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

Tech. transfer

Our activity finds applications in several fields through collaboration with our technological partners.

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Research projects

We carry out projects from the European FP7 and others national and international research programmes.
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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 (2023 - 2022) of the Automatic Control

  • C. Trapiello, L. Romero, J. Meseguer, V. Puig, G. Cembrano, B. Joseph, M. Sarrias, D. Saporta and M. Minoves. Automatic network response methodology for bursts or failure recovery in drinking water networks. Journal of Water Resources Planning and Management, 149(1): 04022073, 2023.

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  • A. Clemente, A. Cecilia and R. Costa. Online state of charge estimation for a vanadium redox flow battery with unequal flow rates. Journal of Energy Storage, 2023, to appear.

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  • L. Romero, D. Alves, J. Blesa, G. Cembrano, V. Puig and E. Duviella. Leak detection and localization in water distribution networks: review and perspective. Annual Reviews in Control, 2023, to appear.

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  • A. Sánchez-Amores, J.P. Martínez, J.M. Maestre, C. Ocampo-Martínez, E. Fernández and N. Quijano. Coalitional model predictive control of parabolic-trough solar collector fields with population-dynamics assistance. Applied Energy, 334: 120740, 2023.

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  • J.P. Martínez, W. Ananduta, C. Ocampo-Martínez, S. Grammatico and N. Quijano. Population games with replicator dynamics under event-triggered payoff provider and a demand response application. IEEE Control Systems Letters, 2023, to appear.

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  • A. San-Miguel, V. Puig and G. Alenyà. Condition-based design of variable impedance controllers from user demonstrations. Control Engineering Practice, 140: 105658, 2023.

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  • A. Cecilia and R. Costa. Addressing the relative degree restriction in nonlinear adaptive observers: A high-gain observer approach. Journal of the Franklin Institute, 359(8): 3857-3882, 2022.

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  • A. Cecilia, M. Serra and R. Costa. Real-time polymer electrolyte membrane fuel cell parameter estimation without persistent excitation, 8th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2022, Buenos Aires (Argentina).

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  • D. Palma, M. Verdaguer, V. Puig, M. Poch and Miguel A. Cugueró. Comparison of optimisation algorithms for centralised anaerobic co-digestion in a real river basin case study in Catalonia . Sensors, 22(5): 1857, 2022.

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  • S. Ifqir, V. Puig, I. Dalil, A. Naima and M. Said. Zonotopic set-membership state estimation for switched systems. Journal of the Franklin Institute, 359(16): 9241-9270, 2022.

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  • Y. Xing, J. Na, M. Chen, R. Costa and V. Roda. Adaptive nonlinear parameter estimation for a proton exchange membrane fuel cell. IEEE Transactions on Power Electronics, 37(8): 9012-9023, 2022.

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  • L. Bernadet, L. Sutac, J. Zapata, M. Serra, J. Roqueta, M. Torrell and A. Tarancón. Development and validation of a reversible prototype system to test 1.5 kW SOC stacks , 2022 European SOFC & SOE Forum, 2022, Lucerne, Switzerland .

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  • A. Martin, J.A. Delgado and V. Puig. Control of transients in drinking water networks. Control Engineering Practice, 119: 104986, 2022.

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  • J.P. Martínez, C. Ocampo-Martínez and N. Quijano. On distributed Nash equilibrium seeking in a class of contractive population games. IEEE Control Systems Letters, 6: 2972-2977, 2022.

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  • C. Xu, A. Colomé, L. Sentis and C. Torras. Mixtures of controlled Gaussian processes for dynamical modeling of deformable objects, 2022 Learning for Dynamics & Control Conference, 2022, Stanford, CA, USA, pp. 415-426.

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  • D. Alves, J. Blesa, E. Duviella and L. Rajaoarisoa. Leak detection in water distribution networks based on water demand analysis, 11th IFAC Symposium on Fault Detection Supervision and Safety for Technical Processes, 2022, Pafos, Cyprus, Vol 55 of IFAC Papers Online, pp. 679-684.

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  • I. Bessa, C. Trapiello, V. Puig and R. Martinez Palhares. Dual-rate control framework with safe watermarking against deception attacks. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 52(12): 7494-7506, 2022.

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  • A. Molavi, A.P. Husar, M. Serra, H. Hjortberg, N. Nilsson, M. Kogler, J. Sanchez Monreal and Y.O. Eldigair. State Machine-based architecture to control PEMFC system processes in a fuel cell electric vehicle, 2022 European Hydrogen Energy Conference, 2022, Madrid, Spain, pp. 2.

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  • D. Alves, J. Blesa, E. Duviella and L. Rajaoarisoa. Multi-leak detection and isolation in water distribution networks, 2022 International Joint Conference on Water Distribution Systems Analysis (WDSA) & Computing And Control In The Water Industry (CCWI), 2022, Valencia, to appear.

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  • F. Nejjari, B. Khoury, V. Puig, J. Quevedo, J. Pascual and S. de Campos. Economic linear parameter varying model predictive control of the aeration system of a wastewater treatment plant. Sensors, 22(16): 6008, 2022.

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  • P. Fornaro, T.P. Puleston, P.F. Puleston, M. Serra, R. Costa and P. Battaiotto. Redox flow battery time-varying parameter estimation based on high-order sliding mode differentiators. International Journal of Energy Research, 46(12): 16576-16592, 2022.

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  • D. Alves, J. Blesa, E. Duviella and L. Rajaoarisoa. Topological analysis of water distribution networks for optimal leak localization, 2022 International Conference on Hydroinformatics, 2022, Bucharest, Romania, Vol 1136 of IOP Conference Series: Earth and Environmental Science, pp. 012043.

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  • J.A. Delgado, I. Santos-Ruiz, G. Besançon, F.R. Lopez and V. Puig. EKF-based observers for multi-leak diagnosis in branched pipeline systems. Mechanical Systems and Signal Processing, 178: 109198, 2022.

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  • J.A. Aguilar, J. Andrade-Cetto and A.P. Husar. Control oriented estimation of the exchange current density in PEM fuel cells via stochastic filtering. International Journal of Energy Research, 46(15): 22516-22529, 2022.

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  • A. Soldevila, J. Blesa, S. Tornil-Sin, R.M. Fernandez-Cantí and V. Puig. Incremental upgrading sensor placement methodology: application to the leak localization in water networks. Computers and Chemical Engineering, 2022(158): 107642, 2022.

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  • E.d. Pérez, F.R. Lopez Estrada, V. Puig, G. Valencia and I. Santos-Ruiz. Fault diagnosis in wind turbines based on ANFIS and Takagi–Sugeno interval observers. Expert Systems with Applications, 206(117698), 2022.

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  • V. Sanz, R. Costa and C. Batlle. Literature review of energy management in combined heat and power systems based on high-temperature PEMFC for residential comfort applications. Energies, 15(17): 6423-6444, 2022.

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  • A. Clemente, A. Cecilia and R. Costa. Estimación del estado de carga de baterías de flujo redox con caudales desequilibrados, 2022 Jornadas de Automática, 2022, Logroño, pp. 353-359.

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  • J. Pedrosa, V. Puig and F. Nejjari. Health-aware economic MPC for operational management of flow-based networks using bayesian networks. Water, 14(10): 1538, 2022.

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  • T.P. Puleston, A. Clemente, R. Costa and M. Serra. Modelling and estimation of vanadium redox flow batteries: a review. Batteries, 8(9): 121, 2022.

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  • A. Clemente, R. Costa, M. Montiel, A. Lozano and F. Barreras. Experimental validation of a vanadium redox flow battery model via Particle Swarm Optimization, 8th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2022, Buenos Aires (Argentina), pp. 115-117.

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  • A. Medero, O. Sename and V. Puig. LMI conditions for stability and state-feedback H∞ control of discrete-time multimode multidimensional systems. IEEE Control Systems Letters, 6: 2876-2881, 2022.

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  • B. Moaveni, F. Rashidi Fathabadi and A. Molavi. Fuzzy control system design for wheel slip prevention and tracking of desired speed profile in electric trains. Asian Journal of Control, 24(1): 388-400, 2022.

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  • P. Segovia, V. Puig and E. Duviella. Set-membership-based distributed moving horizon estimation of large-scale systems. ISA Transactions, 128: 402-413, 2022.

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  • P. Irofti, L. Romero, F. Stoican and V. Puig. Data-driven leak localization in water distribution networks via dictionary learning and graph-based interpolation, 6th IEEE Conference on Control Technology and Applications, 2022, Milan, Italy, pp. 1265-1270.

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  • A. Medero and V. Puig. LPV control and virtual-sensor-based fault tolerant strategies for a three-axis gimbal system. Sensors, 22(17): 6664, 2022.

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  • A. Cecilia, S. Sahoo, T. Dragičević, R. Costa and F. Blaabjerg. On addressing the security and stability issues due to false data injection attacks in DC microgrids – An adaptive observer approach. IEEE Transactions on Power Electronics, 37(3): 2801-2814, 2022.

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  • F. Karimi, P. Segovia, E. Duviella and V. Puig. A two-layer control architecture for operational management and hydroelectricity production maximization in inland waterways using MPC. Control Engineering Practice, 124: 105172, 2022.

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  • D. Alves, J. Blesa, E. Duviella and L. Rajaoarisoa. Data-driven leak localization in WDN using pressure sensor and hydraulic information, 2nd IFAC Workshop on Integrated Assessment Modelling for Environmental Systems, 2022, Tarbes, France, Vol 55 of IFAC-PapersOnLine, pp. 96-101.

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  • I. Santos-Ruiz, F.R. Lopez Estrada, V. Puig, G. Valencia-Palomo and H.R. Hernandez. Pressure Sensor Placement for Leak Localization in Water Distribution Networks Using Information Theory. Sensors, 22(2): 443, 2022.

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  • L. Romero, J. Blesa, V. Puig and G. Cembrano. Clustering-learning approach to the localization of leaks in water distribution networks. Journal of Water Resources Planning and Management, 148(4): 04022003, 2022.

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  • S. Zhang, V. Puig and S. Ifqir. Robust fault detection using set-based approaches for LPV systems: Application to autonomous vehicles, 11th IFAC Symposium on Fault Detection Supervision and Safety for Technical Processes, 2022, Pafos, Cyprus, Vol 55 of IFAC Papers Online, pp. 31-36.

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  • X. Sánchez-Botello, O. de la Torre, R. Roig, R. Costa and X. Escaler. PZT actuators as on-board instruments to reduce vibrations and strains in submerged structures, 31st IAHR Symposium on Hydraulic Machinery and Systems, 2022, Trondheim, Norway, Vol 1079 of IOP Conference Series: Earth and Environmental Science, pp. 012097, 2022, IOP.

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  • M. Zhou, Y. Zhang, J. Wang, Y. Shi and V. Puig. Water quality indicator interval prediction in wastewater treatment process based on the improved BES-LSSVM algorithm. Sensors, 22(2): 422, 2022.

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  • L. Romero, D. Alves, J. Blesa, G. Cembrano, V. Puig and E. Duviella. Leak localization in water distribution networks using data-driven and model-based approaches. Journal of Water Resources Planning and Management, 148(5): 04022016, 2022.

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  • P. Fornaro, T.P. Puleston, P.F. Puleston, M. Serra, R. Costa and P. Battaiotto. Feasibility analysis of a class of high-order sliding-mode differentiators for redox flow batteries parameter estimation, 2022 International Workshop on Variable Structure Systems, 2022, Rio de Janeiro, Brazil, pp. 153-158, IEEE.

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  • F. Arqué, C. Uribe and C. Ocampo-Martínez. Approximate Wasserstein attraction flows for dynamic mass transport over networks. Automatica, 143: 110432, 2022.

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  • M. Facerias, V. Puig and E. Alcalá. Zonotopic linear parameter varying SLAM applied to autonomous vehicles. Sensors, 22(10): 3672, 2022.

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  • R. Yang, D. Rotondo and V. Puig. LMI-based design of state-feedback controllers for pole clustering of LPV systems in a union of DR-regions. International Journal of Systems Science, 53(2): 291-312, 2022.

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  • L. Romero, G. Cembrano, V. Puig and J. Blesa. Model-free sensor placement for water distribution networks using genetic algorithms and clustering, 2022 IFAC Workshop on Control Methods for Water Resource Systems, 2022, Milan, Italy, Vol 33 of IFAC-PapersOnLine, pp. 54-59.

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  • W. Ananduta, A. Nedic and C. Ocampo-Martínez. Distributed augmented Lagrangian method for link-based resource sharing problems of multiagent systems. IEEE Transactions on Automatic Control, 67(6): 3067-3074, 2022.

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  • I. Bessa, V. Puig and R. Martinez Palhares. Passivation-based control reconfiguration with virtual actuators, 11th IFAC Symposium on Fault Detection Supervision and Safety for Technical Processes, 2022, Pafos, Cyprus, Vol 55 of IFAC Papers Online, pp. 698-703.

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  • A. San-Miguel, G. Alenyà and V. Puig. Automated off-line generation of stable variable impedance controllers according to performance specifications. IEEE Robotics and Automation Letters, 7(3): 5874-5881, 2022, to appear.

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  • I. Lleonsí, L. Bernadet, M. Torrell and M. Serra. Parameter fitting of a reversible solid oxide stack model, 2022 European Hydrogen Energy Conference, 2022, Madrid, Spain.

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  • J. Pedrosa, V. Puig and F. Nejjari. Economic reliability-aware MPC for operational management of flow-based networks using bayesian networks, 30th Mediterranean Conference on Control and Automation, 2022, Greece, pp. 884-889.

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  • C. Trapiello and V. Puig. A zonotopic-based watermarking design to detect replay attacks. IEEE/CAA Journal of Automatica Sinica, 9(11): 1924-1938, 2022.

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  • M.A. Bermeo, C. Ocampo-Martínez and J. Diaz. Data-driven energy prediction modeling for both energy efficiency and maintenance in smart manufacturing systems. Energy, 238: 121691, 2022.

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  • P. Cardona, E. Recarte, V. Roda, L. Valiño and M. Serra. State machine for efficient operation of an on-site green production hydrogen refueling station, 8th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2022, Buenos Aires (Argentina), pp. 156-158.

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  • A. Soldevila, G. Boracchi, M. Roveri, S. Tornil-Sin and V. Puig. Leak detection and localization in water distribution networks by combining expert knowledge and data-driven models. Neural Computing and Applications, 34: 4759-4779, 2022.

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  • P. Vial and V. Puig. Kinematic/dynamic SLAM for autonomous vehicles using the linear parameter varying approach . Sensors, 22(21): 8211, 2022.

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  • J. Orti, F. Moreno-Noguer and V. Puig. Guided-crop image augmentation for small defect classification, 26th International Conference on Pattern Recognition, 2022, Montreal, Canada, pp. 104-110.

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  • A. Cifuentes López, M. Serra, R. Torres and J. Llorca. Experimental control of a methanol catalytic membrane reformer, 8th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2022, Buenos Aires (Argentina), pp. 52-54.

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  • S. Chaubey and V. Puig. Autonomous vehicle state estimation and mapping using Takagi–Sugeno modeling approach. Sensors, 22(9): 3399, 2022.

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  • A. Navarro, J.A. Delgado, I. Santos-Ruiz and V. Puig. Real-time leak diagnosis in water distribution systems based on a bank of observers and a genetic algorithm. Sensors, 14(20): 3289, 2022.

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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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