Table Of ContentAdvances in Industrial Control
Carlos Bordons
Félix Garcia-Torres
Miguel A. Ridao
Model
Predictive
Control of
Microgrids
Advances in Industrial Control
Series Editors
MichaelJ.Grimble,IndustrialControlCentre,UniversityofStrathclyde,Glasgow,
UK
Antonella Ferrara, Department of Electrical, Computer and Biomedical
Engineering, University of Pavia, Pavia, Italy
Editorial Board
Graham Goodwin, School of Electrical Engineering and Computing, University of
Newcastle, Callaghan, NSW, Australia
Thomas J. Harris, Department of Chemical Engineering, Queen’s University,
Kingston, ON, Canada
Tong Heng Lee, Department of Electrical and Computer Engineering, National
University of Singapore, Singapore, Singapore
OmP.Malik,SchulichSchoolofEngineering,UniversityofCalgary,Calgary,AB,
Canada
Kim-Fung Man, City University Hong Kong, Kowloon, Hong Kong
Gustaf Olsson, Department of Industrial Electrical Engineering and Automation,
Lund Institute of Technology, Lund, Sweden
Asok Ray, DepartmentofMechanical Engineering, Pennsylvania State University,
University Park, PA, USA
Sebastian Engell, Lehrstuhl für Systemdynamik und Prozessführung, Technische
Universität Dortmund, Dortmund, Germany
Ikuo Yamamoto, Graduate School of Engineering, University of Nagasaki,
Nagasaki, Japan
Advances in Industrial Control is a series of monographs and contributed titles focusing
on the applications of advanced and novel control methods within applied settings. This
series has worldwide distribution to engineers,researchers andlibraries.
The series promotes the exchange of information between academia and industry, to
whichendthebooksalldemonstratesometheoreticalaspectofanadvancedornewcontrol
method and show how it can be applied either in a pilot plant or in some real industrial
situation.Thebooksaredistinguishedbythecombinationofthetypeoftheoryusedandthe
typeofapplicationexemplified.Notethat“industrial”herehasaverybroadinterpretation;it
applies not merely to the processes employed in industrial plants but to systems such as
avionicsandautomotivebrakesanddrivetrain.Thisseriescomplementsthetheoreticaland
more mathematical approachof Communications andControl Engineering.
Indexed bySCOPUS andEngineeringIndex.
Proposalsforthisseries,composedofaproposalformdownloadedfromthispage,adraft
Contents,atleasttwosamplechaptersandanauthorcv(withasynopsisofthewholeproject,
if possible)canbesubmitted toeither of the:
SeriesEditors
Professor MichaelJ.Grimble
Department ofElectronic andElectrical Engineering, Royal CollegeBuilding,204
George Street, Glasgow G11XW,United Kingdom
e-mail: [email protected]
Professor Antonella Ferrara
Department ofElectrical, Computer andBiomedical Engineering, University of
Pavia, ViaFerrata 1,27100Pavia, Italy
e-mail: [email protected]
or the
In-house Editor
Mr. OliverJackson
SpringerLondon,4 Crinan Street,London,N1 9XW,UnitedKingdom
e-mail: [email protected]
Proposals arepeer-reviewed.
Publishing Ethics
Researchersshouldconducttheirresearchfromresearchproposaltopublicationinlinewith
best practices and codes of conduct of relevant professional bodies and/or national and
international regulatory bodies.Formore details onindividualethics mattersplease see:
https://www.springer.com/gp/authors-editors/journal-author/journal-author-helpdesk/
publishing-ethics/14214
More information about this series at http://www.springer.com/series/1412
é
Carlos Bordons F lix Garcia-Torres
(cid:129) (cid:129)
Miguel A. Ridao
Model Predictive Control
of Microgrids
123
Carlos Bordons Félix Garcia-Torres
SystemsEngineeringandAutomaticControl Microgrids Laboratory
Universidad deSevilla CentroNacional del Hidrógeno
Seville,Spain Puertollano, CiudadReal, Spain
Miguel A.Ridao
SystemsEngineeringandAutomaticControl
Universidad deSevilla
Seville,Spain
ISSN 1430-9491 ISSN 2193-1577 (electronic)
Advances in IndustrialControl
ISBN978-3-030-24569-6 ISBN978-3-030-24570-2 (eBook)
https://doi.org/10.1007/978-3-030-24570-2
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’
Series Editor s Foreword
Controlsystemsengineeringisviewedverydifferentlybyresearchersandthosethat
must implement designs. The former group develops general algorithms with a
strongunderlyingmathematicalbasis,whilstthelatterhasmorelocalconcernsover
thelimitsofequipment,qualityofcontrolandplantdowntime.TheseriesAdvances
in Industrial Control attempts to bridge this divide and hopes to encourage the
adoption of more advanced control techniques when they are needed.
The rapid development of new control theory and technology has an impact on
allareasofcontrolengineeringandapplications.Therearenewtheories,actuators,
and sensor systems, computing methods, design philosophies and new application
areas. This specialized monograph series encourages the development of more
targeted control theory that is driven by the needs and challenges of applications.
A focus on applications is essential if the different aspects of the control design
problem are to be explored with the same dedication that the control synthesis
problems have received. The series provides an opportunity for researchers to
presentanextendedexpositionofnewworkonindustrialcontrol,raisingawareness
of the substantial benefits that can accrue, and the challenges that can arise.
The authors are well known for their work on Model Predictive Control
(MPC) and its applications, including the seminal text that Professor Bordons
co-authored with Professor Eduardo Camacho (Model Predictive Control second
edition, ISBN: 978-1-85233-694-3, Springer, 2004). The present text is concerned
with the design of the MPC of microgrids. There are many real challenges in this
area because of the changing nature of power production, storage and the dis-
tributed location of power generation systems. The user requirements are also
changingbecauseofthechangingcustomerneedsinareassuchaselectricvehicles.
ThereisasignificantinterestindevelopmentsinMPCandinapplications.This
book provides a clear exposition of the background and the control problems in
microgrids. It also justifies the use of predictive control methods relative to other
options. For those that are getting to know MPC there is a simple and clear
introductory chapter. The models for the system and devices are also discussed in
some detail since MPC does of course depend upon reasonable model knowledge.
v
vi SeriesEditor’sForeword
The key problem of energy management is considered and the role of MPC is
explained. The problem is clearly very complex but once in the MPC framework
the equations are in a standard and familiar form. It is an advantage of MPC that
engineers can then focus upon the wider problems of total system control rather
than the peculiarities of individual subsystems. There are also benefits to using an
optimization-based approach and these are described. The chapter on demand-side
management and the integration of electric vehicles is very timely considering the
huge changes in the automotive industry.
Perhaps one of the more valuable contributions a control scientist can make to
thepowerengineering communityistheway uncertainties of variouskinds canbe
addressed in a formal mathematical framework. The chapter on uncertainties in
microgridsshouldthereforebeparticularlyvaluabletothosewith moreofapower
engineeringbackgroundsinceitrevealsthetypeofsolutionsthatmaybeappliedin
a range of uncertain modelling and control situations. The traditional control
engineer should also benefit from the insights that the power engineering problem
presents with an interesting discussion on power quality in microgrids and the
methods for quality control.
This is therefore a text which deals with an increasingly important application
areathathasaninfluenceontheenvironmentandhasthepotentialtoaffectpeople’s
lives drastically. The cross-fertilization of ideas between the power and control
communitiesisalsotobeapplauded.Itisthereforeawelcomeadditiontotheseries
on Advances in Industrial Control.
April 2019 Mike J. Grimble
Glasgow, UK
Foreword
Our society is experimenting a transition from an energy system based on fossil
fuels to a new energy system based on renewable energies and electric trans-
portation systems. There is a need for new control algorithms to cope with the
intermittent, stochastic, and distributed nature of the generation and with the new
consumption patterns. Microgrids are receiving a lot of interest from the research
community because they are going to play a major role in this transition. The
controlofmicrogridsbringssignificantchallengeswhichneedtobeaddressedwith
advancedcontroltechniques.Thebookoffersanactualandwidevisionofthemain
problems encountered when controlling microgrids and how Model Predictive
Control (MPC) can supply appropriate solutions. Although there are many tech-
niques that can be used to control microgrids, MPC is one of the most promising
technologiestobeappliedinthiscontextbecauseitcanoffersolutionsatalllevels,
from the long horizon scheduling level, to the control of power converters.
MPChasbeensuccessfullyappliedintheindustrybutinthiscontext,itcanadd
solutionstoproblemsderivedfromnatureofthegenerationanddemandandalsoto
the need to operate with equipment from different nature such as geographically
distributed energy resources. This book presents MPC techniques going from the
more basic to more complex forms and using the appropriate technique for each
of the microgrids control problems.
This book is a timely contribution of a very topical matter, integrating relevant
control techniques in an emerging field. It can be of great interest for researchers
and engineers working in the energy sector. The book is written with a practical
viewpointbutnotlackingthenecessaryrigor,includingstudycasesbothsimulated
andwithreal experimentationinapilotplant.It isworth mentioningthatthebook
isaccompaniedwithamodularsimulatorwhichwillallowthereadertofollowthe
included examples in the book and also to model their own microgrid to test the
vii
viii Foreword
controlmethodsdescribedinthebook.Furthermore,sincethebookiseasytoread
andhasmanyexamplesandasimulator,itisverywellsuitedasthemaintextinan
undergraduate,master,orPh.D.courseonthecontrolofmicrogrids.Definitely,this
book is a must-read for anyone interested in the design and implementation of
advanced controllers for microgrids.
Eduardo F. Camacho
IEEE and IFAC Fellow
University of Seville
Seville, Spain
Preface
Controlofmicrogridsisevolvingconsiderablyoverthepastfewyears.Microgrids,
whicharesmall-scalepowersystemswithaclusterofloads,distributedgenerators,
andstorageunitsoperatingtogether,canbeconsideredasthemostinnovativearea
in the electric power field today, so new control issues are appearing. This book
aimsatprovidingsolutionstotheoperationofrenewableenergymicrogridsbythe
useofModelPredictiveControl(MPC).Therangeofproblemstobeaddressedby
themicrogridcontrolsystemisverywide.Althoughtherearemanytechniquesthat
can be used for the control of microgrids, MPC provides a general framework to
solve most of the issues using some common ideas in an integrated way. MPC
solvesanoptimizationproblemincorporatingafeedbackmechanism,whichallows
the system to face uncertainty and disturbances. It can handle physical constraints
and can incorporate the future behavior of the system, which is of crucial impor-
tance for microgrids.
The book gives a complete overview of the main control topics in microgrids,
covering all the control levels, with special emphasis on energy management sys-
tems. Along the book, several control problems in microgrids will be dealt with,
providingappropriatesolutionsusingMPC.Thebookintroducesthefundamentals
of MPC, focusing on the techniques that are of interest for microgrids. A basic
Energy Management System (EMS) is developed with a simple MPC, which is
extended along the book to include economic optimization, electrical market,
demand-side management, and integration of electric vehicles. Uncertainties
management by stochastic MPC as well as distributed methods for the intercon-
nection of microgrids is also addressed, and a special formulation of MPC for
power quality control is developed.
Thecompletemethodologyandapproachthattheauthorshavefollowedintheir
ownresearcharepresentedinthisbook.Inthisway,thereadersareguidedthrough
the pathway from conception to implementation of the appropriate solution to
microgrid control problems. Several examples, simulations, and experiments are
included. MPC techniques are developed for case studies that include several
renewable sources as well as hybrid storage. Some experimental results for a
pilot-scale microgrid are presented, as well as simulations of scheduling in the
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