International Journal of Dynamics and Control

https://doi.org/10.1007/s40435-023-01190-w

Nonlinear optimal control with effective wind speed estimation

for maximum power extraction based on adaptive fuzzy logic
controller and extended Kalman Filter
Mohammed Amin Benmahdjoub1,2 · Abdelkader Mezouar1,2 · Mohamed Ibrahim3,4,5 · Larbi Boumediene1,2 ·
Youcef Saidi1,2 · Meddah Atallah1,2

Received: 30 January 2023 / Revised: 20 March 2023 / Accepted: 6 April 2023

© The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2023

Abstract
This paper aims to improve the efficiency of wind turbines by generating maximum power during partial load operation and
under different wind speed characteristics. In most cases, the optimal control based on the maximum power point tracking
(MPPT) of the wind turbine is used to optimize the effectiveness of the energy capture. In this study, the Tip Speed Ratio
(TSR) method based on PI and adaptive fuzzy logic controllers is performed to apply the MPPT algorithm on a wind turbine
based on a two-mass drive-train. Additionally, the effective wind speed is estimated by using an Extended Kalman Filter
(EKF) based on Backward Euler Approximation (BEA) for continuous state space discretization. In fact, the controllers of
the TSR method are tested based on the estimated wind speed obtained from the EKF output instead of the measurement
obtained from the anemometer. This latter is due to the fact that the anemometer measurements represent the turbulent wind
speed and cannot represent the wind speed upstream of the wind turbine rotor blades. In this paper, the efficiency of EKF is
tested under different wind speed characteristics by varying the mean wind speed and the turbulence intensity. To compare
the results obtained, the covariance and the correlation coefficient are measured each 5 ms to compute the similarity ratio
between the measured and estimated wind speed. Then, the efficiency of TSR controllers on the wind turbine model based
on a two-mass drive-train coupled with a common spring and damper is highlighted. It is found that the computed covariance
and the correlation coefficient demonstrate that the EKF has high accuracy with a 98% similarity between the measured and
estimated wind speeds. Further, the TSR based on adaptive fuzzy logic and PI controllers has an effectiveness to improve the
efficiency of wind turbines by extracting maximum power from the wind energy. However, the comparison results illustrate
that the TSR based on adaptive fuzzy logic controller can capture slightly more wind energy than the other one under different
wind speed characteristics.

Keywords Wind turbines system (WTS) · Variable wind speed (VWS) · Extended Kalman filter (EKF) · Tip speed ratio
(TSR) · Fuzzy logic controller · PI controller

1 Introduction

B Mohammed Amin Benmahdjoub
benmahdjoub.mohammedamin@gmail.com;
mohammedamin.benmahdjoub@univ-saida.dz
1 Laboratory of Electro-Technical Engineering, Tahar Moulay
University of Saida, Saida, Algeria
2 Faculty of Technology, Tahar Moulay University of Saida,
B.P. 138, ENNASR, 20000 Saida, Algeria
3 Department of Electromechanical, Systems and Metal
Engineering, Ghent University, 9000 Ghent, Belgium
4 5
FlandersMake@UGent—Corelab EEDT-MP, 3001 Louvain,
Belgium
Climate change is one of the air pollution effects resulting
from increased emissions of carbon dioxide and polluting
gases in the air [1–3]. In fact, the climate change has an
impact on human and animal health, agriculture and the
ecosystem [4–6]. To this end, heads of state and governments
are encouraging the development of environmentally friendly
products [7–9]. For that, the hybrid-electric system installed
in the transportation tools will be changed to all electrical
Electrical Engineering Department, Kafrelshiekh University,
Kafrelshiekh 33511, Egypt

123

systems and the fossil energy production will be supported
by a green energy production [10–12]. The transition to green
energy could reduce the health effects of air pollution by up
to 80% by 2050 [13, 14]. According to the statistical repre-
sented in global energy review 2021, the renewable energy
resources jumped up to 29% of global electricity generation
in the global countries [15].
Wind energy is a clean source and the most cost-effective
among the renewable resource energies [16–18]. This green
energy is generated by Wind Turbine Systems (WTS) that
generate electricity based on the wind kinetic energy [19, 20].
In fact, the electrical energy produced by WTS has reached
10% of global electricity production by 2020 [21]. The WTS
can be operated at fixed or variable speed wind turbines [22,
23]. The fixed speed wind turbines ensure optimal control at a
given speed, which means that the maximum energy captured
during partial load operation is only achieved at a particular
speed. Otherwise, the variable speed wind turbines ensure
optimal control under different wind speed characteristics,
which means that the maximum energy will be captured from
the wind profile whatever the mean speed and the turbulence
intensity of the wind speed [24, 25]. The maximum aero-
dynamic power extraction can be ensured by controlling the
generator pitch angle of the wind turbine, the generator rotor
speed and the generator torque [26–28]. This optimal control
is directly related to the wind speed measurement.
The optimal control of the WTS requires an accurate mea-
surement of the wind speed to obtain a maximum power
extraction [29, 30]. These measurements can be obtained by
wind speed sensors, such as cup and propeller anemome-
ters [31, 32]. These anemometers are mounted on the turbine
rotor blades, which means that the anemometers measure the
wind speed at a specific point. Due to the tower shadow effect
and the impacts of turbine components on the wind speed
profile, these measurements cannot be considered accurate
measurements at all points of the rotor turbine [33, 34].
For that, several researchers carried out original papers on
sensorless wind turbine control based on wind speed esti-
mation. In [35–38], the wind speed is estimated by using
adaptive neuro-fuzzy methodology, Takagi–Sugeno observer
technique, Standard Gumbel (SG), Modified Gumbel (MG),
Peaks-Over-Threshold (POT) and Independent Storms (IS)
methods. Additionally, the short-term wind speed is pre-
dicted by wavelet transforms and support vector machines
based on genetic algorithms in [39, 40].
The high performance of optimal control also requires
algorithms that must be studied extensively and intensively.
In fact, the algorithm of MPPT attracts the attention of
researchers to optimize energy capture from wind speed pro-
file [41, 42]. This algorithm can be classified into direct and
indirect power controllers (DPC, IPC) [43]. On the one side,
the DPC can directly maximize the electric power without
knowing the WT model and can track the maximum power
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M. A. Benmahdjoub et al.
point based on the power results obtained previously. On the
other side, the IPC maximizes the kinetic wind energy cap-
ture that will be converted to maximal mechanical power.
The MPPT algorithms can be categorized under IPC into
Power Signal Feedback (PSF), Optimal Torque (OT) and Tip-
Speed Ratio [44, 45]. The comparison results between DPC
and IPC controllers illustrate that the DPC takes a long time
to converge compared to the IPC controller and its robust
performance cannot be ensured when there is a fluctuation
around the maximum point tracking [45, 46].
The main contribution of this study is to capture maxi-
mum energy from the wind speed profile during partial load
operation and under different wind speed characteristics. In
this study, the effect of tower shadow is considered and the
wind speed is estimated by EKF based on Backward Euler
Approximation (BEA) for discretization of WTS continuous
state space. Furthermore, indirect power controller based on
TSR method is performed to apply the MPPT algorithm on a
wind turbine model based on a two-mass drive-train. To this
end, conventional PI and intelligent fuzzy logic controllers
are used to control the generator speed in TSR method. To
obtain more reliable results, the wind speed profile devel-
oped by Danish RISØ DTU laboratory is used to perform
this simulation. In addition, the simulation is investigated
with a commercial 1.5 MW wind turbine that manufactured
by the China Ming Yang Wind Power (CMYWP).
The remainder of work is organised as follows; in the
beginning, the wind speed profile and the wind turbine mod-
els are detailed in Sec. 2. The model of WT based on EKF is
illustrated in Sec. 3. In the remainder of Sec. 3, the discrete
time state space of WT based on EKF is presented. In Sec. 4,
the nonlinear optimal control with wind speed estimation for
maximum power extraction based on PI and adaptive fuzzy
logic is detailed. The rest of the work illustrates the wind
speed estimation results obtained from EKF under different
wind speed characteristics. In addition, the results obtained
from traditional PI and fuzzy intelligent controllers to capture
the maximum power. Then, the discussion and the compara-
tive results are presented to clarify the effectiveness of each
controller on the power capture. Finally, the global conclu-
sion of this study is made and the parameters of wind turbine
used in this study are presented in the Appendix.
2 Modelling of wind speed profile and wind
turbine
2.1 Wind speed profile modelling
Wind speed can be produced when air moves from high to
low pressure due to atmospheric temperature changes with
altitude [47]. Then, the wind speed is related by the altitude h,
friction velocity f v and length scale l. According to Gryning
Nonlinear optimal control with effective wind speed estimation for maximum power extraction…

20 and the wind speed turbulence intensity.

Wind speed (m/s)
Kv
15 φ(ω) = (4)
|1 + T ω|5/3

10 where K v is related to the variance T .

0 1 2 3 4 5 6
Time (s) 2.2 Wind turbine modelling

Fig. 1 Wind speed profile variation based on second equation The wind turbines capture the wind energy and turn it into
mechanical energy by using the aerodynamic force applied
et al. [48], the wind speed profile can be defined as follows to turbine rotor blades. According to the working concept of
[48]: WTS, the complete model of the wind turbine can be given
through the aerodynamic and mechanical block modelling.
∂ V0 f v, l
= (1)
∂h κl 2.2.1 Aerodynamic block modelling

where V0 is the mean wind speed and κ is the constant of von Wind turbines generate different values of aerodynamic
Karman. power from the captured wind power. The values of aero-
Generally, the wind speed profile can be described by ran- dynamic power can be determined according to the variables
dom variables that represent the mean component of wind and coefficients defined in Eq. (5) [53].
speed V0 , the amplitude Ai , the pulsation ωi and the phase of
each turbulence φi . The wind speed profile can be expressed 1
Paer = C p (λ, β)ρ π R 2 V 3 (5)
by Eq. (2), and can be represented in Fig. 1 according to the 2
stochastic components defined in [49].
where Paer is the aerodynamic power;ρ is the density of air;

n R is the rotor blade diameter and V is the wind speed. The
V (t) = V0 + Ai sin(ωi t + ϕi ) (2) power coefficient C p defined in Eq. (6) refers to the ratio of
i=1 the power captured from the wind turbine relative to the total
power available in the wind. In fact, the power coefficient C p
In fact, the atmospheric pressure increases between the
is defined as function of the tip speed ration λ and the blade
warm and cold air with the altitude. Additionally, the fric-
pitch angles β.
tion velocity decreases at upper altitude, as demonstrated in
[50] by Eq. (3). Thus, the wind speed becomes stronger at ⎧  
⎨ C = c c2 − c β − c exp −c2 + c λ
higher altitudes. Otherwise, a negative relationship between p 1 λi 3 4 λi 6
(6)
⎩ 1 =
λ+0.08β − β 3 +1
the wind speed turbulence ratio and the altitude is demon- 1 0.035
λi
strated in [51], which means that the turbulence of wind speed
decreases with increasing altitude. For that, the wind profile where the coefficients c1 − c6 are defined in the Appendix
expressed by Eq. (2) can be used in the simulation work, but and the TSR λ can be defined as follows [54]:
it is not a real wind speed profile.
  ωr R
h α λ= (7)
f v, l (h) = f v, l 1 − (3) V
hi
where ωr is the turbine speed.
where α represents boundary layer state and h i is the depth Figure 2 represents the power coefficient C p variation in
of atmospheric boundary layer. terms of TSR λ for variable blade pitch angle β. At β = 0◦
To obtain more reliable results, the wind speed profile and λopt = 8.1, the power coefficient C p has a maximum
developed by the Danish RISØ national laboratory for sus- value,C p, max = 0.46, as shown in Fig. 2. In this study, the
tainable energy, released in Denmark, is used to perform our curve obtained at blade pitch angles equal to zero degrees
simulation. Indeed, the model of RISØ wind speed profile is (β = 0◦ ) is chosen to perform our nonlinear optimal control
developed based on Kaimal-spectrum defined in Eq. (4) and based on PI and adaptive fuzzy controllers.
is implemented in MATLAB as a Simulink block [52]. The The aerodynamic torque Taer is generated by the wind
RISØ wind speed block allows us to change the mean wind force applied on the rotor blades, and can be expressed as
speed, the length scale, the rotor diameter of the wind turbine follows [55]:

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 M. A. Benmahdjoub et al.

C p,max be defined as follows [57, 58]:

Power Coefficient (Cp) 0.4

TL S θ̇g
0.3 Ng = = (11)
TH S θ̇ L S
0.2
By assuming that θ̈ L S and θ̈ H S are equal to zero, the
0.1 equivalent model of the drive-train based on a two-mass inter-
connected by a common damping and stiffness, as illustrated
0
0 5 λopt 10 15 20 in Fig. 4, can be defined as follows [57]:
Tip speed ration ( λ ) ⎧
⎪ TH S
⎪
⎪ Jg ω̇g = N − Tg − Dg ωg
Fig. 2 Variation of the power coefficient at different values of blade ⎨ g
pitch angles (12)
⎪
⎪ Jr ω̇r = Taer − TH S − Dr ωr
⎪
⎩
TH S = Deq γ + K eq γ̇
Paer
Taer = (8)
r
where Deq and K eq are the coefficients of the equivalent
damping and stiffness, while Teq represent the equivalent
2.2.2 Mechanical block modelling torque of higher and lower shafts.
With:
In In this study, the model of the wind turbine based on a two- ωg
mass drive-train, as shown in Fig. 3, is detailed to perform ωg = θ̇g ωr = θ̇r and γ̇ = ωr −
Ng
our study. In fact, the mechanical block model of WTS has
aerodynamic and generator reaction forces. The former is
applied on the slow-speed shaft, while the latter is applied
on the high-speed shaft. The general torque formula around
a shaft can be expressed as follows [56]: 3 Wind speed estimation

T = J θ̈ + D θ̇ + K θ (9) Several types of research have been carried out to control

where θ is Azimuth angle.
By applying the formula defined in Eq. (9) to rotating
masses represented in Fig. 3, the mechanical block model of
wind turbine system can be defined as follows:
wind turbines [22, 24, 28]. The control performed in these
works is based on wind speed sensors, such as an anemome-
ter. However, the wind speed sensors give inaccurate and
imprecise measurements due to the following principal rea-
sons:

⎧
⎪
⎪ Taer = Jr θ̈r + D L S θ̇r − θ̇ L S + K L S (θr − θ L S ) + Dr θ̇r • The efficiency of wind speed sensors gradually decreases
⎪
⎪
⎨ −Tg = Jg θ̈g + D over time;
H S θ̇g − θ̇ H S + K H S (θr − θ H S ) + Dg θ̇g
⎪ • The sensors are mounted at a specific point in the turbine
⎪
⎪ −TL S = Jr θ̈ L S + D L S θ̇r − θ̇ L S + K L S (θr − θ L S )
⎪
⎩ rotor. Thus, the measured wind speed, given to control,
TH S = Jg θ̈ H S + D H S θ̇g − θ̇ H S + K H S θg − θ H S
represents the wind speed at this location, not at all points
(10)
of the turbine blades.
where Jr and Jg are the inertia moments of the wind
turbine rotor and the generator, respectively; Tg is the gen- For these reasons, the wind speed in this study will be
erator torque; Dr and Dg are the self-damping of wind estimated by using EKF.
turbine rotor and generator, respectively; (D H S , D L S ) and
(K L S , K L S ) represent respectively the coefficients of damp- 3.1 Wind speed estimation based on EKF
ing and stiffness in high and low speed shaft; θr and θg are the
angular position of the wind turbine rotor and the generator, In this study, the tower shadow effect is taken into account to
respectively. The values of these parameters are defined in obtain more reliable system. In fact, the tower shadow effect
Appendix. can be considered as a fluctuation of rotor blades behind the
By neglecting the gear box inertia and the losses in the tower due to the change in the uniform flow of the wind
drive-train, the gear box ratio of the mechanical model can profile. The model of tower shadow effect can be defined

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Nonlinear optimal control with effective wind speed estimation for maximum power extraction…

Fig. 3 Drive-train of wind turbine

system based on a two-mass β°
Jr

ωr T LS Jg
K LS ωg
THS K HS

T aer D LS Ng
D HS Tg

Dg
Dr

⎧  
β°
⎪
⎨ [w1 ] = wV wV 1 wV 2 T
Jr
 T (17)
⎪
⎩ [w2 ] = wγ wω r wω g wT a
ωr TLS Jg
K eq THS ωg
⎧ ⎡ ⎤
⎪
⎪ 0 1 0
⎪
⎪ ⎢ ⎥
T aer Deq Ng ⎪
⎪ [A 11 ] = ⎣ 0 0 1 ⎦
Tg ⎪
⎪
⎪
⎪ 0 −Nb2 ωr2 −2Nb Dv ωr
⎪
⎪
⎪
⎪ ⎡ ⎤
Dg ⎪
⎪ 0000
⎪
⎪
⎪
⎪ ⎢ ⎥
Dr ⎪
⎪ [A 12 ] = ⎣ 0 0 0 0 ⎦
⎪
⎪
⎪
⎪ 0000
⎪
⎪
Fig. 4 Drive-train based on a two-mass interconnected by a common ⎪
⎨ ⎡ ⎤
damping and stiffness 000
⎪ ⎢ ⎥
⎪
⎪ ⎢0 0 0⎥
⎪
⎪ [A 21 ] = ⎢ ⎥
⎪
⎪ ⎣0 0 0⎦
⎪
⎪
⎪
⎪ 000
based on wind speed as follows: ⎪
⎪
⎪
⎪ ⎡  ⎤
⎪
⎪ 0 1 −1 N g 0
⎧ ⎪
⎪ ⎢     ⎥
⎪
⎪
⎪ V̇ = V1 + wV ⎪
⎪ ⎢ −Deq Jr −K eq Jr +K eq Jr N g 1 Jr ⎥
⎨ ⎪ [A 21 ] = ⎢
⎪
⎪ ⎢ D  J N K  J N −K
⎥
⎥
⎪
⎪ ⎣ Jg N g2 0 ⎦
V̇1 = V2 + wV 1 (13) ⎪
⎩
eq g g eq g g eq
⎪
⎩ 0 0 0 0
V̇ 2 = −Nb2 ωr2 V1 − 2 Nb Dv ωr V2 + wV 2 (18)

where Nb and Dv refer the number of wind turbine blades

and the Damping factor, respectively;V represents the wind The output of wind turbine model based on extended
speed, while V1 and V2 are the first and the second derivative Kalman filter can be defined as follows:
of wind speed V , respectively. Furthermore,wV , wV 1 , wV 2
represent the process noise of V , V1 and V2 , respectively. y = V + vV (19)
Finally, the continuous state space of wind turbine based
on EKF is given by:
where vV represent the measurement noise of the wind speed
      
Ẋ 1 3×1 [A11 ] [A12 ] [X 1 ] [B1 ] [w1 ] V.
  = + Tg + (14)
Ẋ 2 4×1 [A21 ] [A22 ] [X 2 ] [B2 ] [w2 ]

The sub-matrices in Eq. (14) are defined as follows:

3.2 Discretisation of continuous state space
⎧   The discretisation of continuous state space of wind turbine
⎪
⎨ [X 1 ] = V V1 V2 T is required to apply the EKF algorithm. Indeed, the contin-
 T (15)
⎪
⎩ [X 2 ] = γ ωr ωg Taer uous state space of wind turbine model defined in Eq. (14)
with adding the aerodynamic torque as unknown input can
⎧   be written as follows:
⎪
⎨ [B1 ] = 0 0 0 T
 T (16)
⎩ [B2 ] = 0 0 −1 Jg 0
⎪
Ẋ (t) = AX (t) + BU (t) (20)

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 M. A. Benmahdjoub et al.

By multiplying both sides of Eq. (20) by e At , the contin-

uous state space become as follows:

e At Ẋ (t) − Ae At X (t) = Be At U (t) (21)

 
It is clear that e−At X (t)  = e−At Ẋ (t) − Ae−At X (t),
by integrating Eq. (21), the continuous state space of wind
turbine can be expressed as follows:

t
X (t) = e X t0 +
At
Be A(t−τ ) U (τ ) dτ (22)
t0

According to Backward Euler Approximation (BEA), we

assume that there is no variation of the input values between
k Ts and k Ts + Ts , where Ts is the sampling time.
Thus, the discrete state space of wind turbine model can Fig. 5 Extended Kalman filter algorithm
be obtained by replacing t0 and t with kTs and kTs + Ts ,
respectively. Therefore, the discrete model of wind turbine
can be defined as follows: Rk refer the process and the measurement noise covariance
 matrices and can be expressed as follows:
X (k + 1) = Ad X (k) + Bd U (k)
(23) ⎧  
Y (k) = Cd X (k) + Dd U (k) ⎪
⎨ Q k = E wk wkT
  (25)
where ⎪
⎩ Rk = E vk vkT
⎧
⎪
⎪ Ad = e ATs
⎪
⎪ 
⎪
⎨ B = e ATs − I A−1 B The Taylor series expansion is used to perform the lin-
d
(24) earization of the discrete wind turbine model at a particular
⎪
⎪
⎪
⎪ Cd = C prediction input. In fact, the space vector of WTS contains
⎪
⎩
Dd = D more than one variable. For that, the Jacobian matrix of the
state equation J f and the observation equation Jc appeared
and I represent identity matrix. in the two phases of EKF algorithm.

3.3 EKF algorithm

4 Wind turbine control
In this study, the algorithm of EKF is used to estimate directly
the wind speed for wind turbine control. Several researchers The wind turbine is controlled by using the TSR method
have conducted research papers explaining the EKF tech- based on conventional and intelligent controllers to capture
nique and how to apply this technique in the nonlinear system the maximum amount of power available in the wind. For
[59–62]. According to these references, the EKF is a recur- that, the nonlinear optimal control based on PI and adaptive
sive algorithm that contains prediction and correction phases, fuzzy controllers is performed by controlling the speed gen-
as shown in Fig. 5. erator in closed loops to obtain the optimal generator torque.
According to Fig. 5, the EKF algorithm is debuted by The reference of speed generator can be computed based on
initializing the mean state x̂0− and the error covariance P̂0− . the model of wind turbine defined in Eq. (14), as follows:
Then, the prediction phase is handled by using time update
equations appeared in the prediction phase block. In these  
dθg∗ d N TH∗ S
equations, the current state and the error covariance are esti- ωg∗ = = ∗
N θr − (26)
mated. In the next step, the correction phase is performed dt dt Deq + s K eq
by computing the filter gain K and updating the new mea-
surements of the state and the error covariance from time where s is Laplace operator. θr∗ and TH∗ S can be defined as
step K Ts to step K Ts + Ts . In the EKF algorithm, Q k and follows:

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Nonlinear optimal control with effective wind speed estimation for maximum power extraction…

Fig. 6 Schema block for

computational of generator speed
reference

Fig. 7 Wind turbine control by using TSR method based on PI and adaptive fuzzy logic controller

⎧ 
⎨ θ∗ = V λopt
r Ke Inference

Defuzzification
R (27)
Fuzzification

system
⎩ ∗ ∗
TH S = Taer − (Dr + s Jr ) ωr∗ e Ku Tg

de de K Rules
de
dt Base

Based on Eqs. (26) and (27), the reference of generator
speed ωr∗ can be computed by using the schema block illus-
trated in Fig. 6. Indeed, λopt and C p, max values are extracted
from the curve of the power coefficient C p obtained in Fig. 2,
at blade pitch angles equal to zero degrees.
In this study, a comparative study between the perfor-
mance of PI and adaptive fuzzy controllers for maximum
power extraction will be presented. Therefore, the switching
mode will be controlled in the wind turbine control block
diagram, as shown in Fig. 7, to select the type of controller
that we will try to apply. In fact, the two controllers consist of
adjusting the generator torque by maintaining the generator
speed at its reference. In the first mode, the generator speed
is controlled in closed loops by using Proportional Integral
(PI) controller and the reference of generator torque is given
by:
Fig. 8 Block diagram of proposed Fuzzy logic controller
 
 Ki
Td∗ ∗
= ωg − ωg Kp + (28)
s
In the second mode, the generator speed is controlled
by using adaptive fuzzy logic controller with the Mamdani-
fuzzy inference system. For the second controller, the block
diagram presented in Fig. 8 is used to perform the fuzzy con-
troller.
In this study, the proposed fuzzy logic controller has two
inputs and one output. The first input relates to the error
eωg between the generator speed reference and the measured
generator speed, while the second input relates to the deriva-
tive of the error d eωg . The inputs signal can be expressed by

123
 M. A. Benmahdjoub et al.

NL NM NS ZC PS PM PL NL NM NS ZC PS PM PL
1 1

0.8 0.8

0.6 0.6

μde
μe
0.4 0.4

0.2 0.2
0 0
-1 -0.5 0 0.5 1 -1 -0.5 0 0.5 1
Erreur ( e ) Derivative of error ( d e )
(a) (b)

NL NM NS ZC PS PM PL
1
0.8
0.5
0.6
μTg

Tg
0
0.4
0.2 -0.5

0 1
1
-1 -0.5 0 0.5 1 0 0.5
0
-0.5
Torque ( Tg ) de -1 -1 e
(c) (d)

Fig. 9 Linguistic variables of proposed fuzzy controller; a membership of first input; b membership of second input; c membership of output;
d surface generation

Eq. (29). Otherwise, the output represents the variation of the • For the inference system block, the inference Min/Max is
generator torque Td . used to apply the rule base on the fuzzy sets,
• For the Deffuzzification block, the method of centroid is
⎧ ∗
⎨ eωg = ωg − ω̂g used to transform the fuzzy set to a point by computing
 (29) the gravity centre of each fuzzy set.
⎩ d eω = d ω∗ − ω̂g
g
dt g

Figure 8 shows the diagram bloc of proposed fuzzy logic

controller. Indeed, this controller has four main blocks; each
block is developed as follows:
• For the fuzzfication block, the linguistic variables used are
evaluated and fuzzified by triangular Membership Func-
tions (MFs), as shown in Fig. 9. These linguistic variables
are normalized between − 1 and + 1, where K e , K d e and
K u refer to the scaling gains.
The values of each linguistic variable are defined by Neg-
ative Large (NL), Negative Medium (NM), Negative Small
(NS), Close to Zero (ZC), Positive Small (PS), Positive
Medium (PM) and Positive Large (PL).
• For the rules base block, 49 rules are used for performing
the fuzzy controller. These rules are obtained according to
the performance of the controller and defined in Appendix.
5 Simulation results and discussion
To test the efficiency of EKF and proposed MPPT algo-
rithms in estimating effective wind speed and optimizing
the effectiveness of the power capture, respectively, the
MATLAB/Simulink® platform was used to apply these
algorithms. The algorithm of EKF is programmed and imple-
mented in MATLAB function block, while the proposed
MPPT algorithm is developed by using block diagram in
Simulink. The simulation is operated with a fixed time of
0.1 ms that is equal to the sampling time Ts of the discrete
state space of wind turbine based on EKF.
To perform this simulation, the wind speed developed by
Danish RISØ national laboratory is used as an input to the
wind turbine system, as mentioned in the second and fourth
sections. The simulation is performed during partial load
operation and under different RISØ wind speed character-
istics. In fact, the characteristics of RISØ wind speed are

123
Nonlinear optimal control with effective wind speed estimation for maximum power extraction…

Table 1 RISØ wind speed characteristics 5.1 Wind speed estimation results
Simulation case V [m/s] TI
In this study, the RISØ wind speed is estimated by using EKF
Case 1 12 0.10 technique for wind turbine control. The comparison between
12 0.15
the measured wind speed based on the RISØ profile and the
estimated wind speed obtained for each simulation case is
Case 2 14 0.10
evaluated by computing the statistical metrics for each 5 ms.
14 0.15
In fact, the Covariance and the Correlation Coefficient (CC,
ρ) defined in Eq. (30) are used to perform this statistical
analysis [64].
⎧
1 
N
⎪
⎪
⎪
⎪ Cov (A, B) = (Ai − μ A ) (Bi − μ B )
⎪
⎨ N −1
i=1
(30)
⎪
⎪ N 
  
changed by varying the mean wind speed V and turbulence ⎪
⎪ 1 Ai − μ A Bi − μ B
intensity (TI). Thus, the efficiency of the EKF algorithm and ⎩ ρ(A, B) =
⎪
N −1 σA σB
i=1
TSR method based on PI and adaptive fuzzy controllers are
tested by performing two simulation cases, which can be where (μ A , μ B ) and (σ A , σ B ) are the mean and standard
summarized in Table 1. deviation of A and B, respectively.

Vest (TI=0.10) Vest (TI=0.15) Vr (TI=0.1) Vr (TI=0.15)

Wind speed (m/s)

16

14

12

10

8
0 1 2 3 4 5 6
(a) Time (s)

Vest (TI=0.10) Vr (TI=0.1)

Wind speed (m/s)

11.8

11.7

11.6
1 1.005 1.01 1.015 1.02 1.025 1.03

(b) Time (s)

Vest (TI=0.15) Vr (TI=0.15)

Wind speed (m/s)

12

11.9

11.8

11.7
1 1.005 1.01 1.015 1.02 1.025 1.03
(c) Time (s)

Fig. 10 a Wind speed estimation based on EKF at mean wind speed equal to 12 m/s. b Zoom of wind speed estimation based on EKF at V = 12 m/s
and TI = 0.1. c Zoom of wind speed estimation based on EKF at V = 12 m/s and TI = 0.15

123
 M. A. Benmahdjoub et al.

Vest (TI=0.10) Vest (TI=0.15) Vr (TI=0.10) Vr (TI=0.15)

Wind speed (m/s)

16

14

12

10

0 1 2 3 4 5 6
Time (s)
(a)

Vest (TI=0.10) Vr (TI=0.10)

Wind speed (m/s)

15.1

15

14.9

1 1.005 1.01 1.015 1.02 1.025 1.03

Time (s)
(b)

13.5 Vest (TI=0.15) Vr (TI=0.15)

Wind speed (m/s)

13

12.5

12
1 1.005 1.01 1.015 1.02 1.025 1.03

(c) Time (s)

Fig. 11 a Wind speed estimation based on EKF at mean wind speed equal to 14 m/s. b. Zoom of wind speed estimation based on EKF at V = 14 m/s
and TI = 0.1. c. Zoom of wind speed estimation based on EKF at V = 14 m/s and TI = 0.15

The standard deviation of variable X is defined by: Vr under different wind speed characteristics. The difference
 between the estimated and measured signals can be illustrated
" N $
1 # # by computing the covariance and correlation coefficient. In
σX = ! #Xi − μ # 2
(31) fact, these statistical metrics are used to illustrate the relation-
N −1 X
i=1 ship and the dependency between the estimated and RISØ
wind speeds.
Based on the simulation time T = 6 s and the sampling
Figures 12 and 13 represent the results obtained for the
time Ts = 10−4 s, the covariance and correlation coefficient
covariance and the correlation coefficient measured for each
used in this statistical analyse will be computed 1200 times
5 ms between estimated and RISØ wind speeds. The results
(n max = 1200).
obtained in Fig. 12 shows that the covariance measured is
Figures 10a and 11a illustrate the simulation results
positive for each simulation case, which means that a pos-
obtained for the measured wind speed based on RISØ profile
itive relationship is achieved between estimated and RISØ
and the estimated wind speed obtained from EKF under dif-
wind speed curves. Thus, the values of both estimated RISØ
ferent characteristics of wind speed. To clarify these results,
wind speed variables tend to increase or decrease together.
the zoom is used and applied between 1s and 1.03s for each
Otherwise, the results show that the obtained covariance at
signal achieved in the simulation, as shown in Figs. 10b, c
TI = 15% is greater than the other covariance. This reveals
and Fig. 11b, c. It is seen that the estimated wind speed Vest
that the wind speed values themselves are larger, but does
tends to move with the wind speed based on RISØ model

123
Nonlinear optimal control with effective wind speed estimation for maximum power extraction…

6
Cov (TI=0.1-V=12m/s) not mean that a strong relationship is achieved between esti-
Covariance (m/s) 2 Cov (TI=0.15-V=12m/s) mated and RISØ wind speed variables. Figure 13 illustrates
Cov (TI=0.1-V=14m/s)
4 Cov (TI=0.15-V=14m/s)
that the measured correlation coefficient is positive and close
to one. On the one hand, the positive correlation confirms the
2
result achieved in Fig. 12 that the estimated wind speed tends
to move with the RISØ wind speed. On the other hand, the
0
correlation coefficient is close to one refer that there is a 98%
0 200 400 600 800 1000 1200 similarity between the two variables. Thus, a strong relation-
n (5 ms/div) ship between RISØ and estimated wind speeds is obtained.
Fig. 12 Covariance measurement for each 5 ms at V = 12 m/s and
The results obtained in wind speed estimation based on
V = 14 m/s in wind turbine based on EKF EKF can be summarized as follows:
1

0.995 • The measured wind speed based on RISØ model and the
estimated wind speed are nearly identical;
Correlation

0.99
• The EKF has high performance in estimating wind speed
0.985 CC (TI=0.1-V=12m/s)
CC (TI=0.15-V=12m/s)
by obtaining a 98% similarity between the measured and
0.98 CC (TI=0.1-V=14m/s) estimated variables;
0.975
CC (TI=0.15-V=14m/s) • The EKF has high efficiency in terms of precision and
0 200 400 600 800 1000 1200 rapidness due to the higher similarity ratio and the small
n (5 ms/div) time response, as shown in Fig. 13;
• A high accuracy of wind speed estimation is achieved
Fig. 13 Correlation coefficient measurement for each 5 ms at V =
12 m/s and V = 14 m/s in wind turbine based on EKF under different wind speed characteristics.

ω *g ω g, fuzzy ω g, pi 5
140 x 10 Pa , opt Pa , fuzzy Pa , pi
3.5
(B) Aerodynamic power (W)
(A) Generator speed (rad/s)

120
3
100
80 2.5

0 1 2 3 4 5 6 0 1 2 3 4 5
ω *g ω g, fuzzy ω g, pi 5
Pa , opt Pa , fuzzy Pa , pi
x 10
120.5

120 3.15

119.5 3.1

119 3.05
2 2.5 3 3.5 4 2 2.5 3 3.5 4
CCp, pmax
, opt
C p , fuzzy C p, pi λ opt λ fuzzy λ pi
9
0.45
8
(C) Power coefficient

(D) Tip Speed Ratio

0.4
7
0.35 6
0 1 2 3 4 5 6 0 1 2 3 4 5 6
CC
p , max
p , opt
C
Cpp,, fuzzy
fuzzy
C
Cpp,, pipi λ opt λ fuzzy λ pi
0.461
8.12

0.46 8.1

8.08
0.459
2 2.5 3 3.5 4 2 2.5 3 3.5 4
Time (s) Time (s)

Fig. 14 Wind turbine performance at mean wind speed of 12 m/s with 10% turbulence intensity

123
 M. A. Benmahdjoub et al.

ω *g ωg, fuzzy ω g, pi x 10
5
Pa , opt Pa , fuzzy Pa , pi
140 3.5

(B) Aerodynamic power (W)

120
(A) Generator speed (rad/s) 3
100
80
2.5
60
0 1 2 3 4 5 6 0 1 2 3 4 5
ω *g ωg, fuzzy ω g, pi x 10
5
Pa , opt Pa , fuzzy Pa , pi
3.25
121
3.2
120 3.15
3.1
119
3.05
2 2.5 3 3.5 4 2 2.5 3 3.5 4
CCpp, max
, opt C p , fuzzy C p, pi λopt λ fuzzy λ pi
9
0.45
8
(C) Power coefficient

(D) Tip Speed Ratio

0.4
7
0.35 6
0 1 2 3 4 5 6 0 1 2 3 4 5 6
C p , opt
max
CCpp, ,fuzzy
fuzzy CCpp, ,pipi λopt λ fuzzy λ pi
8.15
0.461

0.46 8.1

0.459
8.05
2 2.5 3 3.5 4 2 2.5 3 3.5 4
Time (s)

Fig. 15 Wind turbine performance at mean wind speed of 12 m/s with 15% turbulence intensity

5.2 Wind turbine control results • The response of the fuzzy controller is faster than that
of the PI controller by reducing the response time in the
Figures 14, 15, 16 and 17 show the results obtained for the transient state stability;
simulation cases defined in Table 1. To clarify the results • The fuzzy controller is more precise and accurate than
obtained, the zoom is applied between 2 and 4 s for each the other controller by decreasing the error between the
curve achieved in this part. In this simulation, the perfor- speed generator and its reference, as shown in the zoom of
mance of WTS during partial load operation and under Figs. 14a, 15a, 16a and 17a.
different RISØ wind speed characteristics is illustrated. In
fact, these performances are related to the rapidness and
effectiveness of proposed TSR controllers to extract maxi- The effectiveness of each proposed TSR controller in the
mum power from the wind. In fact, the TSR method based closed loops of the generator speed will affect the perfor-
on adaptive fuzzy logic and PI controllers consists in main- mance of the WTS, such as the aerodynamic power captured.
taining the generator speed at its reference. Figures 14b, 15b, 16b and 17b illustrate the results
Figures 14a, 15a, 16a and 17a illustrate the results obtained obtained for aerodynamic power extracted from the RISØ
for generator speed. It is clear that the generator speed tends wind profile at mean wind speeds of 10 and 12 ms/s with 10
to move with the generator speed reference for both TSR and 15% turbulence intensities. The results demonstrate that
controllers. Thus, the optimal generator speed tracking is the aerodynamic power captured Paer is close to the optimal
achieved. However, the TSR based on fuzzy controller has aerodynamic power Paer, opt for both controllers.
high performance compared to the other one. This result can Thus, the optimal aerodynamic power has been success-
be justified by the following reasons: fully tracked by the proposed controllers. It is clear that the
TSR based on the fuzzy logic controller has improved the
• The overshoot caused by the PI controller is eliminated by capture of aerodynamic power obtained from PI controller
the adaptive fuzzy controller; by eliminating the overshoot, reducing the time response in

123
Nonlinear optimal control with effective wind speed estimation for maximum power extraction…

ω *g ω g, fuzzy ω g, pi 5
Pa , opt Pa , fuzzy Pa , pi
160 x 10
6

(B) Aerodynamic power (W)

140
(A) Generator speed (rad/s) 120 4
100
2
80
0
0 1 2 3 4 5 6 0 1 2 3 4 5
ω *g ω g, fuzzy ω g, pi x 10
5
Pa , opt Pa , fuzzy Pa , pi
139 4.9
138
4.8
137

(A)
136 4.7

135 4.6
2 2.5 3 3.5 4 2 2.5 3 3.5 4
CCpp, max
, opt C p , fuzzy C p, pi λ opt λ fuzzy λ pi

0.45 8

6
(C) Power coefficient

0.4

(D) Tip Speed Ratio

0.35 4

0 1 2 3 4 5 6 0 1 2 3 4 5 6
CCpp, max
, opt C pp,, fuzzy
fuzzy C p, pi λ opt λ fuzzy λ pi
8.14
0.461
8.12
0.46 8.1
8.08
0.459 8.06
2 2.5 3 3.5 4 2 2.5 3 3.5 4
Time (s) Time (s)

Fig. 16 Wind turbine performance at mean wind speed of 14 m/s with 10% turbulence intensity

the transient state stability and achieving an accurate track- • The maximum value of power coefficient C p, max is
ing of optimal aerodynamic power. The aerodynamic power achieved;
captured from the total power available in the wind can be • The optimal value of TSR λopt is maintained under differ-
clarified by analysis of the power coefficient C p and tip speed ent mean wind speeds and turbulence intensities.
ratio λ.
Figures 14c, d, 15c, d, 16c, d and 17c, d show the results
obtained for power coefficient and tip speed ratio under dif- 5.3 Performance comparisons
ferent RISØ wind speed characteristics, respectively. The
results illustrate that the maximum value of power coefficient In this study, the TSR method based on PI and adaptive fuzzy
C p, max and the optimal value of TSR λopt are maintained logic controllers is used to capture maximum power from the
under different mean wind speeds and turbulence intensities. available power in the wind. The performance comparison
It is clear that the fluctuation and the overshoot caused by the of proposed TSR controllers can be evaluated by computing
PI controller are improved by fuzzy controller, as shown in the aerodynamic efficiency ηaer (%) given by the following
the zoom of Figs. 14c, d, 15c, d, 16c, d and 17c, d. equation [65]:
The results obtained in wind turbine control can be sum-
% tf
marized as follows: Paer (t) dt
t
ηaer (%) = % t f 0 (32)
t0 Paer, opt (t) dt
• The generator speed reference has been successfully
tracked by the proposed controllers; The average of aerodynamic efficiency criteria defined in
• The optimal aerodynamic power is achieved under differ- Eq. (32) of the simulation cases gave a 98.24% rating for
ent mean wind speeds and turbulence intensities, which TSR based on fuzzy controller, while it gave a 97.56% rating
means that the efficiency of wind turbines has been for the other controller. Thus, the aerodynamic efficiency for
improved by generating maximum power during partial the TSR based on fuzzy controller is slightly better than that
load operation; the PI controller.

123
 M. A. Benmahdjoub et al.

ω *g ωg, fuzzy ω g, pi x 10
5
Pa , opt Pa , fuzzy Pa , pi
200

(B) Aerodynamic power (W)

5
(A) Generator speed (rad/s) 100 4.5
4
0
3.5
-100
0 1 2 3 4 5 6 0 1 2 3 4 5
ω *g ωg, fuzzy ω g, pi x 10
5
Pa , opt Pa , fuzzy Pa , pi
142 5.2

140
5
138

136 4.8
4 4.5 5 5.5 6 2 2.5 3 3.5 4
CCpp,,opt
max Cpp,,fuzzy
C fuzzy C p, pi λ opt λ fuzzy λ pi
9
0.45 8
7
(C) Power coefficient

(D) Tip Speed Ratio

0.4
6
0.35 5

0 1 2 3 4 5 6 0 1 2 3 4 5 6
C p , opt C p , fuzzy C p, pi λ opt λ fuzzy λ pi
0.462 8.15

0.46 8.1

0.458 8.05
2 2.5 3 3.5 4 2 2.5 3 3.5 4
Time (s) Time (s)

Fig. 17 Wind turbine performance at mean wind speed of 14 m/s with 14% turbulence intensity

According to the results obtained, the comparison study
between the two proposed controllers can be summarized as
follows:
• The TSR method based on PI and fuzzy controllers has
high performance to capture maximum power in the steady
state stability;
• The TSR based on the fuzzy controller is slightly better
than the PI controller for capturing maximum power from
the wind with 98.24 and 97.56% aerodynamic efficiency
for fuzzy and PI controllers, respectively;
• The TSR based on fuzzy controller improved the per-
formance of the WTS by eliminating the overshoot and
reducing the time response in the transient state stability.
6 Conclusions
The performance of the wind turbine system mainly depends
on the wind turbine control, which is required accurate mea-
surement of the wind speed. These measurements can be
acquired by sensors or estimated by estimators. In fact, mea-
surement by sensors is not accurate and imprecise since its
measurements are only measured at a single point of turbine
rotor. For that, the estimators can be considered as a best
solution for the wind turbine control. In this study, the EKF
is used to estimate the wind speed considering the effect of
the tower shadow. The EKF achieve a high performance in
estimating wind speed by obtaining a 98% similarity between
the wind speed developed by Danish RISØ national labora-
tory and estimated wind speed. The estimated wind speed
is used as input in the wind turbine model based on a two-
mass drive-train to perform the control of the wind turbine
in MATLAB/Simulink.
In this paper, the TSR method based on PI and adaptive
fuzzy logic controllers are used to capture maximum power
from the power available in the wind. The proposed TSR
method consists maintaining the generator speed at its refer-
ence. As result, the efficiency of wind turbines is improved
by generating maximum power under different wind speed
characteristics. The average of aerodynamic efficiency cri-
teria obtained for the simulation cases gave a 97.56% and
98.24% rating for PI and adaptive fuzzy logic controllers,
respectively. Therefore, the aerodynamic efficiency for the
TSR method based on fuzzy logic controller is slightly bet-
ter than that based on PI controller.
The comparison results illustrate that the TSR based on
the fuzzy controller has accurate tracking of generator speed

123
Nonlinear optimal control with effective wind speed estimation for maximum power extraction…

reference compared to the TSR based on the PI controller. 2. Wind turbines with drive-train parameters [34].
In addition, the adaptive fuzzy controller improves the per-
formance of the WTS by eliminating the overshoot caused
by the PI controller and reducing the time response in the
Parameters Values
transient state stability.
Although fuzzy controller gave a better results than the Wind turbine rotor diameters 82 m
PI controller, but the development time of a fuzzy con-
Number of rotor blades 3
troller is quite important than the other controller because
Shadow effect damping factor 1.2
we encountered difficulties to pose fuzzy rules and member-
Rated electrical power 1.5 MW
ship functions for our wind turbine system.
Generator speed range 1750 rpm
Acknowledgements We would like to thank all the members of Electro- Nominal generator speed 1.38 × 108 Nm/rad
Technical Engineering laboratory for their continuous support.
Rotor moment of inertia 1.38 × 108 kg m2
Authors’ contributions M.A. B.: provided the analytic study, performed Generator moment of inertia 4.94 × 106 kg m2
the numerical simulation, interpreted the results of the curves and per- Gearbox ratio 100.48
formed the drafting of the article; A. M. and M. I.: provided the right
Drive-train stiffness coefficient 1.38 × 108 Nm/rad
orientation of this study, suggested the modelling process, discussed
the results, revised the research paper and gave final approval of the Drive-train damping coefficient 1.0 × 104 Nm/rad
manuscript version to be submitted; L. M.; Y. S and M. A.: revised the
research paper and gave final approval of the manuscript version to be
submitted.
The rules of the adaptive fuzzy logic controller are defined
in the following table:
Funding No funding was received in this manuscript study.

Data availability All data generated or analyzed during this study are
included in this published article. e

de NL NM NS ZC PS PM PL
Code availability No availability of code.

NL NL NL NM NM PM PL PL
Declarations NM NL NM NS NS PS PM PL

Conflict of interest In this study, all authors have no conflict of interest NS NL NS NS NS PS PS PL

to declare. ZC NL NS NS ZC PS PS PL
PS NL NS NS NS PS PS PL
PM NL NM NS NS PS PM PL
Appendix PL NL NL NM NM PL PL PL

The parameters of the power coefficient C p and the wind

turbines based on two-mass drive-train can be defined as fol-
lows:
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