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Robust Scheduler Fuzzy Controller of DFIG Wind Energy Systems

Elkhatib Kamal, Mohamad Oueidat, Abdel Aitouche, Member, IEEE, and Reza Ghorbani
AbstractThis paper addresses the robust fuzzy scheduler controller (RFSC) for nonlinear systems which is robust enough to stabilize a nonlinear system with parametric uncertainties, wind disturbance, and give an acceptable closed-loop performance in the presence of state variables unavailable for measurements. The TakagiSugeno (TS) fuzzy model is adopted for fuzzy modeling of the nonlinear system. The concept of parallel distributed compensation (PDC) is employed to design fuzzy control from the TS fuzzy models. Sufcient conditions are formulated in the format of linear matrix inequalities (LMIs). The proposed controller design methodology is nally demonstrated through the model of wind energy systems (WES) with a doubly-fed induction generator (DFIG) to illustrate the effectiveness of the proposed method. The proposed algorithm maximizes the produced power and is able to maintain a stable system during the parameter uncertainties. Index TermsDoubly-fed induction generator (DFIG), fuzzy controller, fuzzy observer, linear matrix inequalities (LMIs), parameters uncertainties, wind energy systems (WES) .

, , , ,

Stator and rotor currents in axis . Current component of SG into the bus. Stator, rotor leakage, and magnetizing inductances. Stator voltage magnitude. Time constant of the model. High-speed shaft torque. Gearbox ratio.

, NOMENCLATURE Air density kg/m . Turbine radius (m). Wind velocity (m/s). Pitch angle of rotor blades (rad). Tip speed ratio (TSR). Power coefcient. Leakage coefcient. Stator angular frequencies. Rotor angular frequencies. Stator frequency. Mechanical generator speed. Turbine rotational speed. Number of pole pairs. , Stator and rotor currents in axis .

Damping constants for the rotor, generator, the equivalent low-speed shaft. Equivalent torsional stiffness of the low-speed shaft. Moments of inertia of the rotor and generator. Generator torque and required generator torque. I. INTRODUCTION

Manuscript received July 10, 2012; revised November 21, 2012; accepted January 10, 2013. Date of publication February 26, 2013; date of current version June 17, 2013. E. Kamal and A. Aitouche are with the LAGIS, Lille University Nord of France, Villeneuve dAscq, 59655, France (e-mail: elkateb.kamal@gmail.com; abdel.aitouche@hei.fr). M. Oueidat is with the Industrial Engineering and Maintenance, Lebanese University, IUT Saida, Saida, 16500, Lebanon (e-mail: mohoueidat@yahoo. com). R. Ghorbani is with the Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI 96822 USA (e-mail: rezag@hawaii.edu). Color versions of one or more of the gures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identier 10.1109/TSTE.2013.2242500

NE of the most fundamental problems in control and systems theory is robust stability analysis and synthesis of systems with parameter uncertainties [1]. Recently, the issue of stability of fuzzy systems has been extensively considered in nonlinear stability frameworks [2][4], because it can provide an effective solution to the control of plants that are complex, uncertain, ill-dened, and have available qualitative knowledge from domain experts for their controllers design. In [5], robust stability of fuzzy control systems via quadratic constabilization, linear matrix inequalities (LMIs), and trol theory are presented. An advantage of the conditions derived [5] is the ease of checking the stability conditions. Besides stability, robustness is another important requirement to be considered in the study of uncertain nonlinear control systems. Robustness in fuzzy-model-based control has been studied in [6] and [7]. Various control approaches have been applied in relation to wind turbine control, such as linear quadratic (LQ) control [8], where state feedback is calculated based on a linearized plant model at a selected operating point. Additionally, model predictive control (MPC) has been applied to include operational constraints in the design phase [9], while [10] considers linear parameter-varying (LPV) controllers that cover the entire nominal operating trajectory, but does not build upon a robust design method. Robust control synthesis options have been studied in [10] and [11], where uncertainties are represented using sensitivity functions. Both LPV and robust controllers take parameter variations into account, but in contrast to LPV

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Fig. 1. Block diagram of a fuzzy scheduled WES.

controllers, robust controllers use constant control laws. In [11] and [12], the wind turbines dynamic behavior strongly varies along their operating range. Therefore, gain-scheduling controllers, which are specially developed to cope with nonlinear dynamics using tools and concepts of linear systems, have been widely applied to the design of wind turbine control systems [13][15]. In spite of the usefulness of fuzzy control, its main drawback comes from the lack of a systematic control design methodology. Particularly, stability analysis of a fuzzy system is not easy, and parameter tuning is generally a time-consuming procedure, due to the nonlinear and multiparametric nature of the fuzzy control systems. To resolve these problems, the idea that a linear system is adopted as the consequent part of a fuzzy rule has evolved into the innovative TakagiSugeno (TS) model [16], which has become quite popular today. For a few years, the trend of fuzzy control has been to develop some systematic design algorithms so as to guarantee the control performance and system stability for the TS fuzzy-model-based controllers [17], [18]. Doubly-fed induction generators (DFIGs) have become a widely used generator type in wind energy systems (WES). Considerable research has been done on the modeling and control of wind turbines with DFIG [20][23], since it features a simple structure, high-energy efciency, reliable operation, and high power density. However, the DFIG drive system is a nonlinear system which is characterized by multiple variables and a strong coupling with profuse dynamics. In this paper, to solve the control problem of nonlinear fuzzy control systems subject to large parameter uncertainties and wind disturbance, robust fuzzy controllers (RFCs) have to be designed rst based on the design approach discussed in [5] and [17][19] for all the robust fuzzy systems. These robust fuzzy controllers can only provide acceptable control signals for the corresponding robust fuzzy control systems but not the entire specied parameter space. Therefore, when the system parameters deviate from a robust grid-point, a robust fuzzy scheduler controller (RFSC) is proposed to deduce the control signal by considering all the robust fuzzy controllers. The membership functions of the fuzzy scheduler are explained in Section II. In this paper, the stability and robustness of the fuzzy scheduled system will be investigated. A fuzzy scheduled system consists of three units: a nonlinear plant, a fuzzy uncertainty regenerator, and a fuzzy scheduler, as shown in Fig. 1 in Section IV. A TS

fuzzy plant model and the fuzzy uncertainty regenerator form an augmented plant model representing the actual nonlinear plant. As the control signal output from the fuzzy scheduler is deduced from those of the robust fuzzy controllers, the robust fuzzy systems and the robust fuzzy controllers have to be obtained rst. It will be shown in Section II that the TS fuzzy plant model can be expressed as a weighted sum of the robust fuzzy systems. In Section III, the proposed fuzzy scheduler that closes the feedback loop will be presented. The fuzzy scheduled system and stability and robustness analyses of the fuzzy scheduled system will be carried out in Section IV. In Section V, the procedures for designing the fuzzy scheduler and the calculation of the observer and the controller gains will be summarized. An application example on stabilizing a WES model system with DFIG subject to large parameter uncertainties will be given in Section VI to show the merits of the proposed fuzzy scheduler. To illustrate the effectiveness of the proposed approach, simulation and results will be given in Section VII. A conclusion will be drawn in Section VIII. II. TS FUZZY PLANT MODEL, FUZZY UNCERTAINTY REGENERATOR, AND FUZZY OBSERVER In this section, the TS fuzzy plant model subject to parameter uncertainties will be expressed as a weighted sum of a number of robust fuzzy systems. An augmented TS fuzzy plant model is formed by adding a fuzzy uncertainty regenerator. The RFC [5], [17][19] will be used for designing the proposed fuzzy scheduler controller based on the fuzzy observer. A. TS Fuzzy Model With Parametric Uncertainties In [5] and [19], a TS fuzzy plant model representing an uncertain multivariable nonlinear system has been introduced. The th rule is formulated in the following form. Plant Rule : IF is AND AND is

(1) is a fuzzy set, ( ), is the where state vector, is the control input vector, and are the system matrix and input matrix, respectively, is system output matrix, and are nontime-varying matrices with appropriate dimensions, which represent parametric uncertainties in the plant model, is the number of rules of this TS fuzzy model and is the noise distribution matrix which is assumed to be known, and is the measurement noise. The defuzzied output of the TS fuzzy system (1) is represented as follows:

(2) (3)

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where

where is the number of fuzzy rules; uncertain elements in and ; are dened as . . . .. .

is the number of ; and

(4) In this paper, the TS fuzzy plant model of the following form is used:

. . .

. . .

..

. . .

(10)

(5) where . . . . . .. . . . . . . . .. . .

In the following, is written as , and as . To express the TS fuzzy plant model of (5) as a weighted sum of the robust fuzzy systems, we use the property ; from (5) and (8), the TS fuzzy plant model becomes

(6) (11)

are the parameter uncertainties within given ranges. and are the nominal parameters of the system matrix and input matrix. B. Fuzzy Uncertainty Regenerator A fuzzy uncertainty regenerator is a TS fuzzy model for regenerating the parameter uncertainties using fuzzy rules. It expresses the parameter uncertainties as a weighted sum of the robust parameter uncertainty matrices in the specied parameter space. The fuzzy uncertainty regenerator has the property that its inputs equal its outputs. It is introduced so that the analysis can be carried out and the fuzzy scheduler can be derived. The th rule of the fuzzy uncertainty regenerator is of the following format. Rule 1: If is and and is and is and and is (7) The inferred outputs of the fuzzy uncertainty regenerator are given by

C. TS Fuzzy Observer The concept of parallel distributed compensation (PDC) [5] is also employed to design the following observer structures. It is assumed that the fuzzy system model (5) is locally observable. is AND AND is Observer Rule : IF (12) The inferred observer states are governed by

(13) where is the estimated state vector by the fuzzy observer, is the nal output of the fuzzy observer, and are the fuzzy observer gains. III. ROBUST FUZZY AND FUZZY SCHEDULER CONTROLLER ON FUZZY OBSERVER

(8)

A fuzzy scheduler control is used to derive the control signal by inferring the output signals from the robust fuzzy controllers [5], [17][19], which are controllers designed based on the corresponding robust fuzzy systems. The output of the fuzzy scheduler will then be applied to control the nonlinear WES. In the following, the RFC and the RFSC will be investigated. A. RFC Controller A fuzzy controller in [5] and [17][19] is used to close the feedback loop of the robust fuzzy system. A fuzzy control system is then formed. Based on the method discussed in [5] and [17][19], a fuzzy controller with fuzzy rules can be

(9)

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developed via the PDC. The th rule of the fuzzy controller is of the following format. Controller Rule : IF is AND AND is (14) is a fuzzy term of rule of the where fuzzy controller [17][19], is a positive integer; is the controller gain of rule, and is the reference input vector. From (14), the estimated state by the observer, then, the output of the fuzzy controller is given by (15)

By taking the derivative of (18) and substituting from (11), (13), and (17), the following is obtained:

(20) Combining (19) and (20) yields the following augmented fuzzy system:

B. Proposed Fuzzy Scheduler Controllers A fuzzy scheduler is used to deduce the nal control signal by reasoning the fuzzy controller outputs [5], [17][19] according to the fuzzy scheduler rules. The antecedents and the number of rules of the fuzzy scheduler and fuzzy uncertainty regenerator are the same. The consequent of the rule is a robust fuzzy controller output, fuzzy scheduler rules are dened as the following: Rule : If is and and is and is and and is (16) , is written as where output of the fuzzy scheduler is given by , the inferred (17)

(21) with , , , , . ,

B. Stability Analysis of Fuzzy Scheduled Systems Once the fuzzy scheduled system is formulated, its stability and robustness can be investigated. The analysis procedures are the same as those in [17] and [18], and so the analysis results will be presented without proof. The stability and robustness conditions are summarized into the following lemma and theorem. Lemma: Under PDC, the fuzzy scheduled system (21) with parameter uncertainty, the robust area of the fuzzy scheduled system is governed by (22) where is a transformation matrix of rank , is is the dened by (21), are the robustness index, corresponding matrix measure [24] of the induced matrix norm of (or the logarithmic derivative of ), is the maximum value of the norm of and ; the analysis given in the [18] indicates the matrix that will go to its steady state faster if larger values of are used. Thus the system performance with a larger is better than with smaller . Theorem: The fuzzy control system as given by (21) is stable if the controller and the observer gains are set to , with the matrices , , and satisfying the following LMIs: (23) (24) (19) Proof: The proof can be given directly from [18].

IV. STABILITY ANALYSIS FOR THE PROPOSED RFSC ALGORITHM In this section, the fuzzy scheduled system which is formed by the nonlinear WES plant represented by the augmented TS fuzzy plant model and the fuzzy scheduler connected in closed-loop is investigated. A block diagram of a fuzzy scheduled system is shown in Fig. 1. Stability and robustness analyses will be conducted on this fuzzy scheduled system. In [5], PDC has been discussed to design the fuzzy controller. This approach can also be applied to develop the fuzzy scheduled controllers. A. Fuzzy Scheduled Systems In this subsection, the fuzzy control system of the state and the errors can be obtained (18) With the modied TS fuzzy scheduler (17) and (18) employed, the TS fuzzy system (11) has the following closed-loop:

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TABLE I DFIG PARAMETERS

Fig. 2. Structure of the DFIG-based wind turbine system.

V. DESIGN PROCEDURE OF THE FUZZY SCHEDULER CONTROLLER AND CALCULATION CONTROLLER AND OBSERVER GAINS In this section, we calculate the observer and controller gains and we investigate the procedure of the fuzzy scheduler. In order to analyze the convergence of the augmented state , consider the quadratic Lyapunov candidate function (25) where denotes a positive denite matrix. if . if the inequality satises (26) and and , by

TABLE II WIND TURBINE PARAMETERS

Assuming that

multiplying (26) from left and right by and applying the change of variables , and the LMIs (23) and (24) are obtained as given in the theorem. According to the analysis above, the procedure for nding the fuzzy scheduler controller and the fuzzy observer are summarized as follows: a) Solve (23) and (24) to obtain , , , and thus ( and ). b) Construct the fuzzy observers (13) and the RFSC (17). VI. WES MODEL SYSTEM WITH DFIG This section is devoted to the modeling of the mechanical system of a 1.5-MW wind turbine, electrical modeling, mechanical modeling, and state space representation. A commonly used model for induction generator converting power from the wind to serve the electric grid is shown in Fig. 2 [20][23]. The stator of the wound rotor induction machine is connected to the low voltage balanced grid and the rotor side is fed via the back-to-back voltage-source inverters with a common dc bus. A. Aerodynamics Modeling The power extracted from the wind can be expressed as (1) in [18]. It is achieved for angle and a particular value of tip speed ratio (TSR) is dened as the optimal value of TSR , where is the maximum value of power coefcient , is the pitch. Thus the maximum power captured from the wind is given by (5) in[18]. The aerodynamic torque on the wind turbine rotor can be obtained using the following relationships: (27) is the turbine rotational speed on where is the wind speed, the low-speed side of the gearbox, is the rotor-plane radius, and is the air density. Normally, a variable speed wind turbine

follows the to capture the maximum power up to the rated speed by varying the rotor speed at to keep the TSR at is then given by (28) where .

B. WES Model With a DFIG State Space Model in dq Coordinates The state space of the DFIG dynamics model in dq coordinates can be expressed by following nonlinear equations [20][23] (29) and as shown in the equation at the bottom of the next page, where is the leakage coefcient, and are the stator and rotor angular frequencies, respectively, , with being the stator frequency, , where is the mechanical generator speed and is the number of pole pairs. and denote the stator and rotor currents, respectively, in axis , and are stator and rotor currents in axis , , and are stator and rotor resistance, , , and are stator, rotor leakage, and magnetizing inductances, respectively, is the stator voltage magnitude, is the time constant of the model, is the high-speed shaft torque, and is the gearbox ratio. The gearbox is considered as a lossless device for this model. , , and denote damping constants for the rotor, generator, and the equivalent low-speed shaft, respectively, is the equivalent torsional stiffness of the low-speed shaft, and denote moments of inertia of the rotor and generator, respectively, and and are the generator torque and required generator torque, respectively; is the stator active power and is the stator reactive power. The used system parameters for the detailed generator and wind turbine are shown in Tables I and II [20][23], respectively. From the control point of view, the control inputs are

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the rotor voltage components in dq coordinates , stator voltage components in dq coordinates , and reference generator torque ( ). The measurements are the mechanical generator speed , the turbine rotational speed , and stator active and reactive power . C. TS Fuzzy WES Description The following steps should be taken to derive the TS fuzzy model of (29). Here , , and are nonlinear terms in the matrices and so we make them our fuzzy variables. Generally, they are denoted as , and are known as premise variables that may be functions of state variables. Therefore in our case, we have three nonlinear terms, , , and . The rst step for any kind of fuzzy modeling is to determine the fuzzy variables and fuzzy sets or so-called membership functions. Although there is no general procedure for this step and it can be done by various methods predominantly trial and error, in exact fuzzy modeling using sector nonlinearity, it

is quite routine. It is assumed in this tutorial that the premise variables are just functions of the state variables for the sake of simplicity. To acquire membership functions, we should calculate the minimum and maximum values of , , and which under

Therefore , , and sented by membership functions as follows:

can be repreand

(30) (31)

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Rule : IF

is

and

is

and

is (36)

The local subsystem matrices are given by the equation at the bottom of the page. represents the system parameters bounded uncertainties. The elements of are randomly varied within 40% of their nominal values corresponding to system parameter and , with . The fuzzy uncertainty is given by
Fig. 3. Membership functions and .

(37) Then, the augmented TS fuzzy plant model of (36) is given (32) by (38) From (17), the inferred output of the fuzzy scheduler becomes (39)

and and because sets according to fuzzy mathematics

are actually fuzzy (33) (34) (35)

is The degree of membership function for state depicted in Fig. 3. Each membership function also represents model uncertainty for each subsystem. The degree of membership function for states and is implemented in the same manner. Here, we can generalize that the th rule of the continuous TS fuzzy models are of the following forms:

VII. SIMULATIONS AND RESULTS We study the results of the proposed algorithm for two cases and tested for random prole of wind speed as shown in Fig. 4. Case 1 compared the results of the proposed algorithm with

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Fig. 4. Wind speed.

Fig. 7. Trajectory of of the proposed approach (dashed line) and previous approach (dotted line) [5].

Fig. 5. Trajectory of of the proposed approach (dashed line) and previous approach (dotted line) [5].

Fig. 8. Trajectory of of the proposed approach (dashed line) and previous approach (dotted line) [5].

Fig. 6. Trajectory of of the proposed approach (dashed line) and previous approach (dotted line) [5].

Fig. 9. Maximum power coefcient of the proposed approach (dashed line) and previous approach (dotted line) [5].

the previous algorithm [5] subject to parameter uncertainties including a large disturbance. Case 2 studies the responses with and without the parameter uncertainties, and a large disturbance. The reference input is applied to the controller to obtain the maximum power coefcient from the WES, is the reference rotational speed [18]. The elements of achieve values within 40% of their nominal values corresponding to system parameter variations in parameters and , with and disturbance (20% of wind speed). Case 1: The time responses of the and of the WES (29) subject to parameter uncertainties including a large disturbance for the proposed algorithm (dashed line) and the previous algorithm [5] (dotted line) are shown in Figs. 5 and 6, respectively. Figs. 7 and 8 show the active power and the reactive power for the proposed algorithm (dashed line) and the previous algorithm [5] (dotted line), respectively.

In order to obtain maximum output power from a wind turbine generator system, it is necessary to drive the wind turbine at an optimal rotor speed for a particular wind speed, and keep the power coefcient at 0.48. Fig. 9 shows the power coefcient; it can be seen that , which proves the effectiveness of the proposed algorithm. It can be seen from Fig. 5 to Fig. 9, that the proposed RFSC gives a good tracking performance while the previous algorithm [5] cannot give a good robustness. Case 2: The proposed controller for the WES is tested for the same random variation of wind speed as given in Fig. 4. The control objective of this paper is to design an RFSC law for the system (29) to ensure that all signals in the closed-loop system are bounded. The parametric uncertainties and are considered within 40% of their nominal values and the wind disturbance up to 20% of

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Fig. 10. Trajectories of with parameter uncertainties (dashed lines), without parameter uncertainties (dotted lines) and optimal speed (solid line).

Fig. 13. Trajectories of with parameter uncertainties (dashed lines) and without parameter uncertainties (dotted lines).

guarantee the stability of the closed-loop system and the convergence of the output tracking error. In addition, maximize the power coefcient and keep it at 0.48, as shown in Fig. 9. VIII. CONCLUSION An augmented TS fuzzy plant model incorporating a TS fuzzy plant model and a fuzzy uncertainty regenerator has been proposed to model a nonlinear plant subject to large parameter uncertainties. The fuzzy uncertainty regenerator is used to model the parameter uncertainties using membership functions. According to the modeling of the parameter uncertainties, the TS fuzzy plant model is expressed as a weighted sum of a number of robust fuzzy systems. A stable and robust fuzzy scheduler has been proposed to tackle the uncertain nonlinear system. The control output of the fuzzy scheduler is obtained by inferring the outputs of the robust fuzzy controllers according to some fuzzy rules. The robust fuzzy controllers are designed based on the design approach discussed in [5] and [17][19]. Stability and robustness conditions have been derived for the fuzzy scheduled systems under PDC. Application examples on stabilizing a WES subject to large parameter uncertainties have been given to illustrate the design procedure, the stabilizability, and the robustness property of the fuzzy scheduler. REFERENCES
[1] S. Boyd, L. E. Ghaoui, E. Feron, and V. Balakrishnan, Linear Matrix Inequalities in System and Control Theory. Philadelphia, PA, USA: SIAM, 1994. [2] E. Kim and S. Kim, Stability analysis and synthesis for an afne fuzzy systems via LMI and ILMI: Continuous case, IEEE Trans. Fuzzy Syst., vol. 10, no. 3, pp. 391400, Jun. 2002. [3] M. C. M. Teixeira, E. Assuncao, and R. G. Avellar, On relaxed LMIbased designs for fuzzy regulators and fuzzy observers, IEEE Trans. Fuzzy Syst., vol. 11, no. 5, pp. 613623, Oct. 2003. [4] M. Feng and C. J. Harris, Piecewise Lyapunov stability conditions of fuzzy systems, IEEE Trans. Syst., Man, Cybern. B, vol. 31, no. 2, pp. 259262, Apr. 2001. [5] K. Tanaka, T. Ikeda, and H. O. Wang, Robust stabilization of a class of uncertain nonlinear systems via fuzzy control: Quadratic stabilizability, H1 control theory, and linear matrices inequalities, IEEE Trans. Fuzzy Syst., vol. 4, no. 1, pp. 113, Feb. 1996. [6] H. J. Lee, J. B. Park, and G. Chen, Robust fuzzy control of nonlinear systems with parametric uncertainties, IEEE Trans. Fuzzy Syst., vol. 9, no. 2, pp. 369379, Apr. 2001.

Fig. 11. Trajectories of with parameter uncertainties (dashed lines), without parameter uncertainties (dotted lines) and optimal speed (solid line).

Fig. 12. Trajectories of with parameter uncertainties (dashed lines) and without parameter uncertainties (dotted lines).

wind. The responses of the system with parameter uncertainties (dashed lines) and without parameter uncertainties (dotted lines) are shown in Figs. 1013. In summary, in case 1, it can be seen that the proposed algorithm (dashed line) gives a good tracking for the reference input whereas the previous algorithm [5] (dotted line) leads to system instability when parameter uncertainties and increased to 40% of their nominal values and the disturbance up to 20% of the wind speed. In case 2, Figs. 1013 compare the output states of the system with parameter uncertainties (dashed lines) and without parameter uncertainties (dotted lines). It can be seen that the proposed fuzzy controller provides a better performance. The simulation results demonstrate the effectiveness of the proposed control approach. The proposed control scheme can

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[7] S. C. Tong and H. H. Li, Observer-based robust fuzzy control of nonlinear systems with parametric uncertainties, Fuzzy Sets Syst., vol. 131, pp. 165184, 2002. [8] N. K. Poulsen, T. J. Larsen, and M. H. Hansen, Comparison Between a PI and LQ-Regulation for a 2 MW Wind Turbine, Ris National Laboratory, 2005. [9] L. C. Henriksen and N. K. Poulsen, Model predictive control of a wind turbine with constraints, in Proc. EWEC 2008, Brussels, Belgium, Mar. 2008. [10] K. Z. stergaard, J. Stoustrup, and P. Brath, Linear parameter varying control of wind turbines covering both partial load and full load conditions, Int. J. Robust Nonlinear Contr., vol. 19, pp. 92116, 2009. [11] B. Connor, S. N. Iyer, W. E. Leithead, and M. J. Grimble, Control of a horizontal axis wind turbine using control, in Proc. First IEEE Conf. Contr. Applicat., 1992, pp. 117122. [12] R. Rocha, L. S. M. Filho, and M. V. Bortolus, Optimal multivariable control for wind energy conversion systemA comparison between H2 and controllers, in Proc. 44th IEEE Conf. Decision and Contr., 2005, pp. 79067911. [13] P. Billy, E. Muhando, T. Senjyu, A. Uehara, and T. Funabashi, Gain-scheduled control for WECS via LMI techniques and parametrically dependent feedback Part I: Model development fundamentals, IEEE Trans. Ind. Electron., vol. 58, no. 1, pp. 4856, Jan. 2011. [14] P. Billy, E. Muhando, T. Senjyu, A. Uehara, and T. Funabashi, Gain-scheduled control for WECS via LMI techniques and parametrically dependent feedback part II: Controller design and implementation, IEEE Trans. Ind. Electron., vol. 58, no. 1, pp. 5765, Jan. 2011. [15] F. D. Bianchi, H. D. Battista, and R. J. Mantz, Optimal gain-scheduled control of xed-speed active stall wind turbines, IET Renew. Power Gener., vol. 2, no. 4, pp. 228238, 2008. [16] T. Takagi and M. Sugeno, Fuzzy identication of systems and its applications to modeling and control, IEEE Trans. Syst., Man, Cybern., vol. 15, no. 1, pp. 116132, Jan./Feb. 1985. [17] E. Kamal, M. Koutb, A. A. Sobaih, and S. Kaddah, Maximum power control of hybrid wind-diesel-storage system, Adv. Fuzzy Sys., vol. 8, no. 8, pp. 19, 2008. [18] E. Kamal, M. Koutb, A. A. Sobaih, and B. Abozalam, An intelligent maximum power extraction algorithm for hybrid wind-diesel-storage system, Int. J. Electr. Power Energy Syst., vol. 32, no. 3, pp. 170177, 2010. [19] E. Kamal, A. Aitouche, R. Ghorbani, and M. Bayart, Robust fuzzy fault-tolerant control of wind energy conversion systems subject to sensor faults, IEEE Trans. Sustain. Energy, vol. 3, no. 2, pp. 231241, Apr. 2012. [20] B. Babypriya and R. A. Modelling, Simulation and analysis of double fed induction generator for wind turbine, J. Elect. Eng., vol. 60, no. 2, pp. 7985, 2009. [21] B. B. Chitti and K. B. Mohanty, Doubly-fed induction generator for variable speed wind energy conversion systems- modeling & simulation, Int. J. Comput. Elect. Eng., vol. 2, no. 1, pp. 141147, 2010. [22] E. Kamal, A. Aitouche, R. Ghorbani, and M. Bayart, Robust nonlinear control of wind energy conversion systems, Int. J. Electr. Power Energy Syst., vol. 44, pp. 202209, 2013. [23] Y. Lei, A. Mullane, G. Lightbody, and R. Yacamini, Modeling of the wind turbine with a doubly fed induction generator for grid integration studies, IEEE Trans. Energy Convers., vol. 21, no. 1, pp. 257264, Mar. 2006. [24] M. Vidyasagar, Nonlinear Systems Analysis. Englewood Cliffs, NJ, USA: Prentice-Hall, 1993.

Elkhatib Kamal received the B.Sc. degree in industrial electronics and control engineering from Menoua University, Menoua, Egypt, in 2002, and the M.S. degree in automatic control engineering from Menoua University, Menoua, Egypt, in 2007. He is currently working toward the Ph.D. degree at the University of Lille1, Laboratory of Automatic, Computer Engineering and Signal (LAGIS), France. From 2003 to 2010, he was a Assistance Lecturer in the Industrial Electronics and Control Department, Faculty of Electronic Engineering, Menoua University, Egypt. His research interests include analysis, and design of intelligent control systems such as fuzzy control, neuro fuzzy control, robust control, model-based fault diagnosis, and fault-tolerant systems, and his main current research areas are wind energy, solar energy, and modern power systems.

Mohamad Oueidat received the electrical engineering degree from the Electricity High School (SUPELEC), Paris, France, in 1993. In the same year, he received the D.E.A. (M.S.) degree in electrical engineering and, in 1997, the Ph.D. degree from the University of Paris VI. From 1997 to 2000, he was an Associate Professor with the Institute of Applied and Economic Sciences (associated with CNAM, Paris). Since 2000, he has also been an Associate Professor with the Lebanese University (University Institute of Technology), Saida, Lebanon. His research interests include power electronics, intelligent control systems, signal processing, and renewable energy.

Abdel Aitouche (M10) is Professor in Hautes Etudes dIngenieur de Lille, France (Graduate School of Engineering). He is Researcher at Laboratoire dAutomatique Gnie Informatique et Signal de Lille (associated with the CNRS, French National Center For Scientic Research). He is a member of MCA (Mediterranean Control). His research interests concern fault tolerant systems (FTS), fault tolerant control (FTC), and model-based fault detection and diagnosis (FDD). Their application domains are mainly transportation, process engineering, fermented process, ignition ingine, and renewable energy. He has published several publications in this area.

Reza Ghorbani received the B.Sc. and M.Sc. degrees from the Department of Aerospace Engineering, Sharif University of Technology, in 2000 and 2002, respectively, and the Ph.D. degree from the Department of Mechanical Engineering, the University of Manitoba, Winnipeg, Canada, in 2008. He has been an Assistant Professor with the Department of Mechanical Engineering, the University of Hawaii at Manoa, Honolulu, HI, USA, since 2008. His key areas of research include hybrid powertrain congurations and design, hybrid power systems control and energy management, Battery life cycle analysis for electric mobility, Multi-objective design of electromechanical systems, renewable energy, wave energy, large-scale renewable power integration to the grid, sustainability, as well as social and economical impacts of sustainable technologies.