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 (2020 - 2019) of the Automatic Control

  • J. Na, Y. Xing and R. Costa Castelló. Adaptive estimation of time-varying parameters with application to roto-magnet plant. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2020, to appear.

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  • W. Ananduta, J.M. Maestre, C. Ocampo-Martínez and H. Ishii. Resilient distributed model predictive control for energy management of interconnected microgrids. Optimal Control Applications and Methods, 41(1): 146-169, 2020.

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  • C. Sun, B. Parellada, V. Puig and G. Cembrano. Leak localization in water distribution networks using pressure and data-driven classifier approach. Water, 12(54): 1-14, 2020.

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  • C. Sun, V. Puig and G. Cembrano. Real-time control of urban water cycle under cyber-physical systems framework. Water, 12(2): 406, 2020.

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  • G. Belgioioso, W. Ananduta, S. Grammatico and C. Ocampo-Martínez. Energy management and peer-to-peer trading in future smart grids: A distributed game-theoretic approach, 2020 European Control Conference, 2020, Saint Petersburg, Russia, to appear.

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  • J. Barreiro-Gomez, C. Ocampo-Martínez and N. Quijano. Time-varying partitioning for predictive control design: Density-games approach. Journal of Process Control, 75: 1-14, 2019.

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  • J. Barreiro-Gomez, C. Ocampo-Martínez, F. Bianchi and N. Quijano. Data-driven decentralized algorithm for wind farm control with population-games assistance. Energies, 12(6): 1164, 2019.

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  • A. San Miguel, V. Puig and G. Alenyà. Fault-tolerant control of a service robot using a LPV robust unknown input observer, 4th Conference on Control and Fault Tolerant Systems, 2019, Casablanca, Morocco, pp. 207-212.

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  • L. Romero, C. Sun, R. Guasch, B. Joseph, J. Meseguer, G. Cembrano and V. Puig. A feedback simulation procedure for real-time control of urban drainage systems, 1st IFAC Workshop on Control Methods for Water Resource Systems, 2019, Delft, Netherlands, Vol 52:23 of IFAC Papers OnLine , pp. 101-106.

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  • M.A. Bermeo and C. Ocampo-Martínez. Energy consumption dynamical models for smart factories based on subspace identification methods, 4th IEEE Colombian Conference on Automatic Control, 2019, Medellin, Colombia, pp. 6.

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  • M. Pourasghar, V. Puig and C. Ocampo-Martínez. Interval observer-based fault detectability analysis using mixed set-invariance theory and sensitivity analysis approach. International Journal of Systems Science, 50(3): 495-516, 2019.

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  • J. Cayero, D. Rotondo, B. Morcego and V. Puig. Optimal state observation using quadratic boundedness: Application to UAV disturbance estimation. International Journal of Applied Mathematics and Computer Science, 29(1): 99-109, 2019.

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  • A. San Miguel, V. Puig and G. Alenyà. Fault-tolerant control of a service robot. In Fault Diagnosis and Fault-tolerant Control of Robotic Systems, . The Institution of Engineering and Technology, 2019.

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  • U. Raveendran Nair and R. Costa Castelló. An analysis of energy storage system interaction in a multi objective model predictive control based energy management in DC microgrid, 24th IEEE International Conference on Emerging Technologies and Factory Automation, 2019, Zaragoza, pp. 739-746.

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  • Y. Wang, D. Muñoz, V. Puig and G. Cembrano. Robust economic model predictive control based on a periodicity constraint. International Journal of Robust and Nonlinear Control, 29(11): 3296-3310, 2019.

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  • P. Segovia, L. Rajaoarisoa, F. Nejjari, E. Duviella and V. Puig. Model predictive control and moving horizon estimation for water level regulation in inland waterways. Journal of Process Control, 76: 1-14, 2019.

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  • J.L. Diaz and C. Ocampo-Martínez. Energy efficiency in discrete-manufacturing systems: insights, trends, and control strategies. Journal of Manufacturing Systems, 52: 131-145, 2019.

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  • B. Parellada, C. Sun, V. Puig and G. Cembrano. Leak localization in water distribution networks using pressure and a data-driven classifier approach. Technical Report IRI-TR-19-04, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2019.

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  • U. Raveendran Nair, R. Costa Castelló and A. Baños. Reset control for DC-DC converters: an experimental application. IEEE Access, 7: 128487-128497, 2019.

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  • Y. Wang, S. Olaru, G. Valmorbida, V. Puig and G. Cembrano. Set-invariance characterizations of discrete-time descriptor systems with application to active mode detection. Automatica, 107: 255-263, 2019.

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  • J. Barreiro-Gomez, G. Obando, C. Ocampo-Martínez and N. Quijano. An evolutionary-games approach for distributed predictive control involving resource allocation. IET Control Theory and Applications, 13(6): 772-782, 2019.

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  • Y. Xing, J. Na and R. Costa Castelló. Adaptive online parameter estimation algorithm of PEM fuel cells, 2019 European Control Conference, 2019, Naples, pp. 441-446.

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  • Y. Wang, D. Rotondo, V. Puig, G. Cembrano and Y. Zhao. Fault-tolerant control of discrete-time descriptor systems using virtual actuators, 4th Conference on Control and Fault Tolerant Systems, 2019, Casablanca, Morocco, pp. 147-152.

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  • T. Péan, R. Costa Castelló, E. Fuentes and J. Salom. Experimental testing of variable speed heat pump control strategies for enhancing energy flexibility in buildings. IEEE Access, 7: 37071-37087, 2019.

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  • Y. Wang, V. Puig, F. Xu and G. Cembrano. Robust fault detection and isolation based on zonotopic unknown input observers for discrete-time descriptor systems. Journal of Franklin Institute, 356(10): 5293-5314, 2019.

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  • M.G. Carignano, V. Roda, R. Costa Castelló, L. Valiño, A. Lozano and F. Barreras. Assessment of energy management in a fuel cell/battery hybrid vehicle. IEEE Access, 7(1): 16110-16122, 2019.

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  • Y. Xing, R. Costa Castelló and J. Na. Stability analysis of solid oxide fuel cell systems, 7th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2019, Barcelona, Spain.

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  • H.S. Sánchez, D. Rotondo, T. Escobet, V. Puig and J. Quevedo. Bibliographical review on cyber attacks from a control oriented perspective. Annual Reviews in Control, 48: 103-128, 2019.

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  • W. Ananduta and C. Ocampo-Martínez. Decentralized energy management of power networks with distributed generation using periodical self-sufficient repartitioning approach, 2019 American Control Conference, 2019, Philadelphia, pp. 3230-3235.

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  • F. Karimi, V. Puig and G. Cembrano. Economic health-aware LPV-MPC based on system reliability assessment for water transport network. Energies, 12(15): 3015, 2019.

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  • M. Pourasghar, V. Puig and C. Ocampo-Martínez. Interval observer versus set-membership approaches for fault detection in uncertain systems using zonotopes. International Journal of Robust and Nonlinear Control, 29(10): 2819-2843, 2019.

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  • Y. Xing, J. Na and R. Costa Castelló. Parameter estimation algorithm of H-100 PEM fuel cell, 7th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2019, Barcelona, Spain.

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  • G.J. Conde, N. Quijano and C. Ocampo-Martínez. Modeling and control of interacting irrigation channels, 4th IEEE Colombian Conference on Automatic Control, 2019, Medellin, Colombia, pp. 1-6.

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  • F. Karimi, V. Puig and C. Ocampo-Martínez. Model predictive control based on LPV models with parameter-varying delays, 2019 European Control Conference, 2019, Naples, pp. 3644-3649.

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  • A. Cifuentes López, A.P. Husar, V. Roda, M. Morales, L. Bernadet, M. Torrell and M. Serra. Modelling of solid oxide electrolizer and hydrogen leak estimation, 7th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2019, Barcelona, Spain, pp. 57-59.

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  • U. Raveendran Nair, R. Costa Castelló and German A. Ramos. An adaptive disturbance rejection control scheme for voltage regulation in DC micro-grids, 20th IEEE International Conference on Industrial Technology, 2019, Melbourne, Australia, pp. 583-588, IEEE.

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  • V. Sanz, R. Costa Castelló and C. Batlle. Distributed high temperature PEM fuel cell modelling, 7th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2019, Barcelona, Spain, pp. 1-3.

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  • M. Pourasghar, V. Puig and C. Ocampo-Martínez. Robust zonotopic observer design: Interval observer versus set-membership approaches, 4th Conference on Control and Fault Tolerant Systems, 2019, Casablanca, Morocco, pp. 189-194.

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  • M.R. David, H. Alvarez, C. Ocampo-Martínez and R. Sánchez Peña. Phenomenological based model of hydrogen production using an alkaline self-pressurized electrolyzer, 2019 European Control Conference, 2019, Naples, pp. 4344-4349.

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  • J.C. Gómez, J.K. Dombrovski, M. Serra and A.P. Husar. PEM automotive stack model with experimental validation, 7th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2019, Barcelona, Spain, pp. 238-241.

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  • W. Ananduta, T.M. Pippia, C. Ocampo-Martínez, J. Sijs and B. De Schutter. Online partitioning method for decentralized control of linear switching large-scale systems. Journal of Franklin Institute, 356(6): 3290-3313, 2019.

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  • W. Ananduta, J.M. Maestre, C. Ocampo-Martínez and H. Ishii. A resilient approach for distributed MPC-based economic dispatch in interconnected microgrids, 2019 European Control Conference, 2019, Naples, pp. 891-896.

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  • H.S. Sánchez, D. Rotondo, M. López and J. Quevedo. Frequency-based detection of replay attacks: application to a quadrotor UAV, 8th International Conference on Systems and Control, 2019, Marrakech, Morocco, pp. 289-293.

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  • E. Lerma, R. Costa Castelló, R. Griñó, C. Sanchis and S. Dormido. On teaching digital control systems in a generic engineering degree, 12th IFAC Symposium on Advances in Control Education, 2019, Philadelphia, USA, Vol 52:9 of IFAC-PapersOnLine, pp. 103-108.

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  • J.A. Aguilar and A.P. Husar. Modelling liquid water effect on proton-exchange membrane fuel cells, 2019 European Fuel Cell Conference & Exhibition, 2019, Naples, Italy, pp. 333-334.

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  • Y. Wang, Z. Wang, V. Puig and G. Cembrano. Zonotopic set-membership state estimation for discrete-time descriptor LPV systems. IEEE Transactions on Automatic Control, 64(5): 2092-2099, 2019.

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  • J.L. Diaz, T. Weber, N. Panten, C. Ocampo-Martínez and E. Abele. Economic model predictive control for optimal operation of combined heat and power systems, 9th IFAC Conference on Manufacturing Modeling, Management and Control, 2019, Berlin, Vol 52:13 of IFAC-PapersOnLine, pp. 141-146.

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  • J. Quevedo, H.S. Sánchez, D. Rotondo, T. Escobet and V. Puig. Time evolution pattern analysis for cyber attack detection in a two-tank benchmark, 8th International Conference on Systems and Control, 2019, Marrakech, Morocco, pp. 277-282.

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  • A. Soldevila, J. Blesa, R.M. Fernandez-Cantí, S. Tornil-Sin and V. Puig. Data-driven approach for leak localization in water distribution networks using pressure sensors and spatial interpolation. Water, 11(7): 1500, 2019.

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  • J.L. Diaz and C. Ocampo-Martínez. Energy efficiency improvement of machine tools via peripheral devices management: An optimization-based control approach, 2019 American Control Conference, 2019, Philadelphia, pp. 3230-3235.

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  • D. Corona, A. Cristofaro and D. Rotondo. Reachability and stabilization of scheduled steady-states for LPV single-input systems. Journal of the Franklin Institute, 356(8): 4478-4495, 2019.

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  • D. Rotondo and M. Witczakc. Analysis and design of quadratically bounded QPV control systems, 3rd IFAC Workshop on Linear Parameter-Varying Systems, 2019, Eindhoven, The Netherlands, Vol 52:28 of IFAC Papers Online, pp. 76-81.

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  • M. Nassourou, J. Blesa and V. Puig. Robust economic model predictive control for energy dispatch in smart micro-grids considering demand uncertainty, 24th IEEE International Conference on Emerging Technologies and Factory Automation, 2019, Zaragoza, pp. 760-766.

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  • D. Ochoa, G. Riaño-Briceño, N. Quijano and C. Ocampo-Martínez. Control of urban drainage systems: Optimal flow control and deep learning in action, 2019 American Control Conference, 2019, Philadelphia, pp. 4826-4831.

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  • D. Rotondo, H.S. Sánchez, V. Puig, T. Escobet and J. Quevedo. A virtual actuator approach for the secure control of networked LPV systems under pulse-width modulated DoS attacks. Neurocomputing, 365(6): 21-30, 2019.

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  • S. Gomez, F.R. Lopez, G. Valencia, D. Rotondo and J. Enriquez. Actuator and sensor fault estimation based on a proportional-integral quasi-LPV observer with inexact scheduling parameters, 3rd IFAC Workshop on Linear Parameter-Varying Systems, 2019, Eindhoven, The Netherlands, Vol 52:28 of IFAC Papers Online, pp. 100-105.

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  • I. Santos-Ruiz, F.R. Lopez, V. Puig and J. Blesa. Estimation of node pressures in water distribution networks by Gaussian process regression, 4th Conference on Control and Fault Tolerant Systems, 2019, Casablanca, Morocco, pp. 50-55.

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  • T. Péan, J. Salom and R. Costa Castelló. Review of control strategies for improving the energy flexibility provided by heat pump systems in buildings. Journal of Process Control, 74: 35-49, 2019.

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  • M.A. Bermeo and C. Ocampo-Martínez. Energy efficiency improvement through MPC-based peripherals management for an industrial process test-bench, 9th IFAC Conference on Manufacturing Modeling, Management and Control, 2019, Berlin, Vol 52:13 of IFAC-PapersOnLine, pp. 648-653.

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  • A. Ruiz, D. Rotondo and B. Morcego. Design of state-feedback controllers for LPV systems subject to time-varying input saturation. Applied Sciences, 9(17): 3606, 2019.

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  • R. Yang, D. Rotondo and V. Puig. D-stable controller design for Lipschitz NLPV system, 3rd IFAC Workshop on Linear Parameter-Varying Systems, 2019, Eindhoven, The Netherlands, Vol 52:28 of IFAC Papers Online, pp. 88-93.

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  • M. Javadiha, J. Blesa, A. Soldevila and V. Puig. Leak localization in water distribution networks using deep learning, 6th International Conference on Control, Decision and Information Technologies, 2019, Paris, France, pp. 1426-1431.

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  • S. Siniscalchi, F. Bianchi, M. De Prada and C. Ocampo-Martínez. A wind farm control strategy for power reserve maximization. Renewable Energy, 131: 37-44, 2019.

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  • J.L. Sampietro, V. Puig and R. Costa Castelló. Optimal sizing of storage elements for a vehicle based on fuel cells, supercapacitors, and batteries. Energies, 12(5): 925, 2019.

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  • C. Trapiello, D. Rotondo, H.S. Sánchez and V. Puig. Detection of replay attacks in CPSs using observer-based signature compensation, 6th International Conference on Control, Decision and Information Technologies, 2019, Paris, France, pp. 1-6.

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  • F.R. Lopez, D. Rotondo and G. Valencia. A review of convex approaches for control, observation and safety of linear parameter varying and Takagi-Sugeno systems. Processes, 7(11): 814, 2019.

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  • M. Pereira, J. Blesa, V. Puig and D. Muñoz de la Peña. Detección de fallos en redes de presión pertenecientes a redes de suministro de agua mediante filtros estáticos lineales basados en PCA, XL Jornadas de Automática, 2019, Ferrol, pp. 568-573.

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  • J. Barreiro-Gomez. The Role of Population Games in the Design of Optimization-Based Controllers. Volume of Springer Theses. Springer, 2019.

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  • J.L. Diaz, M.A. Bermeo, J. Diaz and C. Ocampo-Martínez. An optimization-based control strategy for energy efficiency of discrete manufacturing systems. ISA Transactions, 93: 399-409, 2019.

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  • D. Rotondo and T.A. Johansen. State observer design for quadratic parameter varying (QPV) systems, 2019 European Control Conference, 2019, Naples, pp. 2115-2120.

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  • A. Sanjuan, D. Rotondo, F. Nejjari and R. Sarrate. An LMI–based heuristic algorithm for vertex reduction in LPV systems. International Journal of Applied Mathematics and Computer Science, 29(4): 725-737, 2019.

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  • I. Santos-Ruiz, F.R. Lopez, V. Puig, J. Blesa and M. Javadiha. Localización de fugas en redes de distribución de agua mediante k-NN con distancia cosenoidal, 2019 Congreso Nacional de Control Automático, 2019, Puebla, México, pp. 370-375.

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  • D. Rotondo, A. Cristofaro, T.A. Johansen, F. Nejjari and V. Puig. Robust fault and icing diagnosis in unmanned aerial vehicles using LPV interval observers. International Journal of Robust and Nonlinear Control, 29(16): 5456-5480, 2019.

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  • H.S. Sánchez, D. Rotondo, T. Escobet, V. Puig, J. Saludes and J. Quevedo. Detection of replay attacks in cyber-physical systems using a frequency-based signature. Journal of the Franklin Institute, 356(5): 2798-2824, 2019.

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  • R. Yang, D. Rotondo and V. Puig. Observer design for Takagi-Sugeno Lipschitz systems affected by disturbances using quadratic boundedness, 2019 International Conference on Control, Automation and Diagnosis , 2019, Grenoble, France, to appear.

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  • P. Segovia, L. Rajaoarisoa, F. Nejjari, E. Duviella and V. Puig. A communication-based distributed model predictive control approach for large-scale systems, 58th IEEE Conference on Decision and Control, 2019, Nice, France, IEEE, to appear.

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  • J.A. Aguilar and A.P. Husar. Load profile effect on durability of proton exchange membrane fuel cells, 7th Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries, 2019, Barcelona, Spain.

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  • M. Pourasghar, C. Combastel, V. Puig and C. Ocampo-Martínez. FD-ZKF: A zonotopic Kalman filter optimizing fault detection rather than state estimation. Journal of Process Control, 73: 89-102, 2019.

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  • M.R. David, C. Ocampo-Martínez and R. Sánchez Peña. Advances in alkaline water electrolyzers: A review. Journal of Energy Storage, 23: 392-403, 2019.

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  • J.L. Diaz, C. Ocampo-Martínez, N. Panten, T. Weber and E. Abele. Optimal operation of combined heat and power systems: An optimization-based control strategy. Energy Conversion and Management, 199: 111957, 2019.

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  • Z. Rasouli and V. Puig. Tilt angle optimization of photovoltaic panels, 6th International Conference on Control, Decision and Information Technologies, 2019, Paris, France, pp. 1847-1852.

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  • A. Cecilia and R. Costa Castelló. Observador de alta ganancia con zona muerta para pilas de combustible PEM, XL Jornadas de Automática, 2019, Ferrol, pp. 382-388.

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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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