Abstract
A linear and non-linear mathematical model of hydraulic turbine, including water supply conduit is proposed, and analysis of dynamic characteristics of models is made. Analysis and design of a hydraulic turbine governor using proportional control with constant and transient droop, proportional-integral (PI) and proportional-integral-derivative control (PID) is made, with proposal of optimal control parameters for both linear and non-linear hydraulic turbine model.
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