolandWarsaw, Poland



Recent Publications Recent Publications



SimaniSimani S., Overview of Modelling and Advanced S., Overview of Modelling and Advanced Control Strategies for Wind Turbine Systems. Control Strategies for Wind Turbine Systems. 14 October 2015. 14 October 2015. EnergiesEnergies 2015. 2015. ““Special issue Special issue on Wind Turbines 2015on Wind Turbines 2015””..““Special issue on wind turbines and wave Special issue on wind turbines and wave energy devicesenergy devices””. Organised by John V. . Organised by John V. Ringwood &Ringwood & Silvio SimaniSilvio Simani Annual Reviews in Annual Reviews in ControlControl, Available online 23 October 2015., Available online 23 October 2015.

Selection of papers from previous IFAC eventsSelection of papers from previous IFAC events

In particular, regarding wind turbinesIn particular, regarding wind turbines……



Gearbox fault detection using timeGearbox fault detection using time--frequency frequency based methodsbased methods, by , by P. F.P. F. OdgaardOdgaard, J., J. StoustrupStoustrupFault Detection and Isolation for a Wind Turbine Fault Detection and Isolation for a Wind Turbine Benchmark using a mixed Bayesian/SetBenchmark using a mixed Bayesian/Set--membership Approachmembership Approach, by , by R. M. FernandezR. M. Fernandez--CantiaCantia, , J.J. BlesaBlesa, S., S. TornilTornil--Sin, V.Sin, V. PuigPuigActive Power Control Design for Supporting Grid Active Power Control Design for Supporting Grid Frequency Regulation in Wind FarmsFrequency Regulation in Wind Farms, by , by H.H.BadihiBadihi, Y. Zhang, H. Hong, Y. Zhang, H. HongFaultFault--Tolerant Control of Wind Turbines with Tolerant Control of Wind Turbines with Hydrostatic Transmission using TakagiHydrostatic Transmission using Takagi--Sugeno Sugeno and Sliding Mode Techniquesand Sliding Mode Techniques, by , by H. Schulte, E.H. Schulte, E.GauterinGauterin



Selected References (1)Selected References (1)1.1. F. D. Bianchi, H. D.F. D. Bianchi, H. D. BattistaBattista, R. J., R. J. MantzMantz, , Wind Turbine Control Systems: Principles, Wind Turbine Control Systems: Principles,

Modelling and Gain Scheduling DesignModelling and Gain Scheduling Design, 1st Edition,, 1st Edition, Advances in Industrial Control, Advances in Industrial Control, Springer, 2007, ISBN: 1Springer, 2007, ISBN: 1––8462884628––492492––99

2.2. L. Y.L. Y. PaoPao, K. E. Johnson, Control of Wind Turbines, , K. E. Johnson, Control of Wind Turbines, IEEE Control Systems MagazineIEEE Control Systems Magazine 31 (2) 31 (2) (2011) 44(2011) 44––6262

3.3. M.M. BlankeBlanke, M., M. KinnaertKinnaert, J., J. LunzeLunze, M., M. StaroswieckiStaroswiecki, , Diagnosis and FaultDiagnosis and Fault––Tolerant ControlTolerant Control, , SpringerSpringer––VerlagVerlag, Berlin, Germany, 2006, Berlin, Germany, 2006

4.4. T. Burton, D. Sharpe, N. Jenkins, E.T. Burton, D. Sharpe, N. Jenkins, E. BossanyiBossanyi, , Wind Energy HandbookWind Energy Handbook, 2nd Edition, John , 2nd Edition, John Wiley & Sons, New York, 2011Wiley & Sons, New York, 2011

5.5. P. F.P. F. OdgaardOdgaard, J., J. StoustrupStoustrup, M., M. KinnaertKinnaert, Fault, Fault––Tolerant Control of Wind Turbines: A Tolerant Control of Wind Turbines: A Benchmark Model, Benchmark Model, IEEE Transactions on ControlIEEE Transactions on Control Systems TechnologySystems Technology 21 (4) (2013) 116821 (4) (2013) 1168–– 1182, ISSN: 10631182, ISSN: 1063––6536. DOI: 10.1109/TCST.2013.22592356536. DOI: 10.1109/TCST.2013.2259235

6.6. L. Y.L. Y. PaoPao, K. E. Johnson, A Tutorial on the Dynamics and Control of Wind , K. E. Johnson, A Tutorial on the Dynamics and Control of Wind Turbines and Wind Turbines and Wind Farms, in: Farms, in: Proceedings of the AmericanProceedings of the American Control Conference, 2009 Control Conference, 2009 –– ACCACC’’0909, IEEE, St. Louis, , IEEE, St. Louis, MO, USA, 2009, pp. 2076MO, USA, 2009, pp. 2076––2089, ISSN: 07432089, ISSN: 0743––1619. ISBN: 9781619. ISBN: 978––11––42444244––45234523––3.3. DOI: DOI: 10.1109/ACC.2009.516019510.1109/ACC.2009.5160195

7.7. A. Betz, D. G. Randall, A. Betz, D. G. Randall, Introduction to the Theory of Flow MachinesIntroduction to the Theory of Flow Machines,, PermagonPermagon Press, Press, Oxford, 1966, ISBN: 978Oxford, 1966, ISBN: 978––00801143300080114330

8.8. S. Simani, C. Fantuzzi, R. J. Patton, S. Simani, C. Fantuzzi, R. J. Patton, ModelModel--based fault diagnosis in dynamic systems using based fault diagnosis in dynamic systems using identification techniquesidentification techniques, 1st Edition, Vol. 1 Advances in Industrial Control, Springer, 1st Edition, Vol. 1 Advances in Industrial Control, Springer––Verlag, Verlag, London, UK, 2003, ISBN: 1852336854London, UK, 2003, ISBN: 1852336854



Selected References (2)Selected References (2)9.9. J. Chen, R. J. Patton, J. Chen, R. J. Patton, Robust ModelRobust Model––Based Fault Diagnosis for Dynamic SystemsBased Fault Diagnosis for Dynamic Systems, Kluwer , Kluwer

Academic Publishers, Boston, MA, USA, 1999Academic Publishers, Boston, MA, USA, 199910.10. M. Mahmoud, J. Jiang, Y. Zhang, M. Mahmoud, J. Jiang, Y. Zhang, Active Fault Tolerant Control Systems: Stochastic Analysis Active Fault Tolerant Control Systems: Stochastic Analysis

and Synthesisand Synthesis, Lecture Notes in Control and Information Sciences, Springer, Lecture Notes in Control and Information Sciences, Springer––Verlag, Berlin, Verlag, Berlin, Germany, 2003, ISBN: 3540003185Germany, 2003, ISBN: 3540003185

11.11. Y. Zhang, J. Jiang, Bibliographical review on reconfigurable fauY. Zhang, J. Jiang, Bibliographical review on reconfigurable faultlt––tolerant control systems, tolerant control systems, Annual Reviews in ControlAnnual Reviews in Control 32 (2008) 22932 (2008) 229––252252

12.12. S. X. Ding, ModelS. X. Ding, Model––based Fault Diagnosis Techniques: Design Schemes, Algorithms, anbased Fault Diagnosis Techniques: Design Schemes, Algorithms, and d Tools, 1st Edition, Springer, Berlin Heidelberg, 2008, ISBN: 978Tools, 1st Edition, Springer, Berlin Heidelberg, 2008, ISBN: 978––35407630313540763031

13.13. W. Leithead, B. Connor, Control of variable speed wind turbines:W. Leithead, B. Connor, Control of variable speed wind turbines: design task, International design task, International Journal of Control 73 (13) (2000) 1189Journal of Control 73 (13) (2000) 1189––1212, DOI: 10.1080/0020717004178491212, DOI: 10.1080/002071700417849

14.14. P. F. Odgaard, J. Stoustrup, Fault Tolerant Wind Farm Control P. F. Odgaard, J. Stoustrup, Fault Tolerant Wind Farm Control –– a Benchmark Model, in: a Benchmark Model, in: Proceedings of the IEEE Multiconference on Systems and Control Proceedings of the IEEE Multiconference on Systems and Control –– MSC2013MSC2013, Hyderabad, , Hyderabad, India, 2013, pp. 1India, 2013, pp. 1––6.6.

15.15. P. F. Odgaard, J. Stoustrup, A benchmark evaluation of fault tolP. F. Odgaard, J. Stoustrup, A benchmark evaluation of fault tolerant wind turbine control erant wind turbine control concepts, concepts, IEEE Transactions on Control Systems TechnologyIEEE Transactions on Control Systems Technology 23 (3) 122123 (3) 1221––12281228

16.16. C. L. Bottasso, A. Croce, B. Savini, Performance comparison of cC. L. Bottasso, A. Croce, B. Savini, Performance comparison of control schemes for ontrol schemes for variablevariable––speed wind turbines, in: speed wind turbines, in: Journal of Physics: Conference SeriesJournal of Physics: Conference Series, Vol. 75, IOP , Vol. 75, IOP Publishing, 2007, p. 012079, DOI: 10.1088/1742Publishing, 2007, p. 012079, DOI: 10.1088/1742--6596/75/1/0120796596/75/1/012079

17.17. S. Simani, P. Castaldi, Active Actuator Fault Tolerant Control oS. Simani, P. Castaldi, Active Actuator Fault Tolerant Control of a Wind Turbine Benchmark f a Wind Turbine Benchmark Model, Model, International Journal of Robust and Nonlinear ControlInternational Journal of Robust and Nonlinear Control 24 (824 (8––9) (2014) 12839) (2014) 1283––1303, 1303, John Wiley. DOI: 10.1002/rnc.2993John Wiley. DOI: 10.1002/rnc.2993

18.18. E. A. Bossanyi, G. Hassan, The Design of Closed Loop ControllersE. A. Bossanyi, G. Hassan, The Design of Closed Loop Controllers for Wind Turbines, for Wind Turbines, Wind Wind EnergyEnergy 3 (3) (2000) 1493 (3) (2000) 149––164, john Wiley & Sons, Ltd. DOI: 10.1002/we.34164, john Wiley & Sons, Ltd. DOI: 10.1002/we.34



Selected References (3)Selected References (3)19.19. K. E. Johnson, L. Y. Pao, M. J. Balas, L. J. Fingersh, Control oK. E. Johnson, L. Y. Pao, M. J. Balas, L. J. Fingersh, Control of variablef variable––speed wind speed wind

turbines: standard and adaptive techniques for turbines: standard and adaptive techniques for maximizing energy capture, maximizing energy capture, IEEE Control IEEE Control Systems MagazineSystems Magazine 26 (3) (2006) 7026 (3) (2006) 70––81, DOI: 10.1109/MCS.2006.163631181, DOI: 10.1109/MCS.2006.1636311

20.20. C. E.C. E. PlumleyPlumley, B., B. LeitheadLeithead, P. Jamieson, E., P. Jamieson, E. BossanyiBossanyi, M. Graham, Comparison of individual , M. Graham, Comparison of individual pitch and smart rotor control strategies for loadpitch and smart rotor control strategies for load reduction, in: reduction, in: Journal of Physics: Journal of Physics: Conference SeriesConference Series, Vol. 524, 2014, p. 012054, DOI: 10.1088/1742, Vol. 524, 2014, p. 012054, DOI: 10.1088/1742--6596/524/1/0120546596/524/1/012054

21.21. A.A.--P.P. ChatzopoulosChatzopoulos, W. E., W. E. LeitheadLeithead, Reducing tower fatigue loads by a co, Reducing tower fatigue loads by a co––ordinatedordinated control control of theof the supergen supergen 2MW exemplar wind turbine,2MW exemplar wind turbine, in: in: Proc. of the 3rd Torque 2010 ConferenceProc. of the 3rd Torque 2010 Conference,, HeraklionHeraklion, Crete, Greece, 2010, pp. 667, Crete, Greece, 2010, pp. 667––674674

22.22. F. Shi, R. J. Patton, An active fault tolerant control approach F. Shi, R. J. Patton, An active fault tolerant control approach to an offshore wind turbine to an offshore wind turbine model, model, Renewable EnergyRenewable Energy 75 (1) (2015) 78875 (1) (2015) 788––798,798, DOI: 10.1016/j.DOI: 10.1016/j.renenerenene.2014.10.06.2014.10.0611

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