Abstract
The paper presents the dynamic model of a Kaplan turbine coupled to a DC generator, which is part of the H112D didactic system. A robust controller is designed using two different techniques: H ∞ mixed sensitivity and Quantitative feedback Theory (QFT). The robustness of the controller was analysed with three indicators: analysis of parameter uncertainties, transient response given a variable reference signal and robustness against disturbances.
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