Research line

Automatic Control Image

The AUTOMATIC CONTROL line develops basic and applied research in automatic control, with special emphasis on modelling, control and supervision of nonlinear, complex and/or large-scale systems.
The group has acquired specific expertise in the application of advanced control techniques to environmental resources management, specifically in the water and energy fields.

Head of line: Maria Serra Prat

Head of line

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Modelling and control of complex nonlinear systems

In order to design controllers for complex nonlinear systems, it is fundamental to have mathematical models of the systems' dynamic behaviour. Regarding dynamic modelling of complex nonlinear systems, the Control Group focuses on four subjects: models for multidomain systems using PHS formulation; distributed parameter models and their order reduction; experimental characterisation techniques combining the use of time and frequency responses of the dynamic system, conceived as diagnosis tools; the design of observers to be integrated in the control systems in order to improve the system performance and minimise the number of sensors. Regarding control system design, the work is based on the following advanced control techniques: passivity-based control, Optimal Control, Model Predictive Control, Variable Structure Control (VSC) and Linear Parameter Varying (LPV)-Robust Control.

Research area 1 of Automatic Control

Modelling and control of large-scale networked systems

In automation, it is more and more frequent to deal with large scale networked systems which are composed by a multitude of elements of diverse dynamical nature. Obtaining a mathematical model oriented to the management and control of such systems should take into account their real time operation and complex topology. Moreover, complementary considerations such as physical constraints, hybrid behaviour and bounded disturbances are also challenging topics in the study of this kind of systems.

Research area 2 of Automatic Control

Design and implementation of decision-support tools for resources management systems with multiple, heterogeneous constraints

A large variety of real-time resource allocation problems dealing with long- and medium-term resources management typically appear in public services and industry. Some examples are water management (both surface and pipeline systems), energy generation and distribution, and environmental planning. The operation of these systems requires dealing with multiple, heterogeneous constraints. Not just physical constraints are to be met, but also those imposed by regulations, operational practices, economy, ecology, etc. The overall aim is to step away from the classical trial-and-error-based simulation approach and create real problem-solving tools for optimal management of large-scale resources management problems.

Research area 3 of Automatic Control

Real-time Supervisory Control, Fault Diagnosis and Fault-Tolerance

Reliability is a feature required in modern control systems which implies the introduction of fault diagnosis and fault tolerant control modules that allow to know in real-time if there is any non-desired behaviour (fault) and activate some remedial action in order to keep the system in operation (fault tolerance). Complementary aspects as sensor/actuator location for achieving the desired fault diagnosis and tolerance are also addressed.

Research area 4 of Automatic Control

Applied Research

Theoretical knowledge is applied in real cases, in close collaboration with industry. Currently, research is mainly focused on four fields: modelling and control of systems based on Proton Exchange Membrane Fuel Cells based systems; modelling, control and management of electrical networks; design of optimal operational management of networked systems related to the urban water cycle and sensor data validation/reconstruction of instrumentation systems. The Control Group gives primary importance to the tasks of implementation and experimental validation of the proposed control and modelling methodologies. These final stages of the control design process are developed either in the industry or at the Institute's Laboratories: the Fuel Cells Laboratory and the Water Cycle Control Systems Lab.

Research area 5 of Automatic Control

These are the latest research projects of the Automatic Control research line:

These are the most recent publications (2016 - 2015) of the Automatic Control

  • Y. Wang, C. Ocampo-Martínez and V. Puig. Stochastic model predictive control based on Gaussian processes applied to drinking water networks. IET Control Theory and Applications, 10(8): 947-955, 2016.

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  • F. Xu, S. Olaru, V. Puig, C. Ocampo-Martínez and S. Niculescu. Sensor-fault tolerance using robust MPC with set-based state estimation and active fault isolation. International Journal of Robust and Nonlinear Control, 2016, to appear.

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  • M. Torchio, C. Ocampo-Martínez, L. Magni, M. Serra, R. Braatz and D. Raimondo. Fast model predictive control for hydrogen outflow regulation in ethanol steam reformers, 2016 American Control Conference, 2016, Boston, MA, pp. 5044-5049.

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  • J.M. Grosso, P. Velarde, C. Ocampo-Martínez, J.M. Maestre and V. Puig. Stochastic model predictive control approaches applied to drinking water networks. Optimal Control Applications and Methods, 2016, to appear.

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  • G. Obando, J. Barreiro-Gomez and N. Quijano. A class of population dynamics for reaching epsilon-equilibria: Engineering applications, 2016 American Control Conference, 2016, Boston, MA, to appear.

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  • J. Barreiro-Gomez, I. Mas, C. Ocampo-Martínez, R. Sánchez Peña and N. Quijano. Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games, 55th IEEE Conference on Decision and Control, 2016, Las Vegas, EEUU, IEEE, to appear.

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  • P. Velarde, J.M. Maestre, C. Ocampo-Martínez and C. Bordons. Application of robust model predictive control to a renewable hydrogen-based microgrid, 2016 European Control Conference, 2016, Aalborg, Denmark, pp. 1209-1214, to appear.

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  • J. Barreiro-Gomez, N. Quijano and C. Ocampo-Martínez. Distributed MPC with time-varying communication network: A density-dependent population games approach, 55th IEEE Conference on Decision and Control, 2016, Las Vegas, EEUU, IEEE, to appear.

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  • M. Pourasghar, V. Puig and C. Ocampo-Martínez. Comparison of set-membership and interval observer approaches for state estimation of uncertain systems, 2016 European Control Conference, 2016, Aalborg, Denmark, pp. 1111-1116, to appear.

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  • N. Quijano, C. Ocampo-Martínez, J. Barreiro-Gomez, G. Obando, A. Pantoja and E. Mojica-Nava. The role of population games and evolutionary dynamics in distributed control systems. IEEE Control Systems, 2016, to appear.

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  • Y. Wang, V. Puig and G. Cembrano. Economic MPC with periodic terminal constraints of nonlinear differential-algebraic-equation systems: Application to drinking water networks, 2016 European Control Conference, 2016, Aalborg, Denmark, pp. 1013-1018, to appear.

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  • R.M. Fernandez-Cantí, J. Blesa, V. Puig and S. Tornil. Set-membership identification and fault detection using a Bayesian framework. International Journal of Systems Science, 47(7): 1710-1724, 2016.

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  • G. Riaño-Briceño, J. Barreiro-Gomez, A. Ramirez-Jaime, N. Quijano and C. Ocampo-Martínez. MatSWMM - An open-source toolbox for designing real-time control of urban drainage systems. Environmental Modelling & Software, 83: 143-154, 2016.

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  • J. Blesa, V. Puig, J. Saludes and R.M. Fernandez-Cantí. Set-membership parity space approach for fault detection in linear uncertain dynamic systems. International Journal of Adaptive Control and Signal Processing, 30(2): 186-205, 2016.

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  • J.A. Luna, E. Usai, A.P. Husar and M. Serra. Nonlinear observation in fuel cell systems: A comparison between disturbance estimation and high-order sliding-mode techniques. International Journal of Hydrogen Energy, 2016, to appear.

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  • J. Blesa, F. Nejjari and R. Sarrate. Robust sensor placement for leak location: Analysis and design. Journal of Hydroinformatics, 18(1): 136-148, 2016.

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  • M. Pourasghar, V. Puig and C. Ocampo-Martínez. Characterization of the minimum detectable fault of interval observers by using set-invariance theory, 3rd International Conference on Control and Fault Tolerant Systems, 2016, Barcelona, IEEE, to appear.

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  • I. Jurado, J.M. Maestre, P. Velarde, C. Ocampo-Martínez, I. Fernández, B. Isla and J. del Prado. Stock management in hospital pharmacy using chance-constrained model predictive control. Computers in Biology and Medicine, 72: 248-255, 2016.

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  • Y. Wang, V. Puig, G. Cembrano and T. Álamo. Guaranteed state estimation and fault detection based on zonotopes for differential-algebraic-equation systems, 3rd International Conference on Control and Fault Tolerant Systems, 2016, Barcelona, IEEE, to appear.

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  • C. Sun, V. Puig and G. Cembrano. Combining CSP and MPC for the operational control of water networks. Engineering Applications of Artificial Intelligence, 49: 126-140, 2016.

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  • Y. Wang, V. Puig and G. Cembrano. Fault-tolerant periodic economic model predictive control of differential-algebraic-equation systems, 3rd International Conference on Control and Fault Tolerant Systems, 2016, Barcelona, IEEE, to appear.

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  • T. Jahnke, G. Futter, A. Latz, T. Malkow, G. Papakonstantinou, G. Tsotridis, P. Schott, M. Gérard, M. Quinaud, M. Quiroga, A.A. Franco, K. Malek, F. Calle-Vallejo, R. Ferreira de Morais, T. Kerber, P. Sautet, D. Loffreda, S. Strahl, M. Serra, P. Polverino, C. Pianese, M. Mayur, W. Bessler and C. Kompis. Performance and degradation of proton exchange membrane fuel cells: State of the art in modeling from atomistic to system scale. Journal of Power Sources, 304(1): 207-233, 2016.

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  • Y. Wang and V. Puig. Zonotopic extended Kalman filter and fault detection of discrete-time nonlinear systems applied to a quadrotor helicopter, 3rd International Conference on Control and Fault Tolerant Systems, 2016, Barcelona, IEEE, to appear.

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  • J. Barreiro-Gomez, G. Obando and N. Quijano. Distributed population dynamics: Optimization and control applications. IEEE Transactions on Systems, Man, and Cybernetics: Systems(99): 1-11, 2016, to appear.

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  • J.A. Luna, E. Usai, A.P. Husar and M. Serra. Observation of the electrochemically active surface area in a proton exchange membrane fuel cell, 42nd Annual Conference of the IEEE Industrial Electronics Society, 2016, Florence, to appear.

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  • J. Barreiro-Gomez, N. Quijano and C. Ocampo-Martínez. Constrained distributed optimization: A population dynamics approach. Automatica, 69(2016): 101-116, 2016.

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  • D. Robles, V. Puig, C. Ocampo-Martínez and L.E. Garza. Reliable fault-tolerant model predictive control of drinking water transport networks. Control Engineering Practice, 55: 197-211, 2016.

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  • J.M. Grosso, C. Ocampo-Martínez and V. Puig. Reliability-based economic model predictive control for generalized flow-based networks including health-aware capabilities. International Journal of Applied Mathematics and Computer Science, 26(3): 641-654, 2016, to appear.

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  • J.A. Luna, S. Jemei, N. Yousfi, A.P. Husar, M. Serra and D. Hissel. Nonlinear predictive control for durability enhancement and efficiency improvement in a fuel cell power system. Journal of Power Sources, 328: 250-261, 2016.

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  • J.A. Luna, A.P. Husar, M. Serra, S. Jemei and N. Yousfi. Nonlinear model predictive control methodology for efficiency and durability improvement in a fuel cell power system, 21st World Hydrogen Energy Conference, 2016, Zaragoza, pp. 1-2.

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  • A.F. Ramírez, N. Quijano and C. Ocampo-Martínez. A differential game approach to urban drainage systems control, 2016 American Control Conference, 2016, Boston, MA, pp. 3796-3801.

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  • J.A. Luna, A.P. Husar and M. Serra. Nonlinear distributed parameter observer design for fuel cell systems. International Journal of Hydrogen Energy, 40(34): 11322-11332, 2015.

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  • J. Barreiro-Gomez, N. Quijano and C. Ocampo-Martínez. Distributed resource management by using population dynamics: Wastewater treatment application, 2nd Colombian Conference on Automatic Control, 2015, Manizales, Colombia, pp. 1-6.

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  • C. Sun, V. Puig and G. Cembrano. Coordinating model predictive control of transport and supply water systems. In Transport of Water versus Transport over Water, 111-130. Springer, 2015.

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  • F. Castaños and C. Kunusch. Dither-less extremum seeking for hydrogen minimization in PEM fuel cells. IEEE Transactions on Industrial Electronics, 62(8): 5218-5226, 2015.

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  • J. Barreiro-Gomez, C. Ocampo-Martínez, J.M. Maestre and N. Quijano. Multi-objective model-free control based on population dynamics and cooperative games, 54th IEEE Conference on Decision and Control, 2015, Osaka, Japan, pp. 5296-5301.

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  • D. Rotondo, V. Puig, F. Nejjari and M. Witczakc. Automated generation and comparison of Takagi-Sugeno and polytopic quasi-LPV models. Fuzzy Sets and Systems, 277: 44-64, 2015.

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  • F. Bianchi, C. Ocampo-Martínez, C. Kunusch and R. Sánchez-Peña. Fault-tolerant unfalsified control for PEM fuel cell systems. IEEE Transactions on Energy Conversion, 30(1): 307-315, 2015.

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  • C. Ocampo-Martínez, R. Negenborn (editors). Transport of Water versus Transport over Water: Exploring the Operational Interplay of Transport and Water. Volume 58 of Operations Research/Computer Science Interfaces Series. Springer, 2015.

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  • J. Sánchez, J.D. Ortega and C. Ocampo-Martínez. Temperature regulation of a pilot-scale batch reaction system via explicit model predictive control, 2nd Colombian Conference on Automatic Control, 2015, Manizales, Colombia, pp. 1-6.

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  • M. Witczakc, V. Puig, D. Rotondo, M. de Rozprza and M.. Mrugalski. A robust H∞ observer design for unknown input nonlinear systems: Application to fault diagnosis of a wind turbine, 23rd Mediterranean Conference on Control and Automation, 2015, Torremolinos, pp. 162-167.

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  • J. Moré, P.F. Puleston, C. Kunusch and M. Allué. Development and implementation of a supervisor strategy and sliding mode control setup for fuel-cell-based hybrid generation systems. IEEE Transactions on Energy Conversion, 30(1): 218-225, 2015.

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  • C. Kunusch, C. Ocampo-Martínez and M.I. Valla. Modeling, diagnosis, and control of fuel-cell-based technologies and their integration in smart-grids and automotive systems. IEEE Transactions on Industrial Electronics, 62(8): 5143-5145, 2015.

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  • A. Nunez, C. Ocampo-Martínez, J.M. Maestre and B. De Schutter. Time-varying scheme for non-centralized model predictive control of large-scale systems. Mathematical Problems in Engineering, 2015(560702): 1-17, 2015.

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  • M. Witczakc, D. Rotondo, V. Puig and P. Witczakc. A practical test for assessing the reachability of discrete-time Takagi-Sugeno fuzzy systems. Journal of the Franklin Institute, 352(12): 5936–5951, 2015.

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  • F. Xu, V. Puig, C. Ocampo-Martínez, S. Olaru and F. Stoican. Set-theoretic methods in robust detection and isolation of sensor faults. International Journal of Systems Science, 46(13): 2317-2334, 2015.

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  • A.P. Husar, G. D’Elia and V. Roda. Experimental decoupling of single cell polarization losses, 5th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2015, Tenerife.

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  • K. Horváth, L. Rajaoarisoa, E. Duviella, J. Blesa and M. Petreczky. Enhancing inland navigation by model predictive control of water levels: The Cuinchy-Fontinettes case. In Transport of Water versus Transport over Water, 211-234. Springer, 2015.

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  • D. Rotondo, F. Nejjari and V. Puig. Robust quasi–LPV model reference FTC of a quadrotor UAV subject to actuator faults. International Journal of Applied Mathematics and Computer Science, 25(1): 7-22, 2015.

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  • J.D. Rojas, C. Kunusch, C. Ocampo-Martínez and V. Puig. Control-Oriented Thermal Modeling Methodology for Water-Cooled PEM Fuel-Cell-Based Systems. IEEE Transactions on Industrial Electronics, 62(8): 5146-5154, 2015.

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  • C. Sun, M. Morley, D. Savic, V. Puig, G. Cembrano and Z. Zhang. Combining model predictive control with constraint-satisfaction formulation for the operative pumping control in water networks, 13th Computing and Control for the Water Industry Conference, 2015, Leicester, Vol 119 of Procedia Engineering, pp. 963-972, Elsevier.

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  • M. Mayur, S. Strahl, A.P. Husar and W. Bessler. A multi-timescale modeling methodology for PEMFC performance and durability in a virtual fuel cell car. International Journal of Hydrogen Energy, 40(46): 16466-16476, 2015.

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  • D. Rotondo, V. Puig, F. Nejjari and J. Romera. A fault-hiding approach for the switching quasi-LPV fault-tolerant control of a four-wheeled omnidirectional mobile robot. IEEE Transactions on Industrial Electronics, 62(6): 3932-3944, 2015.

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  • J.A. Luna, C. Ocampo-Martínez and M. Serra. Nonlinear predictive control for the concentrations profile regulation under unknown reaction disturbances in a fuel cell anode gas channel. Journal of Power Sources, 282: 129-139, 2015.

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  • C. Sun, V. Puig and G. Cembrano. Coordinating Model Predictive Control of Transport and Supply Water Systems. In Transport of Water versus Transport over Water, 111-130. Springer, 2015.

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  • C. Sun. Multi-layer Model Predictive Control of Complex Water Systems

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  • J.A. Luna, E. Usai, A.P. Husar and M. Serra. Distributed parameter nonlinear state observer with unmatched disturbance estimation for PEMFC systems, 2015 International Conference on Fundamentals & Development of Fuel Cells, 2015, Toulouse, pp. 8.

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  • V. Puig and C. Ocampo-Martínez. Decentralised fault diagnosis of large-scale systems: Application to water transport networks, 26th International Workshop on Principles of Diagnosis, 2015, Paris, pp. 99-104.

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  • R.M. Fernandez-Cantí, S. Tornil, J. Blesa and V. Puig. Non-linear set-membership identification approach based on the Bayesian framework. IET Control Theory and Applications, 9(9): 1392-1398, 2015.

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  • R. Negenborn and C. Ocampo-Martínez. Perspectives on transport of water versus transport over water. In Transport of Water versus Transport over Water, 1-10. Springer, 2015.

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  • J. Barreiro-Gomez, G. Obando, C. Ocampo-Martínez and N. Quijano. Making non-centralized a model predictive control scheme by using distributed Smith dynamics, 5th IFAC Conference on Nonlinear Model Predictive Control, 2015, Seville, Vol 48:23 of IFAC-PapersOnLine, pp. 501-506, 2015.

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  • J. Vento, J. Blesa, V. Puig and R. Sarrate. Set-membership parity space hybrid system diagnosis. International Journal of Systems Science, 46(5): 790–807, 2015.

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  • V. Puig, C. Ocampo-Martínez and R. Negenborn. Model predictive control for combined water supply and navigability/sustainability in river systems. In Transport of Water versus Transport over Water, 13-33. Springer, 2015.

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  • N. Rosanas, C. Ocampo-Martínez and C. Kunusch. On the anode pressure and humidity regulation in PEM fuel cells: a nonlinear predictive control approach, 5th IFAC Conference on Nonlinear Model Predictive Control, 2015, Seville, Vol 48:23 of IFAC-PapersOnLine, pp. 434-439, 2015.

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  • R.M. Fernandez-Cantí, J. Blesa, S. Tornil and V. Puig. Fault detection and isolation for a wind turbine benchmark using a mixed Bayesian/set-membership approach. Annual Reviews in Control, 40: 59-69, 2015.

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  • F. Muros, J.M. Maestre, E. Algaba, C. Ocampo-Martínez and E. Fernández. An application of the Shapley value to perform system partitioning, 2015 American Control Conference, 2015, Chicago, Illinois, pp. 2143-2148.

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  • J. Barreiro-Gomez, C. Ocampo-Martínez and N. Quijano. Evolutionary-game-based dynamical tuning for multi-objective model predictive control. In Developments in Model-Based Optimization and Control, 115-138. Springer Verlag, 2015.

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  • J. Blesa, P. Jiménez, D. Rotondo, F. Nejjari and V. Puig. An interval NLPV parity equations approach for fault detection and isolation of a wind farm. IEEE Transactions on Industrial Electronics, 62(6): 3794-3805, 2015.

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  • J. Barreiro-Gomez, C. Ocampo-Martínez, F. Bianchi and N. Quijano. Model-free control for wind farms using a gradient estimation-based algorithm, 2015 European Control Conference, 2015, Linz, Austria, pp. 1516-1521.

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  • A. Rosich and C. Ocampo-Martínez. Real-time experimental implementation of predictive control schemes in a small-scale pasteurization plant. In Developments in Model-Based Optimization and Control, 255-273. Springer Verlag, 2015.

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  • F. Nejjari, R. Sarrate and J. Blesa. Optimal pressure sensor placement in water distribution networks minimizing leak location uncertainty, 13th Computing and Control for the Water Industry Conference, 2015, Leicester, Vol 119 of Procedia Engineering, pp. 953–962, Elsevier.

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  • J. Barreiro-Gomez, G. Obando, G. Riaño-Briceño, N. Quijano and C. Ocampo-Martínez. Decentralized control for urban drainage systems via population dynamics: Bogota case study, 2015 European Control Conference, 2015, Linz, Austria, pp. 2426-2431.

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  • L. García, J. Barreiro-Gomez, E. Escobar, D. Téllez, N. Quijano and C. Ocampo-Martínez. Modeling and real-time control of urban drainage systems: A review. Advances in Water Resources, 85: 120-132, 2015.

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  • J. Blesa, F. Le Gall, C. Jauberthie and L. Trave-Massuyes. State estimation and fault detection using box particle filtering with stochastic measurements, 26th International Workshop on Principles of Diagnosis, 2015, Paris, pp. 67-73.

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  • Y. Wang, C. Ocampo-Martínez and V. Puig. Robust model predictive control based on Gaussian processes: Application to drinking water networks, 2015 European Control Conference, 2015, Linz, Austria, pp. 3292-3297.

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  • B. Joseph, C. Ocampo-Martínez and G. Cembrano. Output-feedback control of combined sewer networks through receding horizon control with moving horizon estimation. Water Resources Research, 51(10): 8129-8145, 2015.

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  • L. Ferrandez-Gamot, P. Busson, J. Blesa, S. Tornil, V. Puig, E. Duviella and A. Soldevila. Leak localization in water distribution networks using pressure residuals and classifiers, 9th IFAC Symposium on Fault Detection Supervision and Safety for Technical Processes, 2015, Paris, Vol 48:21 of IFAC Papers Online, pp. 220–225, IFAC-Elsevier.

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  • C. Sun, V. Puig and G. Cembrano. Integrated simulation and optimization scheme of real-time large-scale water supply network: applied to Catalunya case study. Simulation, 91(1): 59-70, 2015.

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  • J.E. Arango, C. Ocampo-Martínez, F. Bianchi and G.A. Osorio. Unfalsified adaptive control for manipulators with parameter uncertainties, 2nd Colombian Conference on Automatic Control, 2015, Manizales, Colombia, pp. 1-6.

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  • J. Meseguer, J.M. Mirats, G. Cembrano and V. Puig. Model-based monitoring techniques for leakage localization in distribution water networks, 13th Computing and Control for the Water Industry Conference, 2015, Leicester, Vol 119 of Procedia Engineering, pp. 1399-1408, Elsevier.

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  • J.A. Luna, E. Usai, A.P. Husar and M. Serra. State estimation in fuel cell systems: A sliding mode approach, 5th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2015, Tenerife.

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  • G. Riaño-Briceño, A. Ramirez-Jaime, J. Barreiro-Gomez, N. Quijano and C. Ocampo-Martínez. Co-simulation for the design of controllers in urban drainage systems, 2nd Colombian Conference on Automatic Control, 2015, Manizales, Colombia, pp. 1-6.

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  • F.-J. Heredia, J. Riera, M. Mata, J.. Escuer and J. Romeu. Economic analysis of battery electric storage systems operating in electricity markets, 12th International Conference on the European Energy Market, 2015, Lisbon, Portugal, pp. 1-5, IEEE.

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Fuel Cell Control Laboratory

The objective of the Laboratory is the validation and testing of control strategies of fuel cell based energy conversion systems. The facilities are equipped with a supervisor system which monitors necessary safety conditions. Each of the five fuel cell test stations is equipped with the necessary sensors and actuators to be able to operate in a safe and automated way, as well as to modify the working conditions that affect a fuel cell (humidity, temperature, flow, etc.).

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Research area 1 of Automatic Control

Water-cycle Control Systems Laboratory

The aim of this laboratory is to test and validate modelling and control developments for dynamic systems associated to the water cycle. Hence, it provides platforms of pressure, flow and level processes, over which it is possible to implement real-time advanced control strategies. This laboratory is also open to offer services to other teams in the research community.

Research area 2 of Automatic Control
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