Renewable Energy 35 (2010) 2071e2079

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Renewable Energy
journal homepage: www.elsevier.com/locate/renene

Application of multi-model control with fuzzy switching to a micro

hydro-electrical power plant
Issam Salhi a, *, Saïd Doubabi a, Najib Essounbouli b, Abdelaziz Hamzaoui b
a
Laboratory of Electric Systems and Telecommunications (LEST), Faculty of Sciences and Technologies of Marrakesh, Cadi Ayyad University, BP 549,
Av Abdelkarim Elkhattabi, Gueliz, Marrakesh, Morocco
b
CReSTIC, Reims University, 9, rue de Québec B.P. 396, F-10026 Troyes cedex, France

a r t i c l e i n f o a b s t r a c t

Article history: Modelling hydraulic turbine generating systems is not an easy task because they are non-linear and
Received 5 June 2009 uncertain where the operating points are time varying. One way to overcome this problem is to use
Accepted 9 February 2010 TakagieSugeno (TS) models, which offer the possibility to apply some tools from linear control theory,
Available online 12 March 2010
whereas those models are composed of linear models connected by a fuzzy activation function. This
paper presents an approach to model and control a micro hydro power plant considered as a non-linear
Keywords:
system using TS fuzzy systems. A TS fuzzy system with local models is used to obtain a global model of
Renewable energy
the studied plant. Then, to combine efficiency and simplicity of design, PI controllers are synthesised for
Micro hydro power plant
TakagieSugeno fuzzy inference system
each considered operating point to be used as conclusion of an electrical load TS Fuzzy controller. The
modelling latter ensures the global stability and desired performance despite the change of operating point. The
Multi-model control proposed approach (model and controller) is tested on a laboratory prototype, where the obtained
results show their efficiency and their capability to ensure good performance despite the non-linear
nature of the plant.
Ó 2010 Elsevier Ltd. All rights reserved.

1. Introduction Good electrical energy quality must be upheld through main-

The global demand for clean energy continues to grow as indi-
cated by the increase in distributed generation technologies and
adoption of renewable energy resources. The extensive use of such
energy sources is necessary to minimise the threat of global
warming and climate change [1]. For example, micro hydro-elec-
trical energy is considered as one of the most powerful renewable
energy. It is produced by converting the potential energy of river
water to kinetic energy via a turbine, and then to an electrical
energy via a generator. It represents a good solution for remote
communities that are far from grid networks, where the use of long
transmission lines is prohibitively expensive because of the low
population density (less than a few hundreds persons). This
renewable energy source is considered as the earliest small scale
renewable energy technology to be developed and has the potential
to produce an important portion of power and is more reliable than
solar or wind power, particularly if used in the right type of site.
* Corresponding author. Tel.: þ212 660 642 116; fax: þ212 524 433 170.
E-mail addresses: isalhi@yahoo.fr (I. Salhi), doubabi@fstg-marrakech.ac.ma
(S. Doubabi), najib.essounbouli@univ-reims.fr (N. Essounbouli), abdelaziz.
hamzaoui@univ-reims.fr (A. Hamzaoui).
taining an uninterrupted power at a particular rated frequency and
voltage for directly powering loads. Hence, voltage is regulated by
controlling the generator excitation and the frequency by elimi-
nating the difference between generation and load demand. In the
latter case, controlling water flow through the action of a water
regulating device on the turbine can be achieved using a classical
servomotor [2e4]. However, this solution cannot ensure good
performances when the load variation is large, which can lead to
instability. These problems can be overcome using an “Electrical
load Controller” (ELC), as mentioned by Henderson in [5]. The main
idea of this approach is to keep the produced energy constant.
According to the user consumption, a ballast load is adjusted to
stabilise the frequency as presented in Fig. 1 [6,7].
Also, the hydro turbine features vary significantly with water flow
and the unpredictable variation of the user load. Therefore, the ELC
should be designed to work at any operating point, according to the
quantity of water available and the users load variation. The design of
an adequate controller that allows obtaining the desired perfor-
mance requires a good analysis of the dynamic behaviour of micro
hydro power plants (MHPP). To achieve this, it is necessary to develop
an accurate model for describing the process. Analytical models are
attractive since they provide a fundamental understanding of the
relationships between the various input and output parameters.

0960-1481/$ e see front matter Ó 2010 Elsevier Ltd. All rights reserved.
doi:10.1016/j.renene.2010.02.008
2072 I. Salhi et al. / Renewable Energy 35 (2010) 2071e2079
Fig. 1. Electrical load controller principle.
Because of its complexity and high degree of non-linearity, it is very
difficult to obtain an accurate model for MHPP. To resolve this
problem, the system could be identified around given operating
points using classical methods [8,9]. However the constructed model
would be closed depending on the considered operating point.
An alternative method, the so-called TakagieSugeno (TS) type
fuzzy models has been widely used to represent or approximate
complex and non-linear systems. This fuzzy model is described by
a family of fuzzy IF-THEN rules where each one represents a local
linear inputeoutput relation of the system. The overall fuzzy model
is achieved by smoothly blending these local linear models
together through the fuzzy membership functions as presented in
Fig. 2. Consequently, conventional linear system theories can be
applied for the synthesis of the global controller.
Based on the linear TS fuzzy model, the fruitful linear system
theory can be applied to the analysis and controller synthesis of the
non-linear system [10]. Recently, the stability issue of fuzzy control
systems has been extensively investigated using linear matrix
inequality techniques [11e13]. The main idea is to use feedback
control law for each local model and the feedback gains are deter-
mined using the linear matrix inequality theory. However, these
approaches suffer from long computation time, the complexity of
the design procedure and non-optimal calculated gains. Another
idea is to synthesise a local controller for each operating point and
use a TS fuzzy system to switch between the local controllers
according to the position of the system in the state space. Hence
Essounbouli et al. have proposed [14] a hybrid control scheme based
on a fuzzy supervisor which manages the combination of controllers
of two types: with sliding mode control (SMC) and HN control. A
Fig. 2. Structure of TS fuzzy model.
convex formulation of the two controllers leads to a structure which
benefits from the advantages of both controllers to ensure a good
tracking performance in both the transient state (SMC) and the
steady state (HN), to provide a fast dynamic response to enlarge the
stability limits of the system, and to efficiently reduce the chattering
phenomena induced by the SMC. Based on the fact that proportional
integral (PI) controllers give good trade-off between implementa-
tion cost and good tracking performance, this paper proposes to use
them as local controllers.
In this paper, the problem of maintaining the frequency of MHPP
constant is analysed. The paper presents a control system that is
suitable for turbine systems with both manual flow control and
synchronous generators, especially permanent magnet machines
which have no automatic voltage regulator. This work was motivated
by problems encountered during the development of an ELC for
a MHPP without a water flow governor. A simple manual gate allows
adjusting the water flow by following the quantity existing in the
river. The hydro turbine characteristics vary significantly with the
unpredictable load on it, as well as the water flow which was
explained previously. This presents a difficulty to designing an effi-
cient and reliable controller knowing that, large load variation in the
power system will be taken into account in this paper. From the
perspective of the control, the micro hydro generating unit can be
modelled as a system with two inputs and one output (2  1). The two
inputs are wicket gate position and the electrical power consumed by
users load and the output is the frequency of the voltage waveform.
In this work, a TS fuzzy model is proposed to represent a MHPP
prototype for all operating conditions. Some simple linear models
for several operating points based on prototype characteristics
were identified and were used to build the TS fuzzy model. The
developed TS fuzzy model was experimentally validated, taking
into consideration various working conditions (different water flow
and user load variations). The application of fuzzy modelling
provides good estimation of the prototype behaviour for all oper-
ating points including large variation of users load. Inspired by the
work presented in [14], a TS fuzzy controller is proposed, in order to
regulate the output of the MHPP prototype for all operating
conditions, where the final part is composed by local PI controllers.
Being suitable for non-linear and time varying systems, this tech-
nique is used to adjust the gains of the PI controller for each
operating point through a multi-model control fuzzy switching.
Gain values of the PI controller for each operating point were
obtained using the root locus method prior to optimisation.
The rest of this paper is structured as follows: a description of
the experimental setup component is given in Section 2. In Section
Fig. 3. Experimental setup.
 I. Salhi et al. / Renewable Energy 35 (2010) 2071e2079 2073

Fig. 4. The functional plan of the installation.

3, the plant model is described. Linearised dynamics for both
a micro hydroelectric power plant prototype and an electrical
actuator are given in Sections 3.1 and 3.3 respectively. The
frequency control synthesis is described in Section 4. Examples of
TS fuzzy controller implementation are given in Section 5. Finally,
a conclusion is given in Section 6.
2. Description of the experimental setup used
In this paper, the MHPP prototype shown in Fig. 3 is used to
carry out the experimental studies. This prototype (producing
a Voltage: 220 V.
200 W) consists of a Pelton turbine, a synchronous machine
generator (single phase, Permanent Magnet, two poles) that feeds
a load formed by six lamps, and a frequency sensor with no water
governor but only a manual gate opening. The latter allows water
flow to be varied and hence to simulate the change of the river flow.
The DSPACEÓ control development using a DSPACEÓ 1104 board
connected to a personal computer is used in order to validate our
simulation results.
The installation allows variable water flow (between 0 and 20 l/s).
The nominal values of the system parameters are:
Electric power: 200 W.
Frequency: 50 Hz.
Flow: 6.5 l/s
Overspeed: 1400 rpm.
Runner diameter: 21 cm.

To simulate the real situation where a MHPP operates with

random and unpredictable steps on the users load, six lamps with
different powers are used (one lamp that consumes 60 W, one that
consumes 40 W and 4 others that consume 25 W). The functional
plan of the experimental setup is given by Fig. 4.

3. System modelling

b 3.1. The linear MHPP model

The power system's dynamic response can be represented by

different types of models, which are required for several
purposes such as the study of low frequency oscillations,
islanding and isolated operation, system restoration following
a break-up, load acceptance and water-hammer dynamics in

Fig. 5. Generating set response to load rejections, for different operating points (a: 60%
of the maximal wicket gate opening and b: 100% of the maximal wicket gate opening). Fig. 6. Simplified representation of the power plant at each operating point.
2074 I. Salhi et al. / Renewable Energy 35 (2010) 2071e2079

Table 1
First order model parameters for ten operating points based on gate position and
load variation.

Wicket gate opening Coefficients Load variation

12.5% 26% 43%

T1: 1 pu Ks 0.22 0.244 0.252
Ts 0.46 0.48 0.46

T2: 0.75 pu Coefficients Load variation Fig. 9. TS Fuzzy model of MHPP.

16% 30% 37%
Ks 0.26 0.266 0.285
where the gain and time constant change according to both load
Ts 0.5 0.5 0.55
consumption variation (DPe ¼ Pn  Pe) and gate position (X).
T3: 0.5 pu Coefficients Load variation
The hydroelectric generating system is a complex non-linear
28% 44% 56%
Ks 0.4 0.44 0.47 system. However, for each operating point (“X” and “DPe”) the plant
Ts 0.8 0.8 0.8 can be represented by a first order system as shown in Fig. 6, where Pn
T4: 0.25 pu Coefficients Load variation
is the power level, based on the gate position as mentioned previously.
50% The model presented here is based on a relatively simple linear
Ks 0.57 model, which is sufficient to represent the significant dynamics of
Ts 0.9 the prototype response around each operating point. The transfer
function coefficients Ks and Ts are recalculated based on the
prototype response for some operating points. The measured input
penstock. The approximation of a high order system by one of and output data were loaded into the System Identification Toolbox
a lower order is highly advantageous as it reduces the compu- of MatlabÓ environment (using ident) in order to identify the
tation time of the transient response and thus useful for the transfer function coefficients. The system identification provided
controller design and control system analysis. The cost and using MatlabÓ allows the building of mathematical models of
complexity of the controller increase in direct proportion to the a dynamic system based on measured data.
system's order. The coefficients Ks and Ts were computed using the measured
Using the prototype described previously, some tests were data obtained for different gate positions and different load varia-
needed to give a general idea about the influence of the different tions. Table 1 gives the identified coefficients of the first order
inputs (user load consumption, position of gate opening) on the transfer function for four gate positions (T1eT4 of Table 1) and
behaviour of the plant output, also to evaluate the simplest repre- different load variations. With the combination of the four power
sentation that should be associated to the plant. Each gate position levels based on gate position and different disturbances based on
(water flow) produces a nominal power Pn. For some positions of variation of the network load, ten different operating points were
the wicket gate opening, some discharges and/or overload on the considered. From Table 1, the non-linear evolution of the coeffi-
electrical consumption (noted Pe) were made. cients Ks and Ts can be remarked, which confirms that it is impos-
Fig. 5 shows the measured data for two gate positions. sible to represent the MHPP by the same first order model for all the
Discharges were applied at the instant t ¼ 4 s, followed by their operating point range. To overcome this problem, a TakagieSugeno
associated overload after 10 s. As can be seen, in each case, the fuzzy system is proposed to be used in order to obtain a global
obtained response is similar to that of a first order system response model of the MHPP.

Fig. 7. Generated membership functions for wicket gate position.

Fig. 8. Generated membership functions for variation in the electrical power consumption.
 I. Salhi et al. / Renewable Energy 35 (2010) 2071e2079 2075

a still an opportunity to develop such models reliably [15]. Fuzzy

b is built from obtained parameters of a linear model for some
Fig. 10. Validation of the constructed model for different steps in load consumption at
two gate positions (a: 60% of the maximal wicket gate opening and b: 100% of the
maximal wicket gate opening).
3.2. TakagieSugeno fuzzy model
In the last decade, the application of artificial intelligence in
modelling to other scientific and engineering disciplines has been
successfully explored. In the case of hydro power plants there is
modelling is supposed adequate for situations where there is
a large uncertainty or unknown variation in plant parameters.
The TakagieSugeno (TS) fuzzy model is a notable way to describe
a non-linear dynamic system using local linear models. It has
been employed successfully for solving modelling problems in
practice such as in [16e19]. Further details are available in
[20,21].
In this paper, the TS fuzzy systems approach is introduced to
develop explicit models to capture the fuzzy and the non-linear
relationships between the plant's two inputs (variation of the
electrical consumption, gate position) and the output (frequency of
the voltage waveform). A TS fuzzy model using fuzzy ifethen rules
operating points.
Fig. 7 shows the four generated membership functions cor-
responding to the process parameter (x1) characterising gate
positions. The generated membership functions corresponding to
the fuzzy sets of the process parameter (x2) for the quality
characterising variation of the electrical consumption are shown
in Fig. 8. The positive values of the process parameter x2 (which
represent the case of overload) and the negative values (repre-
senting the case of discharge) are taken into consideration. Using
the fuzzy rules, the appropriate TS fuzzy model's output
(frequency) is estimated according to the associated linear model.
Fig. 9 shows the used simulinkÓ block to represent the studied
MHPP.
The application of fuzzy modelling provides a good estimation
of the prototype behaviour for all combinations of turbine charac-
teristics and consumption variations. This implies that for any gate
level and any applied load variation, the TS fuzzy model approxi-
mates the appropriate linear model of the system. The TS fuzzy
inference engine combines the local linear models according to
input vectors in order to find a proper model of the system capable
of generating the appropriate output.

a b

Fig. 11. The error absolute value for validation of the proposed model at each gate position a and b.
2076 I. Salhi et al. / Renewable Energy 35 (2010) 2071e2079
Fig. 12. Block diagram used to identify the actuator.
An on-line test was performed on the studied prototype in
order to validate the proposed TS fuzzy model. The DSPACEÓ
control development with a DSPACEÓ 1104 board connected to
a personal computer is used. Fig. 10 shows the prototype
responses (solid lines) for different discharges and overloads of the
load consumption for two different operating points. The
discharges were applied at the instant t ¼ 4 s and their appropriate
overloads at the instant t ¼ 14 s. Dashed lines represent the TS
fuzzy model responses. It can be seen that the simulation results
and the experimental ones are in close accord, confirming the
good approximation of the identified TS fuzzy model. This result is
also verified by Fig. 11, which shows the absolute value of the
calculated error between experimental and simulation results. It
can be seen from the figure that the error is small, remaining
under 3  102 (pu) and thus confirming the pertinence of the
identified TS fuzzy model.
3.3. Identification of the used actuator
The actuator in the proposed control scheme must compensate
the disconnected consumption of the electrical power. An Analogue
Power Controller (APC) connected to a ballast load was chosen as an
actuator. When the APC is excited by the control signal (U), it
dissipates some electrical power (Pd) in the ballast load according to
the control's value. To identify its transfer function (G(p)), the
scheme in Fig. 12 was used, where S(p) represents the detailed
model of the hydroelectric plant.
The APC was excited by changing control output value and this
was done for several operating points. The responses obtained led
to identification of the transfer function G(p) as the following
second-degree transfer function:
83:03
GðpÞ ¼
p2 þ 7:9p þ 62:41
Fig. 13. Output frequency of the power system using the APC.
Fig. 14. Block diagram of the hydroelectric unit closed-loop.
Fig. 13 shows the curves obtained from both the simulated and
experimentally measured results.
4. Electrical load PI controller and local stability analysis
As mentioned in Section 2, micro hydro power is emerging as
a major contributor of electrical energy. Therefore, its control
process is becoming very important. Moreover equipment tear as
well as generation and operation costs can be reduced by using
a sufficient control strategy.
In addition, optimum adjustment of PI controller is vital to
ensure the stability and satisfactory transient behaviour of the
MHPP. The controller gain Kc must be chosen such that a good
shape of the transient response is obtained. It cannot be too high,
otherwise instability may result. Although various techniques,
mostly based on trial-and-error approaches, have been addressed
to choose the integration time Ti, there is no guarantee to achieve
the most desirable response, especially when the parameters of
the system change. A frequency domain method to determine the
optimum values for the parameters of PID controller is presented
in [22]. Another method based on gain scheduling is proposed in
[23].
In this paper, coefficients (Kc and Ti) of PI controller for distur-
bance attenuation were first obtained according to Routh table
conditions and then optimised using MatlabÓ 7.1-SimulinkÓ soft-
ware. The control law for a PI controller is given by the following
expression:
Z
Kp
ui ¼ Kc ei þ e dt (2)
Ti i
where ei is the tracking error. The controller transfer function is
given as:
(1) Kc ð1 þ Ti pÞ
CðpÞ ¼ (3)
Ti p
 I. Salhi et al. / Renewable Energy 35 (2010) 2071e2079 2077

Table 2 5. Electrical load TS fuzzy controller and global stability

PI controller parameters for T1 gate position. analysis
Gate position Coefficients Load variation

12.5% 30% 42.5%

The hydroelectric generating system is complex and non-
linear, therefore fixed control structure and preset controller
T1: 1 pu Kcmax 1.06 0.98 0.93
Timin 0.286 0.291 0.286 parameters are not suitable for it [15]. To overcome this problem,
this paper proposes an electrical load based TS fuzzy controller to
regulate the output of the MHPP prototype for all operating
The method used readily handles a detailed model of the conditions. This technique is suitable for non-linear and time
hydroelectric plant S(p) and of the APC. The plant component varying systems, and is used to adjust the gains of the PI
transfer functions GðpÞ ¼ Kg $u2 =ðu2 þ 2$x$up þ p2 Þ and S(p) are controller according to each operating point through a multi-
known, and the controller transfer function C(p) is to be model control fuzzy switching. The global stability of the system
determined. governed by the Electrical load TS Fuzzy controller is proven
The power plant unit in closed-loop is represented by the block based on Wong et al.'s theorem [14,24,25]. Fig. 15 shows the used
diagram in Fig. 14 and the closed-loop transfer function repre- MatlabÓ/SimulinkÓ diagram representing the MHPP model and
senting the dynamics of users load variation dependent frequency the electrical load TS fuzzy controller, where Pd is the dissipated
is given by: power on the Ballast load.


 2x 1
Ks Ti p 1 þ p þ 2 p2
u u
HðpÞ ¼ 2$T $x    (4)
Ti $Ts 4 s 1 3 2$Ti $x  
p þ Ti þ 2 p þ Ti þ Ts p2 þ Ti Kc $Kg $Ks þ 1 p þ Kc $Kg $Ks
2 u u u u

The following conditions that must be satisfied to guarantee the The electrical load TS fuzzy controller obtained was tested
stability of the system, were obtained using the Routh table: experimentally on the studied prototype in order to assess its
ability to keep the frequency on its steady state value, as well as to
8 Ti _0 ; Kc _0 prove the capability of the controller to keep good system
>
> 2x þ 4x Ts u þ 2xTs2 u2
2
behaviour for both, small and large load rejections. The resulting
>
< Kc 3 ¼ Kcmax
Ts uKg Ks frequency versus time plots for different load variations and two
>
> Kg Ks Kc ð1 þ 2xTs uÞ
2 different gate positions are given in Fig. 16. This figure shows the
>
: Ti _    ¼ Timin results for four different variations on electrical consumption
u 1 þ Kg Ks Kc 2x þ 4x2 Ts u þ 2xTs2 u2  Ts uKg Ks Kc (20% and 50%; discharge and overload for each). Solid lines
(5) represent experimental responses and dashed lines, the simula-
tion results. As can be seen, the stabilising time is less than 2 s,
For given gate positions (T1), Table 2 provides the critical coeffi- and the desired frequency of 50 Hz is attained. Hence, the
cients of the PI controllers. In this work, it is assumed that the user controller is able to maintain the frequency at the desired value.
load variations are not measured, which means that the controller Furthermore, it is clearly seen from the figure that the simulation
parameters would not vary according to these variations. For the results are close to those obtained experimentally. The frequency
position (T1), the optimised PI gain and integral time were taken can be seen to rise above 55.65 Hz (1.113 pu) at its peak. The time
as Kc ¼ 0.6 and Ti ¼ 0.4. The evolution of frequency versus time is to return within the dead band (the return time) is in the order of
shown in Fig. 16-b. Experimental results are represented by a solid 1.32 s and the time to return to its steady state value is in the
line and simulation results by a dashed line. order of 1.63 s.

Fig. 15. Power plant control using a TS fuzzy controller.

2078 I. Salhi et al. / Renewable Energy 35 (2010) 2071e2079
a 6. Conclusion and scope for future work
b controller based on several PI controllers can efficiently control the
Fig. 16. Unit frequency response to step load disturbance using TS Fuzzy controller for
two different gate position. (a: 60% of the maximal wicket gate opening and b: 100% of
the maximal wicket gate opening).
a on the load demand, since the ELC wastes precious energy that
b September 1998;13(3):300e4.
Fig. 17. Square error between the measurement and simulation results at each
operating point.
Fig. 17 shows the calculated absolute value of the discrepancy
between experimental and simulation results. It is observed that
the discrepancy is small, and for the transient dynamic it does not
exceed 5  102 (pu). Thus, the pertinence of the electrical load
multi-model control with TS fuzzy switching is confirmed.
This paper presents an application of multi-model control with
TS fuzzy switching to a micro hydroelectric power plant under
random user load variation. The studied system was a laboratory
prototype, which was identified on some local operating points.
Thereby, a TS fuzzy model was built based on the identified local
linear models, in order to represent the studied system. A
comparison of the behaviour of both the TS fuzzy model and
experimental setup, demonstrates the pertinence of the proposed
model. The insignificant discrepancy between the simulated and
experimental results for both the cases of open and close loop,
presents a successfully solution using a TS fuzzy model. Addition-
ally, this paper illustrates that the proposed electrical load TS fuzzy
hydroelectric power plant system studied. The key features of the
proposed controller are its strong adaptability and robustness. It
shows good performance under different working conditions. Even
for random and large load variations, the controller maintains
satisfactory dynamics and guarantees closed-loop stability for all
operating conditions. The presented control system ensures a high
quality of electrical power and a cost-effective solution for rural
electrification. It can be easily synthesised and installed to
control either micro hydro power plants with manual flow
control or guide vane governors. Furthermore, its cost represents
less than one percent of that of the electro-mechanical equip-
ment (turbineealternator), hence a smaller percentage of the
total budget of the plant is spent.
Our priority for further work is the proposition of a fuzzy
controller that will guarantee a good quality of the generated
power and manage the available water in order to save it depending
could be used gainfully.
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