Research line
Automatic Control

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

Research areas
>> Modelling and control of complex nonlinear systems.
>> Modelling and control of large-scale networked systems.
>> Design and implementation of decision-support tools for resources management systems with multiple, heterogeneous constraints.
>> Real-time supervisory control, fault diagnosis and fault-tolerance.
>> Applied research
Tech. transfer
Our activity finds applications in several fields through collaboration with our technological partners.

Research projects
We carry out projects from the European FP7 and others national and international
research programmes.
→ More about our research projects
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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.

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.

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.

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.

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.

These are the latest research projects of the Automatic Control research line:
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INCITE: Innovative controls for renewable sources integration into smart energy systems
European Project
Start Date: 01/12/2015
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EFFIDRAIN: Efficient integrated real-time control in urban drainage and wastewater treatment plants for environmental protection
European Project
Start Date: 01/10/2015
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GRACeFUL: Global systems Rapid Assessment tools through Constraint FUnctional Languages
European Project
Start Date: 01/02/2015
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PUMA MIND: Physical bottom Up multiscale Modelling for Automotive PEMFC Innovative performance and Durability optimization
European Project
Start Date: 17/12/2012
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EFFINET: EFFicient Integrated real-time monitoring and control of drinking water NETworks
European Project
Start Date: 01/10/2012
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ACOFC: Advanced Controllers and Observers Development for Fuel Cell based Generation Systems
European Project
Start Date: 01/06/2011
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ACRES: Advanced control of renewable energy generation systems based on fuel cells/wind power
European Project
Start Date: 07/05/2012
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CLOCWiSe: Constraint logic for operational control of water systems
European Project
Start Date: 01/01/1996
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DOVELAR: Control and energy management of hybrid fuel cell-based electric vehicles
National Project
Start Date: 01/01/2019
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MICAPEM: Parameter estimation, diagnosis and control for the improvement of efficiency and durability of PEM fuel cells
National Project
Start Date: 01/01/2016
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DEOCS: Monitorización, diagnostico y control tolerante a fallos de sistemas ciberfísicos con métodos basados en datos
National Project
Start Date: 30/12/2016
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ECOCIS: EConomic Operation of Critical Infrastructure Systems
National Project
Start Date: 01/01/2014
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MESPEM: Desarrollo de sistemas de control para la mejora de la eficiencia y la vida útil en sistemas basados en pilas de combustible PEM
National Project
Start Date: 01/01/2012
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WATMAN: Analysis and Design of distributed optimal control strategies applied to large-scale WATer systems MANagement
National Project
Start Date: 01/01/2010
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DISCPICO: Design and implementation of control systems for PEM fuel cells and their integration into distributed electrical power generation systems
National Project
Start Date: 01/01/2011
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AECI: Control avanzado y desarrollo de nuevos sistemas híbridos de generación de energía eléctrica basados en pilas de combustible tipo PEM
National Project
Start Date: 17/01/2010
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DICOPEM: Avances en el modelo y diseño de controladores para sistemas basados en pila de combustible PEM
National Project
Start Date: 01/10/2007
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ITACA: Integración de técnicas avanzadas de modelado, control y supervisión aplicadas a la gestión del ciclo integral del agua
National Project
Start Date: 01/10/2006
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CONPEM: Diseño de controladores para el proceso electroquímico en pilas de combustible de tipo PEM
National Project
Start Date: 01/01/2005
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ITECOTOF: Desarrollo e Integración de Técnicas de Control Tolerante a Fallos de Procesos Complejos
National Project
Start Date: 01/01/2003
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TCNL: Análisis comparativo de técnicas avanzadas de control no lineal. Aplicaciones a sistemas de generación de energía eléctrica y a manipuladores mecánico
National Project
Start Date: 01/01/1995
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MuYSCA: Modelado y control de sistemas de riego en canal abierto
CSIC Project
Start Date: 01/04/2019
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CHEERFUL: Analysis and design of controllers for high-pressure electrolyzers applied to obtaining hydrogen for a PEM fuel-cells setup
CSIC Project
Start Date: 01/02/2018
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DEOCBI: Ayudas extraordinarias para la preparación de proyectos 2019 - relacionada con proyecto DPI2016-76493-C3-3R DEOCS
CSIC Project
Start Date: 01/01/2020
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MACPERCON: Enhanced management topologies based on unfalsified control for PEM fuel cells performance improvement
CSIC Project
Start Date: 01/01/2012
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NEURON: Aprendizaje neuronal en la robótica. Aplicaciones a la minería
CSIC Project
Start Date: 01/09/1997
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REFER: Reducció energètica i flexibilitat en edificis en rehabilitació
Regional Project
Start Date: 01/06/2016
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DiaPEM : Polymer Electrolyte Membrane Fuel Cell Stack Diagnosis System
Regional Project
Start Date: 12/05/2015
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Hy-BCN: Study and development of a high efficient HYdrogen storage system Based on solid oxide Cells and reNewable energy sources
UPC Project
Start Date: 27/12/2019
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TWINs: Digital Twin: Realizing Resilient Operation of Critical Infrastructures
UPC Project
Start Date: 01/10/2019
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PLIO: Desarrollo de herramientas planificación integral operativa de redes de agua potable
UPC Project
Start Date: 01/03/2003
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CORAL: Control Optimizado de Redes de Alcantarillado
Technology Transfer Contract
Start Date: 01/03/2000
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TOFMAN: Towards the future smart manufacturing systems
Technology Transfer Contract
Start Date: 01/09/2020
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CETAQUA: Contribució a la promoció i supervisió de projectes de recerca de l'àmbit de les xarxes de distribució d'aigua
Technology Transfer Contract
Start Date: 01/06/2007
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IKERCON: Control avanzado de procesos complejos de manufactura
Technology Transfer Contract
Start Date: 01/09/2016
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CETAQUA: RCT1201 Ph2-Optimal and predictive RTC module interfaced to SWIP
Technology Transfer Contract
Start Date: 23/05/2014
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STOP-IT: Strategic, Tactical, Operational Protection of water Infrastructure against cyber-physical Threats
Technology Transfer Contract
Start Date: 12/04/2018
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ModCon: Modelado y control de redes de alcantarillado: aplicación en Bogotá (Colombia)
Technology Transfer Contract
Start Date: 04/09/2015
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SITEL: R+D consistents en el desenvolupament d'una "Llibreria de càlcul de repartiment de càrregues elèctriques en tecnologia.NET"
Technology Transfer Contract
Start Date: 25/02/2013
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ELISSA-CRISALIDA: Supervisory Algorithms for Safe and Efficient Energy Distribution
Technology Transfer Contract
Start Date: 01/06/2007
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CLABSA: Optimum control of urban drainage systems. implementation of an integrated tool for the global optimised control of a combined sewer network
Technology Transfer Contract
Start Date: 02/10/2006
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LEAR: Desenvolupament d'un algorisme de gestió de l'energia elèctrica en un vehicle híbrid sèrie amb arquitectura de doble bus
Technology Transfer Contract
Start Date: 05/05/2006
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CONDEP1: Regulación del depósito de tormentas de la estación regeneradora de aguas residuales de La China, Madrid
Technology Transfer Contract
Start Date: 01/12/2005
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ADASA: Contribución a la mejora de la gestión de alarmas hidráulicas del sistema de información de sectores en la red de agua de Barcelona
Technology Transfer Contract
Start Date: 01/06/2004
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COMPaSs: Constraints for optimized management and naintenance of pipeline systems
European Project
Start Date: 01/12/1999
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WATERNET: Knowledge capture of advanced supervision of water distribution networks
Technology Transfer Contract
Start Date: 01/01/1996
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MARINE: Application of fuel cells for auxiliary power systems in marine environment
Regional Project
Start Date: 14/03/2005
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GERHYCO: Gestión, simulación y predicción de la evolución de los recursos de redes hidrográficas en períodos críticos
Regional Project
Start Date: 01/01/2001
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RiverBank: Constraint logic for river bank design; a pre-investigation delf hydraulics
UPC Project
Start Date: 01/01/1999
These are the most recent publications (2021 - 2020) of the Automatic Control
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C. Sun, J. Lorenz, M. Schütze, G. Cembrano, M. Borup, V. Puig and L. Vezzaro. A SWMM model for the Astlingen benchmark network, 2021 IWA World Water Congress & Exhibition, 2021, Copenhagen, Denmark, to appear.
Abstract
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C. Sun, B. Parellada, V. Puig and G. Cembrano. Leak detection in drinking water network using pressure-based classifier, 2021 IWA World Water Congress & Exhibition, 2021, Copenhagen, Denmark, to appear.
Abstract
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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.
Abstract
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H. Wang, Z. Liu, L. Liu, G. Han, H. Wang and C. Sun. Real time control solutions for urban drainage system under watershed treatment. Zhongguo Jishui Paishui/China Water and Wastewater, 14(36), 2020, to appear.
Abstract
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Y. Xing, J. Na, R. Costa Castelló and G. Gao. Adaptive parameter estimation-based observer design for nonlinear systems, 59th IEEE Conference on Decision and Control, 2020, Jeju Island, Republic of Korea, IEEE, to appear.
Abstract
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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, Online, pp. 1324-1329.
Abstract
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M.R. David, H. Alvarez, C. Ocampo-Martínez and R. Sánchez-Peña. Dynamic modelling of alkaline self-pressurized electrolyzers: a phenomenological-based semiphysical approach. International Journal of Hydrogen Energy, 45(43): 22394-22407, 2020.
Abstract
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W. Ananduta, C. Ocampo-Martínez and A. Nedic. Accelerated Multi-Agent Optimization Method over Stochastic Networks, 59th IEEE Conference on Decision and Control, 2020, Jeju Island, Republic of Korea, IEEE, to appear.
Abstract
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R. El Houda, S. Ahmed Ali and V. Puig. High-gain interval observer for partially linear systems with bounded disturbances. International Journal of Control, 2020, to appear.
Abstract
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M. Pourasghar, V. Puig and C. Ocampo-Martínez. Characterisation of interval-observer fault detection and isolation properties using the set-invariance approach. Journal of the Franklin Institute, 357(3): 1853-1886, 2020.
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J.P. Martinez, N. Quijano and C. Ocampo-Martínez. Decentralized Charging Coordination of Electric Vehicles using Multi-Population Games, 59th IEEE Conference on Decision and Control, 2020, Jeju Island, Republic of Korea, IEEE, to appear.
Abstract
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Y.O. Eldigair, F. Garelli, C. Kunusch and C. Ocampo-Martínez. Adaptive PI control with robust variable structure anti-windup strategy for systems with rate-limited actuators: Application to compression systems. Control Engineering Practice, 96: 104282, 2020.
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A. Clemente and R. Costa Castelló. Redox flow batteries: A literature review oriented to automatic control . Energies, 13(17): 4514, 2020.
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P. Reyero, C. Ocampo-Martínez and R. Braatz. Nonlinear Dynamical Analysis for an Ethanol Steam Reformer: A Singular Distributed Parameter System, 59th IEEE Conference on Decision and Control, 2020, Jeju Island, Republic of Korea, IEEE.
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A. Cecilia, J. Carroquino, V. Roda, R. Costa Castelló and F. Barreras. Optimal energy management in a standalone microgrid, with photovoltaic generation, short-term storage, and hydrogen production. Energies, 13(6): 1454, 2020.
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A. Clemente, G. Andres Ramos and R. Costa Castelló. Voltage H∞ control of a vanadium redox flow battery. Electronics, 9(10): 1567, 2020.
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P. Reyero, C. Ocampo-Martínez, R. Findeisen and R. Braatz. Nonlinearity Measures for Distributed Parameter and Descriptor Systems, 21st IFAC World Congress, 2020, Online, to appear.
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S. Siniscalchi, F. Bianchi, C. Ocampo-Martínez, J.L. Domínguez and B. De Schutter. A non-centralized predictive control strategy for wind farm active power control: A wake-based partitioning approach. Renewable Energy, 150: 656-669, 2020.
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Y. Xing, R. Costa Castelló, J. Na and H. Renaudineau. Control-oriented modelling and analysis of a solid oxide fuel cell system. International Journal of Hydrogen Energy, 45(40): 20659-20672, 2020.
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M. Pourasghar, V. Puig and C. Ocampo-Martínez. On robust interval observer design for uncertain systems subject to both time-invariant and time-varying uncertainties. International Journal of Control, 93(11): 2577-2595, 2020.
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C. Sun, J. Lorenz, M. Borup, V. Puig, G. Cembrano and L. Vezzaro. An MPC-enabled SWMM implementation of the Astlingen RTC benchmarking network. Water, 12: 1034, 2020.
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U. Raveendran Nair and R. Costa Castelló. A model predictive control-based energy management scheme for hybrid storage system in islanded microgrids. IEEE Access, 8: 97809-97822, 2020.
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H. Abdelghany, C. Ocampo-Martínez and N. Quijano. Online Network-Constrained Dispatch of Distributed Generators in Radial Networks, 2020 IEEE PES Innovative Smart Grid Technologies Europe (ISGT-Europe), 2020, The Hague, Netherlands, pp. 489-493.
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Y. Wan, V. Puig, C. Ocampo-Martínez, Y. Wang, E. Harinath and R. Braatz. Fault detection for uncertain LPV systems using probabilistic set-membership parity relation. Journal of Process Control, 87: 27-36, 2020.
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German A. Ramos, R. Isaza and R. Costa Castelló. Robust repetitive control of power inverters for standalone operation in DG systems. IEEE Transactions on Energy Conversion, 35(1): 237-247, 2020.
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G.J. Conde, C. Ocampo-Martínez and N. Quijano. Control-Oriented Modeling Approach for Open Channel Irrigation Systems, 21st IFAC World Congress, 2020, Online, to appear.
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J. Martí, A. Santamaria-Navarro, C. Ocampo-Martínez and J. Andrade-Cetto. Multi-task closed-loop inverse kinematics stability through semidefinite programming, 2020 IEEE International Conference on Robotics and Automation, 2020, Online, pp. 7108-7114.
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J.A. Luna, R. Costa Castelló and S. Strahl. Chattering free sliding mode observer estimation of liquid water fraction in proton exchange membrane fuel cells. Journal of the Franklin Institute, 357(18): 13816-13833, 2020.
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A. Cecilia and R. Costa Castelló. Observador de alta ganancia con zona muerta ajustable para estimar la saturación de agua líquida en pilas de combustible tipo PEM. Revista Iberoamericana de Automática e Informática Industrial, 17(2): 169-180, 2020.
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U. Raveendran Nair, M. Sandelic, A. Sangwongwanich, T. Dragicevic, R. Costa Castelló and F. Blaabjerg. Grid congestion mitigation and battery degradation minimisation using model predictive control in PV-based microgrid. IEEE Transactions on Energy Conversion, 2020, to appear.
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J.L. Diaz, S. Olaru and C. Ocampo-Martínez. A comparison of modelling approaches for closed-loop decision making over discrete domains in manufacturing systems, 4th IEEE Conference on Control Technology and Applications, 2020, Online, to appear.
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Y. Xing, R. Costa Castelló and J. Na. Temperature control for a proton-exchange membrane fuel cell system with unknown dynamic compensations. Complexity, 2020: 8822835, 2020.
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C. Sun, L. Romero, B. Joseph, J. Meseguer, E. Muñoz, R. Guasch, M. Martinez, V. Puig and G. Cembrano. Integrated pollution-based real-time control of sanitation systems. Journal of Environmental Management, 269: 110798, 2020.
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J. Anderson, J. Moré, P.F. Puleston, V. Roda and R. Costa Castelló. Implementación y validación experimental del control de un sistema híbrido basado en pilas de combustible para vehículos eléctricos, XXVII Congreso Argentino de Control Automático, 2020, Online, pp. 313-318.
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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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C. Sun, B. Parellada, J. Feng, V. Puig and G. Cembrano. Factors influencing the stormwater quality model of sewer networks and a case study of Louis Fargue urban catchment in Bordeaux, France. Water Science & Technology, 2020, to appear.
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J.M. Díaz, S. Dormido and R. Costa Castelló. An interactive teaching/learning approach to the design of robust linear control systems using the closed-loop shaping methodology, 21st IFAC World Congress, 2020, Online, pp. 1-5, 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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J.L. Diaz, C. Ocampo-Martínez and S. Olaru. Dual mode control strategy for the energy efficiency of complex and flexible manufacturing systems. Journal of Manufacturing Systems, 56: 104-116, 2020.
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J.M. Díaz, S. Dormido, B. Nicolau and R. Costa Castelló. H∞ interactive controller design for teaching purposes, 21st IFAC World Congress, 2020, Online, pp. 1-5, to appear.
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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, 2020.
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J.L. Diaz and C. Ocampo-Martínez. Optimal production planning for flexible manufacturing systems: an energy-based approach, 21st IFAC World Congress, 2020, Online, to appear.
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J.C. Paredes, C.R. Torres, R. Vázquez, J.A. Leal, F.E. Ortiz and R. Costa Castelló. Pollutant emissions and combustion efficiency assessment of engines using biodiesel. Applied Sciences, 10(23): 1-19, 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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J. Vendrell, C. Sun, V. Puig and G. Cembrano. Fuzzy clustering application on failure rate prediction in water distribution networks. Technical Report IRI-TR-20-02, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2020.
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A. Cecilia, M. Serra and R. Costa Castelló. PEMFC state and parameter estimation through a high-gain based adaptive observer, 21st IFAC World Congress, 2020, Online, to appear.
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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.).

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.


Researchers
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Blesa Izquierdo, Joaquim
jblesa (at) iri.upc.edu
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Cembrano Gennari, Gabriela
cembrano (at) iri.upc.edu
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Costa Castelló, Ramon
rcosta (at) iri.upc.edu
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Husar, Attila Peter
ahusar (at) iri.upc.edu
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Ocampo Martínez, Carlos A.
cocampo (at) iri.upc.edu
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Puig Cayuela, Vicenç
vpuig (at) iri.upc.edu
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Serra Prat, Maria
maserra (at) iri.upc.edu
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Tornil Sin, Sebastian
stornil (at) iri.upc.edu
PhD Students
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Aguilar Plazaola, José Agustín
jaguilar (at) iri.upc.edu
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Al Mohamad, Ahmad
aal (at) iri.upc.edu
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Bermeo Ayerbe, Miguel Angel
mbermeo (at) iri.upc.edu
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Cecilia Piñol, Andreu
acecilia (at) iri.upc.edu
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Clemente León, Alejandro
aclemente (at) iri.upc.edu
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Conde Mendez, Gregory Johann
gconde (at) iri.upc.edu
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David, Martín Rafael
dmartin (at) iri.upc.edu
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Eldigair, Yousif Omer Yousif
yeldigair (at) iri.upc.edu
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Molavi, Ali
amolavi (at) iri.upc.edu
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Okoro, Ihechiluru Samuel
iokoro (at) iri.upc.edu
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Orti Navarro, Joan
ojoan (at) iri.upc.edu
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San Miguel Tello, Alberto
asanmiguel (at) iri.upc.edu
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Sanz Gràcia, Elma
esanz (at) iri.upc.edu
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Sanz i López, Víctor
vsanz (at) iri.upc.edu
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Trapiello Fernández, Carlos
ctrapiello (at) iri.upc.edu
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Wang, Bin
bwang (at) iri.upc.edu
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Xing, Yashan
yxing (at) iri.upc.edu
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Yang, Ruicong
ryang (at) iri.upc.edu
Master Students
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Chaubey, Shivam
schaubey (at) iri.upc.edu
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Gutiérrez Obando, Juan David
jgutierrez (at) iri.upc.edu
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Palacin Dominguez, Oscar
opalacin (at) iri.upc.edu
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Pedrosa Alias, Javier
jpedrosa (at) iri.upc.edu
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Prats Moreu, Santi
sprats (at) iri.upc.edu
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Prieto Molina, Sergio
sprieto (at) iri.upc.edu
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Reyero Santiago, Pedro
preyero (at) iri.upc.edu
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Verma, Parikshit
pverma (at) iri.upc.edu
TFG Students
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Arqué Pérez, Ferran
farque (at) iri.upc.edu
Support Staff
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Lleonsí Carrillo, Ignasi
illeonsi (at) iri.upc.edu
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Roda Serrat, Vicente
vroda (at) iri.upc.edu
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Romero Ben, Luis
lromero (at) iri.upc.edu
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