State-space Model Research Articles

A control-oriented LPV model of large-scale offshore wind turbines for deloading operation

ABSTRACT This article develops a new control-oriented linear parameter varying (LPV) model, which is a linear state-space model with varying parameters aimed at efficiently representing large-scale offshore wind turbines (LOWTs). Firstly, the LPV model is constructed by the mechanism analysis of a 15-MW direct-drive permanent magnet wind turbine. Subseuently, based on the operational data from FAST, the parameters with unknown values in the LPV model are determined by gain scheduling and parameter estimation. Furthermore, a deloading operation for the active output power regulation of LOWTs is proposed based on coordinating the rotor over-speed control (ROC) and the pitch angle control (PAC).

Speech Recognition for Air Traffic Control Utilizing a Multi-Head State-Space Model and Transfer Learning

Speech Recognition for Air Traffic Control Utilizing a Multi-Head State-Space Model and Transfer Learning

Supplemental Material for Estimation of Planned and Unplanned Missing Individual Scores in Longitudinal Designs Using Continuous-Time State-Space Models

Supplemental Material for Estimation of Planned and Unplanned Missing Individual Scores in Longitudinal Designs Using Continuous-Time State-Space Models

Coordinated management of oxygen excess ratio and cathode pressure for PEMFC based on synthesis variable-gain robust predictive control

In this research endeavor, a novel synthesis variable-gain robust model predictive control (SVGRPC) method using the min-max technique with parameter dependent Lyapunov functions is introduced to achieve the desired trajectory tracking of oxygen excess ratio (OER) and cathode pressure in the polymer electrolyte membrane fuel cells (PEMFCs) system. Initially, a simplified control-oriented model of the air supply system is developed and then transformed into a polytopic form to accommodate the inherent uncertainties in the PEMFC. Subsequently, the polytopic model is integrated with the reference trajectory to construct an augmented state-space model for deriving an error state representation. In the framework of robust model predictive control (RPC) utilizing a parameter-dependent Lyapunov function, a series of variable feedback gains are employed to mitigate conservatism. Additionally, the online solution process imposes a significant computational burden, presenting challenges for the real-time implementation of RPC-based control strategy. Therefore, the offline computing is introduced to significantly reduce the computational burden, resulting in the development of the SVGRPC strategy proposed in this paper. Subsequently, the SVGRPC strategy computes explicit linear state-feedback control laws by solving linear matrix inequalities (LMIs) using an offline control algorithm. The effectiveness of the proposed controller is then validated through assessments conducted under three distinct operating conditions of the PEMFC system. The outcomes of this study affirm that the proposed controller improves the requirements of control performance when compared to the online RPC with a quadratic Lyapunov function while significantly alleviating the computational workload.

Unsupervised multimodal modeling of cognitive and brain health trajectories for early dementia prediction

Predicting the course of neurodegenerative disorders early has potential to greatly improve clinical management and patient outcomes. A key challenge for early prediction in real-world clinical settings is the lack of labeled data (i.e., clinical diagnosis). In contrast to supervised classification approaches that require labeled data, we propose an unsupervised multimodal trajectory modeling (MTM) approach based on a mixture of state space models that captures changes in longitudinal data (i.e., trajectories) and stratifies individuals without using clinical diagnosis for model training. MTM learns the relationship between states comprising expensive, invasive biomarkers (β-amyloid, grey matter density) and readily obtainable cognitive observations. MTM training on trajectories stratifies individuals into clinically meaningful clusters more reliably than MTM training on baseline data alone and is robust to missing data (i.e., cognitive data alone or single assessments). Extracting an individualized cognitive health index (i.e., MTM-derived cluster membership index) allows us to predict progression to AD more precisely than standard clinical assessments (i.e., cognitive tests or MRI scans alone). Importantly, MTM generalizes successfully from research cohort to real-world clinical data from memory clinic patients with missing data, enhancing the clinical utility of our approach. Thus, our multimodal trajectory modeling approach provides a cost-effective and non-invasive tool for early dementia prediction without labeled data (i.e., clinical diagnosis) with strong potential for translation to clinical practice.

Backstepping Control Design in Conjunction with an EKF-based Sensorless Field-Oriented Control of an IPMSM

The collector and brushless electronic commutation machines have gained widespread utilization in industrial applications. Among these machines, internal permanent magnet synchronous motors (IPMSMs) have become increasingly popular due to their numerous advantages, including high torque/current and torque/inertia ratios, robust construction, high efficiency, and reliability. However, the incorporation of position sensors in IPMSMs has introduced challenges concerning their application, performance, mass production, and cost. Consequently, the implementation of sensorless control techniques has become essential in drive systems and various applications. This paper proposes a backstepping control approach for achieving speed sensorless control of IPMSMs, employing an extended Kalman filter (EKF). The first step involves developing a comprehensive nonlinear dynamical model of the IPMSM in the direct and quadrature (d-q) rotor frame and obtaining its corresponding state-space representation. Subsequently, backstepping controllers for rotor speed and current tracking are designed to ensure precise tracking and anti-disturbance performance. These controllers are integrated into the field-oriented control (FOC) scheme. The Lyapunov stability theorem is employed to guarantee the asymptotic stability condition of the backstepping controller. To address the challenge of estimating immeasurable mechanical parameters of the IPMSM and accurately tracking the system states, an EKF is designed. This filter enables the estimation of mechanical parameters and achieves high steady-state precision within a finite time. The effectiveness of the proposed methodology is demonstrated through simulations conducted under various dynamic operating conditions, including sudden torque load changes, command speed changes, and parameter variations.

Optimal charging for lithium-ion batteries to avoid lithium plating based on ultrasound-assisted diagnosis and model predictive control

Lithium plating in lithium-ion batteries for electric vehicles, occurring due to low-temperature or high-rate charging, is a significant factor impacting safety and service life. To address this issue, a novel adaptive charging approach is proposed, combining ultrasound-assisted diagnosis and model predictive control (MPC). In the method, a discrete state-space electrochemical model is used to describe the dynamic characteristics of the battery, and a model predictive controller (MPC) is utilized to optimize the charging current to avoid lithium plating. Considering that factors such as battery performance degradation and variable working temperature affect the battery model's judgment of lithium plating, an ultrasound-assisted diagnosis method is used to determine the critical point of lithium plating. The effectiveness of the method is validated through low-temperature charging and cycle aging experiments. The results indicate that without complex model parameter calibration in different temperatures, the new charging method not only has a higher charging speed than constant current charging, but also can effectively suppress the occurrence of lithium plating on the negative electrode of the battery. The method is expected to be applied in electrochemical energy storage systems to enhance safety and service life.

Numerical experiment toward simultaneous estimation of the spatiotemporal evolution of interseismic fault slips and block motions in southwest Japan

Interseismic strain around southwest Japan can be attributed to slip phenomena on the plate interface and processes inside the continental plate, such as block motions and inland fault slips. Although many crustal deformation analyses have been carried out, the simultaneous estimation of these phenomena and comprehensive discussion regarding the effect on the total strain budget remain topics to be investigated. In this study, we conducted numerical experiment to evaluate the possibility of simultaneously monitoring the spatiotemporal evolution of interseismic fault slips and block motions based on state-space modeling. We aimed to estimate fault slips and block motions using the time series of dense continuous Global Navigation Satellite System sites covering southwest Japan, encompassing 25 years from 1996 onward. We calculated synthetic block motions of the forearc region, monotonically increasing back slips on block boundary faults, and long-term slow slip events in the Tokai region, Kii Channel, and Bungo Channel. Subsequently, we generated the expected synthetic displacement time-series at GNSS stations. Applying Kalman filtering, we successfully estimated the spatiotemporal evolution of block motions, cumulative back slips, multiple slow slip events occurring in different regions. Although the contributions of fault slips and block motions showed slight trade-off, main characteristics of the slip distributions and the direction of block motions were well-recovered. We recovered slow slip events with slips of 5–10 cm or larger. We investigated the estimation uncertainty and separation precision of the unknown parameters using the covariance matrix estimated by Kalman filtering. Focusing on the structure of the non-diagonal component of the covariance matrix, we evaluated the complex effects of site and subfault locations on the estimated slip spatial distribution bias. For instance, the extent of the correlation between subfaults suggested that the three slow slip regions have different tendency of the uncertainties of slip areas, extending toward landside, seaward, or both of them. Our framework enables the comprehensive evaluation of the contributions and uncertainties of various deformation sources covering the entire subduction zone.Graphical abstract

Analyzing asymmetry in brain hierarchies with a linear state-space model of resting-state fMRI data

Abstract This study challenges the traditional focus on zero-lag statistics in resting-state functional magnetic resonance imaging (rsfMRI) research. Instead, it advocates for considering time-lag interactions to unveil the directionality and asymmetries of the brain hierarchy. Effective connectivity (EC), the state matrix in dynamical causal modeling (DCM), is a commonly used metric for studying dynamical properties and causal interactions within a linear state-space system description. Here, we focused on how time-lag statistics are incorporated within the framework of DCM resulting in an asymmetric EC matrix. Our approach involves decomposing the EC matrix, revealing a steady-state differential cross-covariance matrix which is responsible for modeling information flow and introducing time irreversibility. Specifically, the system’s dynamics, influenced by the off-diagonal part of the differential covariance, exhibit a curl steady-state flow component that breaks detailed balance and diverges the dynamics from equilibrium. Our empirical findings indicate that the EC matrix’s outgoing strengths correlate with the flow described by the differential cross-covariance, while incoming strengths are primarily driven by zero-lag covariance, emphasizing conditional independence over directionality.

The Weighted Least-Squares Approach to State Estimation in Linear State Space Models: The Case of Correlated Noise Terms

In this article, a particular approach to deriving recursive state estimators for linear state space models is generalised, namely the weighted least-squares approach introduced by Duncan and Horn in 1972, for the case of the two noise processes arising in such models being cross-correlated; in this context, the fact that in the available literature two different non-equivalent recursive algorithms are presented for the task of state estimation in the aforementioned case is discussed. Although the origin of the difference between these two algorithms can easily be identified, the issue has only rarely been discussed so far. Then the situations in which each of the two algorithms apply are explored, and a generalised Kalman filter which represents a merger of the two original algorithms is proposed. While, strictly speaking, optimal state estimates can be obtained only through the non-recursive weighted least-squares approach, in examples of modelling simulated and real-world data, the recursive generalised Kalman filter shows almost as good performance as the optimal non-recursive filter.

Nonlinear optimal control for robotic exoskeletons with electropneumatic actuators

Purpose To provide high torques needed to move a robot’s links, electric actuators are followed by a transmission system with a high transmission rate. For instance, gear ratios of 100:1 are often used in the joints of a robotic manipulator. This results into an actuator with large mechanical impedance (also known as nonback-drivable actuator). This in turn generates high contact forces when collision of the robotic mechanism occur and can cause humans’ injury. Another disadvantage of electric actuators is that they can exhibit overheating when constant torques have to be provided. Comparing to electric actuators, pneumatic actuators have promising properties for robotic applications, due to their low weight, simple mechanical design, low cost and good power-to-weight ratio. Electropneumatically actuated robots usually have better friction properties. Moreover, because of low mechanical impedance, pneumatic robots can provide moderate interaction forces which is important for robotic surgery and rehabilitation tasks. Pneumatic actuators are also well suited for exoskeleton robots. Actuation in exoskeletons should have a fast and accurate response. While electric motors come against high mechanical impedance and the risk of causing injuries, pneumatic actuators exhibit forces and torques which stay within moderate variation ranges. Besides, unlike direct current electric motors, pneumatic actuators have an improved weight-to-power ratio and avoid overheating problems. Design/methodology/approach The aim of this paper is to analyze a nonlinear optimal control method for electropneumatically actuated robots. A two-link robotic exoskeleton with electropneumatic actuators is considered as a case study. The associated nonlinear and multivariable state-space model is formulated and its differential flatness properties are proven. The dynamic model of the electropneumatic robot is linearized at each sampling instance with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrices. Within each sampling period, the time-varying linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. An H-infinity controller is designed for the linearized model of the robot aiming at solving the related optimal control problem under model uncertainties and external perturbations. An algebraic Riccati equation is solved at each time-step of the control method to obtain the stabilizing feedback gains of the H-infinity controller. Through Lyapunov stability analysis, it is proven that the robot’s control scheme satisfies the H-infinity tracking performance conditions which indicate the robustness properties of the control method. Moreover, global asymptotic stability is proven for the control loop. The method achieves fast convergence of the robot’s state variables to the associated reference trajectories, and despite strong nonlinearities in the robot’s dynamics, it keeps moderate the variations of the control inputs. Findings In this paper, a novel solution has been proposed for the nonlinear optimal control problem of robotic exoskeletons with electropneumatic actuators. As a case study, the dynamic model of a two-link lower-limb robotic exoskeleton with electropneumatic actuators has been considered. The dynamic model of this robotic system undergoes first approximate linearization at each iteration of the control algorithm around a temporary operating point. Within each sampling period, this linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. The linearization process relies on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modeling error which is due to the truncation of higher-order terms from the Taylor series is considered to be a perturbation which is asymptotically compensated by the robustness of the control algorithm. To stabilize the dynamics of the electropneumatically actuated robot and to achieve precise tracking of reference setpoints, an H-infinity (optimal) feedback controller is designed. Actually, the proposed H-infinity controller for the model of the two-link electropneumatically actuated exoskeleton achieves the solution of the associated optimal control problem under model uncertainty and external disturbances. This controller implements a min-max differential game taking place between: (i) the control inputs which try to minimize a cost function which comprises a quadratic term of the state vector’s tracking error and (ii) the model uncertainty and perturbation inputs which try to maximize this cost function. To select the stabilizing feedback gains of this H-infinity controller, an algebraic Riccati equation is being repetitively solved at each time-step of the control method. The global stability properties of the H-infinity control scheme are proven through Lyapunov analysis. Research limitations/implications Pneumatic actuators are characterized by high nonlinearities which are due to air compressibility, thermodynamics and valves behavior and thus pneumatic robots require elaborated nonlinear control schemes to ensure their fast and precise positioning. Among the control methods which have been applied to pneumatic robots, one can distinguish differential geometric approaches (Lie algebra-based control, differential flatness theory-based control, nonlinear model predictive control [NMPC], sliding-mode control, backstepping control and multiple models-based fuzzy control). Treating nonlinearities and fault tolerance issues in the control problem of robotic manipulators with electropneumatic actuators has been a nontrivial task. Practical implications The novelty of the proposed control method is outlined as follows: preceding results on the use of H-infinity control to nonlinear dynamical systems were limited to the case of affine-in-the-input systems with drift-only dynamics. These results considered that the control inputs gain matrix is not dependent on the values of the system’s state vector. Moreover, in these approaches the linearization was performed around points of the desirable trajectory, whereas in the present paper’s control method the linearization points are related with the value of the state vector at each sampling instance as well as with the last sampled value of the control inputs vector. The Riccati equation which has been proposed for computing the feedback gains of the controller is novel, so is the presented global stability proof through Lyapunov analysis. This paper’s scientific contribution is summarized as follows: (i) the presented nonlinear optimal control method has improved or equally satisfactory performance when compared against other nonlinear control schemes that one can consider for the dynamic model of robots with electropneumatic actuators (such as Lie algebra-based control, differential flatness theory-based control, nonlinear model-based predictive control, sliding-mode control and backstepping control), (ii) it achieves fast and accurate tracking of all reference setpoints, (iii) despite strong nonlinearities in the dynamic model of the robot, it keeps moderate the variations of the control inputs and (iv) unlike the aforementioned alternative control approaches, this paper’s method is the only one that achieves solution of the optimal control problem for electropneumatic robots. Social implications The use of electropneumatic actuation in robots exhibits certain advantages. These can be the improved weight-to-power ratio, the lower mechanical impedance and the avoidance of overheating. At the same time, precise positioning and accurate execution of tasks by electropneumatic robots requires the application of elaborated nonlinear control methods. In this paper, a new nonlinear optimal control method has been developed for electropneumatically actuated robots and has been specifically applied to the dynamic model of a two-link robotic exoskeleton. The benefit from using this paper’s results in industrial and biomedical applications is apparent. Originality/value A comparison of the proposed nonlinear optimal (H-infinity) control method against other linear and nonlinear control schemes for electropneumatically actuated robots shows the following: (1) Unlike global linearization-based control approaches, such as Lie algebra-based control and differential flatness theory-based control, the optimal control approach does not rely on complicated transformations (diffeomorphisms) of the system’s state variables. Besides, the computed control inputs are applied directly on the initial nonlinear model of the electropneumatic robot and not on its linearized equivalent. The inverse transformations which are met in global linearization-based control are avoided and consequently one does not come against the related singularity problems. (2) Unlike model predictive control (MPC) and NMPC, the proposed control method is of proven global stability. It is known that MPC is a linear control approach that if applied to the nonlinear dynamics of the electropneumatic robot, the stability of the control loop will be lost. Besides, in NMPC the convergence of its iterative search for an optimum depends on initialization and parameter values selection and consequently the global stability of this control method cannot be always assured. (3) Unlike sliding-mode control and backstepping control, the proposed optimal control method does not require the state-space description of the system to be found in a specific form. About sliding-mode control, it is known that when the controlled system is not found in the input-output linearized form the definition of the sliding surface can be an intuitive procedure. About backstepping control, it is known that it cannot be directly applied to a dynamical system if the related state-space model is not found in the triangular (backstepping integral) form. (4) Unlike PID control, the proposed nonlinear optimal control method is of proven global stability, the selection of the controller’s parameters does not rely on a heuristic tuning procedure, and the stability of the control loop is assured in the case of changes of operating points. (5) Unlike multiple local models-based control, the nonlinear optimal control method uses only one linearization point and needs the solution of only one Riccati equation so as to compute the stabilizing feedback gains of the controller. Consequently, in terms of computation load the proposed control method for the electropneumatic actuator’s dynamics is much more efficient.

A switching state-space transmission model for tracking epidemics and assessing interventions

The effective control of infectious diseases relies on accurate assessment of the impact of interventions, which is often hindered by the complex dynamics of the spread of disease. A Beta-Dirichlet switching state-space transmission model is proposed to track underlying dynamics of disease and evaluate the effectiveness of interventions simultaneously. As time evolves, the switching mechanism introduced in the susceptible-exposed-infected-recovered (SEIR) model is able to capture the timing and magnitude of changes in the transmission rate due to the effectiveness of control measures. The implementation of this model is based on a particle Markov Chain Monte Carlo algorithm, which can estimate the time evolution of SEIR states, switching states, and high-dimensional parameters efficiently. The efficacy of the proposed model and estimation procedure are demonstrated through simulation studies. With a real-world application to British Columbia's COVID-19 outbreak, the proposed switching state-space transmission model quantifies the reduction of transmission rate following interventions. The proposed model provides a promising tool to inform public health policies aimed at studying the underlying dynamics and evaluating the effectiveness of interventions during the spread of the disease.

Dynamic hierarchical state space forecasting.

In this paper, we aim to both borrow information from existing units and incorporate the target unit's history data in time series forecasting. We consider a situation when we have time series data from multiple units that share similar patterns when aligned in terms of an internal time. The internal time is defined as an index according to evolving features of interest. When mapped back to the calendar time, these time series can span different time intervals that can include the future calendar time of the targeted unit, over which we can borrow the information from other units in forecasting the targeted unit. We first build a hierarchical state space model for the multiple time series data in terms of the internal time, where the shared components capture the similarities among different units while allowing for unit-specific deviations. A conditional state space model is then constructed to incorporate the information of existing units as the prior information in forecasting the targeted unit. By running the Kalman filtering based on the conditional state space model on the targeted unit, we incorporate both the information from the other units and the history of the targeted unit. The forecasts are then transformed from internal time back into calendar time for ease of interpretation. A simulation study is conducted to evaluate the finite sample performance. Forecasting state-level new COVID-19 cases in United States is used for illustration.

Contingency detection in modern power systems: A stochastic hybrid system method

This paper introduces a new stochastic hybrid system (SHS) framework for contingency detection in modern power systems (MPS). The framework uses stochastic hybrid system representations in state space models to expand and facilitate capability of contingency detection. In typical microgrids (MGs), buses may contain various synchronous generators, renewable generators, controllable loads, battery systems, regular loads, etc. For development of SHS models in power systems, this paper introduces the concept of dynamic and non-dynamic buses. By converting a physical power grid into a virtual linearized state space model and representing contingencies as random switching of system structures and parameters, this paper formulates the contingency detection problem as a joint estimation problem of discrete event and continuous states in stochastic hybrid systems. This method offers unique advantages, including using common measurement signals on voltage and current synchrophasors to detect different types and locations of contingencies, avoiding expensive local direct fault measurements and detecting certain contingencies that cannot be directly measured. The method employs a small and suitably-designed probing signal to sustain the ability of persistent contingency detection. Joint estimation algorithms are presented with their proven convergence and reliability properties. Examples that use an IEEE 5-Bus system demonstrate the main ideas and derivation steps. Simulation case studies on an IEEE 33-Bus system are used for detecting transmission line faults and sensor interruptions.

Tale About Inflation Tails

We study probabilities of extreme inflation events in the Unites States and the euro area. Using a state-space model that incorporates information from a large set of professional forecasters, we generate the term structure of inflation forecasts as well as probabilities of future inflation for any range of inflation outcomes in closed form at any horizon. Since the onset of the COVID-19 pandemic, inflation expectations increased materially amid heightened uncertainty about future inflation. Likelihood of significant departures of inflation targets in the longer term reached about 15 percent in the middle of 2022, increasing from near zero levels in 2020. Such an increase in the right tail of the probability distribution over future inflation outcomes drives an increase in inflation expectations and inflation risk premiums. Several popular external uncertainty measures are associated with variation in tail probabilities.

Automatic mass balancing of spacecraft attitude simulators by optimal feedback control

There is an increasing interest in development of spacecraft attitude simulators. A necessary and challenging task in preparation for any attitude control experiment is to remove the gravitational disturbances on the simulator by a mass balancing system which relocates the center of mass to coincide with the center of rotation. This research is aimed at filling a substantial gap in the literature by presenting a methodical framework for analysis and design of closed-loop automatic mass balancing systems. In this regard, a state-space representation for imbalanced dynamics of attitude simulators is derived to enable the application of modern control techniques to the problem which will be shown to be very effective in achieving an accurate balancing. The model is further enhanced by state augmentation and incremental control input to address the practical requirements for an efficient balancing strategy. Next, an optimal feedback control is designed on the enhanced dynamics model to minimize the rotational kinetic energy and leveling accuracy as key performance measures of the problem. The simulation results and comparative evaluations with a previously validated method verified that the proposed modeling and control approach is effective in achieving an accurate mass balancing while providing a convenient and methodical analysis and design procedure.

Bayesian Filtering for High-Dimensional State-Space Models With State Partition and Error Compensation

Bayesian Filtering for High-Dimensional State-Space Models With State Partition and Error Compensation

Harmonic State-Space Modeling and Closed-Loop Control of Single-Stage High-Frequency Isolated DC–AC Converter

The port harmonic features of the single-phase single-stage high-frequency isolated dc-ac converter is not analyzed so far and the corresponding theoretical basis for improving the current quality is still a research gap. In this paper, a linear model in frequency domain of the single-stage high-frequency isolated dc-ac converter is originally derived based on the combined harmonic state space and extended description function modeling technique. The systematic modeling process is analyzed and the accuracy of the modeling is verified by the simulation results. Combined with the model analysis, the harmonic coupling characteristics between the ac side and the dc side are clearly presented. On this basis, this paper proposes a closed-loop control strategy to reduce the decrease of the dc-side and ac-side current quality caused by the harmonic coupling at the control level. Furthermore, this paper constructs the compound controllers based on the P-type iterative learning to suppress the harmonic currents of the dc side and the ac side, respectively. The composite controller does not distinguish the harmonic frequency. Hence, the proposed controller achieves the effective suppression of the harmonic currents in real time. The effectiveness and feasibility of the proposed control strategy are verified by the experiments.

Method to determine instantaneous transient responses in pressurized pipes from transfer functions and state space for evaluation of leak signals

This article addresses the impact of transient pressure anomalies in hydraulic systems, triggered by the opening or closing of valves or pumps, instantly disturbing the line of hydraulic gradient (LGH). This variation in pressure has significant consequences both in hydraulic and structural terms for water networks. Most of the existing techniques to detect transients in water distribution systems use asynchronous methods, generating timeless information that limits the response capacity in critical situations. Therefore, an automatic transient detection system based on the Internet of Things (IoT) is proposed, capable of identifying overpressure or underpressure pulses in soft real-time, activating alarms to facilitate decision-making. This approach helps maintain the safety of the water distribution system and prevent leaks in the network. Furthermore, a model of the transient behavior of pressure and flow is presented by linearizing the water hammer equations from the Laplace transform, thus generating a transfer function that describes the algebraic relationship between the outlet and inlet of the hydraulic system.•The transient analysis of the hydraulic system prototype underscores its high sensitivity to initial conditions, attributed to turbulence. This observation suggests the possible presence of a dynamic strange attractor related to water hammer phenomena in pressure pipes.•The methodology involving transfer functions and state-space models enables the assessment of how leaks impact the transient responses of the system, including the magnitude, duration, and frequency of disturbances generated by them.•The proposed method introduces a dynamic transfer function capable of identifying instantaneous changes over time in terms of flow and pressure.

Nonlinear optimal control for triangular tethered multi-satellite formations

Triangular satellite constellations are created by three satellites which are linked through tethers. Such formations serve distributed observation space missions or the creation of high-density satellite communication networks over high-frequency bands. In a tethered multi-satellite system consisting of three-satellites in triangular formation the associated dynamic model exhibits strong nonlinearities. Stabilization and precise positioning of the multi-satellite constellation is a nontrivial task and the solution of the associated nonlinear control problem is an elaborated procedure. In this article a novel nonlinear optimal control method is applied to the above-noted model the tethered multi-satellite system in triangular formation. First, the state-space model of the triangular tethered multi-satellite formation undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method. The linearization relies on Taylor series expansion and on the associated Jacobian matrices. For the linearized state-space model of the tethered satellites a stabilizing optimal (H-infinity) feedback controller is designed. This controller stands for the solution of the nonlinear optimal control problem under model uncertainty and external perturbations. To compute the controller’s feedback gains an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm. The stability properties of the control method are proven through Lyapunov analysis. The proposed nonlinear optimal control approach achieves fast and accurate tracking of setpoints under moderate variations of the control inputs and a minimum dispersion of energy when changing the position of the satellites in their triangular tethered formation.