Analysis of the dead-time effect and other nonlinearities of the voltage source inverter was carried out in the introduction of the doctoral thesis. Three compensation strategies for vector controlled PMSM were proposed based on the analysis. The voltage disturbance observer with cost function of current errors is based on the model of PMSM, known machine parameters and easily measurable quantities. The second observer which estimates the dq- axes currents and the value of the voltage error with one parameter only is designed based on the harmonic analysis and Kalman filter algorithm. The third method combines an adaptive approach with feedback and voltage disturbance observer that is based on the PMSM model. Furthermore, the two compensation methods for vector controlled induction motor were proposed. In the first case, the standard compensation strategy is extended by a harmonic compensator that suppresses the residual 6th harmonic component in dq- axes currents. The last strategy detects the polarity of the estimated phase currents that are obtained by the Kalman filter. All compensation strategies have been verified by MATLAB/Simulink simulations and by experiments on real drives.

Modellbasierte virtuelle Sensoren (VS) ermöglichen die Messung von qualitätsbestimmenden Prozessparametern (bzw. Hilfsregelgrößen) dort, wo eine direkte Messung zu teuer oder gar nicht möglich ist. Für die adaptiven VS, die ihr internes Prozessmodell nach Data-Driven-Methode bilden (z. B. durch die Benutzung künstlicher neuronaler Netze (KNN)), besteht das Problem der Abschätzung der Prädiktionsstabilität. Aktuelle Lösungsansätze lösen dieses Problem nur für wenige KNN-Typen und erfordern enormen Entwurfs- und Rechenaufwand. In dieser Arbeit wird eine alternative Methode vorgestellt, welche für eine breite Klasse von KNN gilt und keinen hohen Entwurfs- und Rechenaufwand erfordert. Die neue Methode wurde anhand realer Anwendungsbeispiele getestet und hat sehr gute Ergebnisse geliefert. Für die nicht adaptiven virtuellen Sensoren wurde eine aufwandsreduzierte Adaption nach Smith-Schema vorgeschlagen. Dieses Verfahren ermöglicht die Regelung totzeitbehafteter und zeitvarianter Prozesse mit VS in einem geschlossenen Regelkreis. Im Vergleich zu anderen Regelungsstrategien konnte damit vergleichbare Regelungsqualität bei einem deutlich geringeren Entwurfsaufwand erzielt werden. / Model-based virtual sensors allow the measurement of parameters critical for process quality where a direct measurement is too expensive or not at all possible. For the adaptive virtual sensors built after data-driven method (e.g., by use of an ANN model) there is a problem of the prediction stability. Current solutions attempt to solve this problem only for a few ANN types and require a very high development effort. In this dissertation a new method for the solution of this problem is suggested, which is valid for a wide class of the ANNs and requires no high development effort. The new method was tested on real application examples and has delivered very good results. For the non-adaptive virtual sensors a simple adaptation mechanism was suggested. This technique allows the control of dead-time and time-variant processes in closed loop. Besides, in comparison to other control strategies the comparable results were achieved with smaller development effort.

Indiana University-Purdue University Indianapolis (IUPUI) / Soft tissue manipulation is a widely used practice by manual therapists from a variety of healthcare disciplines to evaluate and treat neuromusculoskeletal impairments using mechanical stimulation either by hand massage or specially-designed tools. The practice of a specific approach of targeted pressure application using distinguished rigid mechanical tools to breakdown adhesions, scar tissues and improve range of motion for affected joints is called Instrument-Assisted Soft Tissue Manipulation (IASTM). The efficacy of IASTM has been demonstrated as a means to improve mobility of joints, reduce pain, enhance flexibility and restore function. However, unlike the techniques of ultrasound, traction, electrical stimulation, etc. the practice of IASTM doesn't involve any standard to objectively characterize massage with physical parameters. Thus, most IASTM treatments are subjective to practitioner or patient subjective feedback, which essentially addresses a need to quantify therapeutic massage or IASTM treatment with adequate treatment parameters to document, better analyze, compare and validate STM treatment as an established, state-of-the-art practice. This thesis focuses on the development and implementation of Quantifiable Soft Tissue Manipulation (QSTM™) Technology by designing an ergonomic, portable and miniaturized wired localized pressure applicator medical device (Q1), for characterizing soft tissue manipulation. Dose-load response in terms of forces in Newtons; pitch angle of the device ; stroke frequency of massage measured within stipulated time of treatment; all in real-time has been captured to characterize a QSTM session. A QSTM PC software (Q-WARE©) featuring a Treatment Record System subjective to individual patients to save and retrieve treatment diagnostics and a real-time graphical visual monitoring system has been developed from scratch on WINDOWS platform to successfully implement the technology. This quantitative analysis of STM treatment without visual monitoring has demonstrated inter-reliability and intra-reliability inconsistencies by clinicians in STM force application. While improved consistency of treatment application has been found when using visual monitoring from the QSTM feedback system. This system has also discriminated variabilities in application of high, medium and low dose-loads and stroke frequency analysis during targeted treatment sessions. / 2023-04-26

Wave energy is a promising renewable resource with a higher energy density than both wind and solar. Waves can travel thousands of kilometers with minimal energy loss, making them more reliable than the previously mentioned alternatives. A device that utilizes wave energy to generate electricity is calleda Wave Energy Converter. The converter studied in this thesis is a non-resonant point absorber, a floating device that absorbs energy through its displacement in the water. An incident wave approaching the converter combined with a latching strategy transforms the wave into a water jet, which emerges as a pulse wave and varies from zero to maximum velocity. The kinetic energy of the water jet gets converted to electricity through a Pelton turbine and a permanent magnet synchronous motor that acts as a generator. The thesis investigates three generator velocity control strategies and two deadtime strategies and aims to answer which strategy yields the best efficiency for the selected wave fields. The strategies strive to maximize the efficiency of the Pelton turbine while minimizing the frictional and electrical losses. The first velocity control approach relies on historical data and computes the average based on the previous wavefield. The second approach maintains a predetermined turbine velocity based on the average jet velocity of each incident wave. Lastly, the third strategy continuously adapts the speed during each jet pulse to maximize the Pelton turbine efficiency. The dead-time strategies refer to the approaches employed between waves. The first approach maintainsa constant generator velocity, reducing the necessary acceleration to match the next incident wave. The second approach freewheels the generator, allowing it to decelerate due to friction losses. During the deceleration, the generator draws no current, but as the next wave arrives it must instead accelerate. Consequently, drawing more current but during a shorter period. The results reveal that there is no significant difference between the two deadtime strategies, but there is a significant difference between the velocity control strategies. Furthermore, the results illustrate the effectiveness of the local averaging method and the adaptive control method, which result in the highest system efficiency. / Vågenergi är en lovande energiresurs som har högre energidensitet än både vind- och solkraft. Vågor kan färdas tusentals kilometer med minimal energiförlust,vilket gör dem mer tillförlitliga än de tidigare nämnda alternativen. En anordning som kan nyttja vågors energi för att generera elektricitet kallas för vågenergiomvandlare. Omvandlaren som studerats i detta arbete är en icke-resonant punktabsorbent,vilket är en flytande anordning som absorberar energi genom dess förflyttning i vattnet. När en kommande våg närmar sig omvandlaren transformeras vågen till en vattenstråle, som framträder som en pulsvåg och varierar mellan noll och maxhastighet, via en styrstrategi vid namn ”latching”. Den kinetiska energin från vattenstrålen omvandlas till elektrisk energi via en Peltonturbin och en synkronmotor som agerar som generator. Det här arbetet undersöker tre hastighetsstyrstrategier samt två mellantidsstrategier för generatorn, och ämnar besvara vilken som är den mest effektiva strategin för en uppsättning vågor. Målet med dessa strategier är att maximera effektiviteten hos Peltonturbinen medan friktions- samt elektriska förluster minimeras. Den första hastighetsstyrstrategin håller en konstant hastighetbaserad på ett medelvärde från ett tidigare vågfält. Den andra strategin hålleren konstant hastighet, vilken anpassas till varje inkommande våg. Den tredje strategin anpassar hastigheten kontinuerligt under pulsvågen för att maximera turbineffektiviteten. Med mellantidsstrategierna menas de styrstrategier som nyttjas mellan vattenpulserna. I den första mellantidsstrategin körs generatorn som motor och håller konstant hastighet, vilket minskar de nödvändiga accelerationerna för att möta kommande vågs referenshastighet. Den andra strategin låter generatorn frihjula, vilket gör att hastigheten faller på grund av friktionsförluster. Under hastighetsminskningen drar generatorn ingen ström, men den måste då istället accelerera när kommande våg anländer. Detta innebär att generatorn kommer att dra mer ström, men under en kortare period. Resultaten avslöjade att det inte var någon signifikant skillnad mellan de två mellantidsstrategierna och att det var en signifikant skillnad mellan hastighetsstyrstrategierna. Resultatet visade att de två metoderna med variabel hastighet gav högre systemeffektivitet än metoden med konstant hastighet.

<p>Математички модели за естимацију тешко мерљивих величина називају<br />се софт сензорима. Процес формирања софт сензора није тривијалан и<br />квалитет естимације тешко мерљиве величине директно зависи од<br />начина формирања. Недостаци постојећих алгоритама за формирање<br />спречавају аутоматску конфигурацију софт сензора. У овом раду су<br />реализовани нови алгоритми који имају за сврху аутоматизацију<br />конфигурације софт сензора. Реализовани алгоритми решавају<br />проблеме проналаска оптималног сета улаза у софт сензор и кашњења<br />сваког од њих као и одабира структуре и начина обуке софт сензора<br />заснованих на вештачким неуронским мрежама са радијално базираним<br />функцијама.</p> / <p>Matematički modeli za estimaciju teško merljivih veličina nazivaju<br />se soft senzorima. Proces formiranja soft senzora nije trivijalan i<br />kvalitet estimacije teško merljive veličine direktno zavisi od<br />načina formiranja. Nedostaci postojećih algoritama za formiranje<br />sprečavaju automatsku konfiguraciju soft senzora. U ovom radu su<br />realizovani novi algoritmi koji imaju za svrhu automatizaciju<br />konfiguracije soft senzora. Realizovani algoritmi rešavaju<br />probleme pronalaska optimalnog seta ulaza u soft senzor i kašnjenja<br />svakog od njih kao i odabira strukture i načina obuke soft senzora<br />zasnovanih na veštačkim neuronskim mrežama sa radijalno baziranim<br />funkcijama.</p> / <p>Mathematical models that are used for estimation of variables that can not be<br />measured in real time are called soft sensors. Creation of soft sensor is a<br />complex process and quality of estimation depends on the way soft sensor is<br />created. Restricted applicability of existing algorithms is preventing automatic<br />configuration of soft sensors. This paper presents new algorithms that are<br />providing automatic configuration of soft sensors. Presented algorithms are<br />capable of determing optimal subset of soft sensor inputs and their time<br />delays, as well as optimal architecture and automatic training of the soft<br />sensors that are based on artificial radial basis function networks.</p>

Les composants de puissance grand gap présentent d'ores et déjà des caractéristiques statiques et dynamiques supérieures à leurs homologues en silicium. Mais ces composants d'un nouvel ordre s'accompagnent de différences susceptibles de modifier le fonctionnement de la cellule de commutation. Les travaux qui furent menés au cours de cette thèse se sont intéressés aux composants grand gap et à leur commande au sein d'un convertisseur de puissance synchrone robuste, haut rendement et haute densité de puissance. En particulier deux points critiques ont été identifiés et étudiés. Le premier est la grande sensibilité des composants grand gap aux composants parasites. Le second est l'absence de diode parasite interne entre le drain et la source de nombreux transistors grand gap. Pour répondre aux exigences de ces nouveaux composants et en tirer le meilleur profit, nous proposons des solutions innovantes, robustes, efficaces et directement intégrables aux circuits de commande. Des circuits de commande entièrement intégrés ont ainsi été conçus spécifiquement pour les composants grand gap. Ceux-ci permettent entre autres le contrôle précis des formes de commutation par l'adaptation de l'impédance de grille, et l'amélioration de l'efficacité énergétique et de la robustesse d'un convertisseur de puissance à base de composants grand sans diodes par une gestion dynamique et locale de temps morts très courts. / Wide band gap devices already demonstrate static and dynamic performances better than silicon transistors. Compared to conventional silicon devices these new wide band gap transistors have some different characteristics that may affect power converter operations. The work presented in this PhD manuscript deals with a specific gate drive circuit for a robust, high power density and high efficiency wide band gap devices-based power converter. Two critical points have been especially studied. The first point is the higher sensitivity of wide band gap transistors to parasitic components. The second point is the lack of parasitic body diode between drain and source of HEMT GaN and JFET SiC. In order to drive these new power devices in the best way we propose innovative, robust and efficient solutions. Fully integrated gate drive circuits have been specifically developed for wide band gap devices. An adaptive output impedance gate driver provides an accurate control of wide band gap device switching waveforms directly on its gate side. Another gate drive circuit improves efficiency and reliability of diode-less wide band gap devices-based power converters thanks to an auto-adaptive and local dead-time management.

<div>Soft tissue manipulation is a widely used practice by manual therapists from a variety of healthcare disciplines to evaluate and treat neuromusculoskeletal impairments using mechanical stimulation either by hand massage or specially-designed tools. The practice of a specific approach of targeted pressure application using distinguished rigid mechanical tools to breakdown adhesions, scar tissues and improve range of motion for affected joints is called Instrument-Assisted Soft Tissue Manipulation (IASTM). The efficacy of IASTM has been demonstrated as a means to improve mobility of joints, reduce pain, enhance flexibility and restore function. However, unlike the techniques of ultrasound, traction, electrical stimulation, etc. the practice of IASTM doesn't involve any standard to objectively characterize massage with physical parameters. Thus, most IASTM treatments are subjective to practitioner or patient subjective feedback, which essentially addresses a need to quantify therapeutic massage or IASTM treatment with adequate treatment parameters to document, better analyze, compare and validate STM treatment as an established, state-of-the-art practice.</div><div><br></div><div>This thesis focuses on the development and implementation of Quantifiable Soft Tissue Manipulation (QSTM™) Technology by designing an ergonomic, portable and miniaturized wired localized pressure applicator medical device (Q1), for characterizing soft tissue manipulation. Dose-load response in terms of forces in Newtons; pitch angle of the device with respect to treatment plane; stroke frequency of massage measured within stipulated time of treatment; all in real-time has been captured to characterize a QSTM session. A QSTM PC software (Q-WARE©) featuring a Treatment Record System subjective to individual patients to save and retrieve treatment diagnostics and a real-time graphical visual monitoring system has been developed from scratch on WINDOWS platform to successfully implement the technology. This quantitative analysis of STM treatment without visual monitoring has demonstrated inter-reliability and intra-reliability inconsistencies by clinicians in STM force application. While improved consistency of treatment application has been found when using visual monitoring from the QSTM feedback system. This system has also discriminated variabilities in application of high, medium and low dose-loads and stroke frequency analysis during targeted treatment sessions.</div>

This work is focused on innovative construction of the industrial radial sealless pump and mainly on construction of the three phase DC/AC converter based on new semiconductor technology SiC. These new semiconductor devices allow move switching frequency up to 100 kHz. For such high switching frequency new non-conventional topology of the output filter was designed. This high frequency is currently unusual in three-phase application with output voltage 400V. High switching frequency reduces size of wound components of the output filter and its presence is accepted in terms of total weight and price of the whole system. Clear sinus waveform of the output converter voltage reduces torque ripple, EMC and extend the lifetime and reliability of mechanical parts and the whole pump drive. Three phase synchronous motor is directly placed into the pump body and is designed as slotless motor. In the inlet area is the classical bearing replaced by active magnetic bearing. It is used due to possibility to pump aggressive liquids or substances where high level of cleanness has to be guaranteed.

Cette thèse vise à élaborer de nouvelles stratégies de commande basées sur la commande prédictive pour le système de génération d’énergie éolienne. La topologie des systèmes de production éolienne basées sur le Générateur Asynchrone à Double Alimentation (GADA) qui convient à des plateformes de génération dans la gamme de puissance de 1.5 à 6 MW est abordée. Du point de vue technologique, le convertisseur à trois niveaux et clampé par le neutre (3L-NPC) est considéré comme une bonne solution pour une puissance élevée en raison de ses avantages: capacité à réduire la distorsion harmonique de la tension de sortie et du courant, et augmentation de la capacité du convertisseur grâce à une tension réduite appliquée à chaque semi-conducteur de puissance. Une description détaillée de la commande prédictive à ensemble de commande fini (FCS-MPC) avec un horizon de prédiction de deux pas est présentée pour deux boucles de régulation: celle liée au convertisseur connecté au réseau et celle du convertisseur connecté au GADA. Le principe de la commande repose sur l’utilisation d’un modèle de prédiction permettant de prédire le comportement du système pour chaque état de commutation du convertisseur. La minimisation d’une fonction de coût appropriée prédéfinie permet d’obtenir la commutation optimale à appliquer au convertisseur. La thèse étudie premièrement les problèmes liées à la compensation du temps de calcul de la commande et au choix et aux pondérations de la fonction de coût. Ensuite, le problème de stabilité de la commande FCS-MPC est abordé en considérant une fonction de Lyapunov dans la minimisation de la fonction de coût. Finalement, une étude sur la compensation des effets des temps morts du convertisseur est présentée. / This thesis aims to elaborate new control strategies based on Model Predictive control for wind energy generation system. We addressed the topology of doubly fed induction generator (DFIG) based wind generation systems which is suitable for generation platform power in the range in 1.5-6 MW. Furthermore, from the technological point of view, the three-level neutral-point clamped (3L-NPC) inverter configuration is considered a good solution for high power due to its advantages: capability to reduce the harmonic distortion of the output voltage and current, and increase the capacity of the converter thanks to a decreased voltage applied to each power semiconductor.In this thesis, we presented a detailed description of finite control set model predictive control (FCS-MPC) with two step horizon for two control schemes: grid and DFIG connected 3L-NPC inverter. The principle of the proposed control scheme is to use system model to predict the behaviour of the system for every switching states of the inverter. Then, the optimal switching state that minimizes an appropriate predefined cost function is selected and applied directly to the inverter.The study of issues such as delay compensation, computational burden and selection of weighting factor are also addressed in this thesis. In addition, the stability problem of FCS-MPC is solved by considering the control Lyapunov function in the design procedure. The latter study is focused on the compensation of dead-time effect of power converter.

[ES] Actualmente existen numerosas y variadas contribuciones basadas en el ADRC. Por un lado, algunos trabajos abordan la metodología ADRC. Sin embargo, son pocos los que ofrecen una explicación exhaustiva de su diseño y aplicación, dirigida a aquellos investigadores que están empezando a explorar esta estrategia de control. Por otro lado, la sintonización del ADRC y el control compuesto basado en ADRC son áreas de investigación abiertas. Una de las discusiones que se mantiene activa en la literatura está relacionada con la forma de seleccionar los parámetros principales del ADRC de modo que se alcance la estabilidad de lazo cerrado con un rechazo de perturbaciones y robustez apropiadas, especialmente cuando el ADRC se emplea para controlar procesos aproximados mediante representaciones más sencillas como el modelo de primer orden más retardo (FOPDT). Asimismo, la estimación activa de la incertidumbre y las perturbaciones ha hecho atractiva la idea de integrar la topología ADRC con técnicas de control avanzado, por ejemplo, con el control predictivo basado en modelo (MPC). El mayor desafío que surge al realizar esta combinación radica en cómo formular el lazo de control para que el mecanismo de rechazo de perturbaciones del ADRC transforme el comportamiento del sistema controlado en el de una planta deseada simplificada, relajando así el requisito de un modelo detallado y considerando directamente las restricciones en las variables del lazo. Esta tesis presenta tres contribuciones al conocimiento del ADRC para abordar los desafíos expuestos anteriormente. La primera de ellas es una guía para el diseño y aplicación de controladores lineales mediante el control convencional por rechazo activo de perturbaciones. Esta guía ofrece, a modo de tutorial, una revisión de la fundamentación teórica del ADRC y condensa en un algoritmo los pasos para el diseño de estos controladores con el propósito de facilitar su implementación de acuerdo con la formulación del problema en el marco de la estimación y rechazo de perturbaciones y la selección empírica de sus ganancias. La segunda contribución de esta disertación es un conjunto de reglas de sintonía para el cálculo de los tres parámetros distintivos del ADRC con los que se diseñan las ganancias del observador de estados y de la ley de control. Estas reglas permiten sintonizar el ADRC para el control de un proceso aproximado mediante un modelo FOPDT y ofrecen al diseñador diferentes conjuntos de parámetros de acuerdo con un nivel de robustez deseado. Esta contribución se basa en el desarrollo de procedimientos de diseño de optimización multiobjetivo enfocados al control de un grupo de plantas FOPDT nominales. Los resultados de dichos procedimientos se ajustaron a las fórmulas de sintonía proporcionadas. La tercera contribución es una nueva arquitectura de control que combina el mecanismo de rechazo de perturbaciones del ADRC y la estrategia de horizonte deslizante del MPC. En este lazo, una ley de control predictivo gobierna una planta de primer orden más integrador que se induce sobre proceso real sujeto a restricciones. Lo anterior es posible compensando el desajuste entre las plantas real y deseada e incorporando el término de compensación del ADRC en la formulación de las restricciones del controlador predictivo. El bucle pretende proporcionar una solución para controlar sistemas con restricciones para los que no se ha identificado un modelo nominal. Esta disertación está dirigida tanto a los investigadores interesados en explorar el control por rechazo activo de perturbaciones como a aquellos que consideran a esta tecnología como una de sus líneas de investigación principales. Las contribuciones sirven a quienes se inician en el estudio del ADRC, a los diseñadores de controladores que buscan implementar el ADRC lineal considerando el rechazo de perturbaciones de procesos FOPDT y a los investigadores abiertos a la discusión de los beneficios potenciales de de combinar el ADRC con el MPC. / [CAT] Actualment existeixen nombroses i variades contribucions basades en l'ADRC. D'una banda, alguns treballs aborden la metodologia ADRC. No obstant això, són pocs els que ofereixen una explicació exhaustiva del seu disseny i aplicació, dirigida a aquells investigadors que estan començant a explorar aquesta estratègia de control. D'altra banda, la sintonització de l'ADRC i el control compost basat en ADRC són àrees d'investigació obertes. Una de les discussions que es manté activa en la literatura està relacionada amb la manera de seleccionar els paràmetres principals de l'ADRC de manera que s'aconseguisca l'estabilitat de llaç tancat amb un rebuig de pertorbacions i robustesa apropiades, especialment quan l'ADRC s'empra per a controlar processos aproximats mitjançant representacions més senzilles com el model de primer ordre més retard (FOPDT). Així mateix, l'estimació activa de la incertesa i les pertorbacions ha fet atractiva la idea d'integrar la topologia ADRC amb tècniques de control avançat, per exemple, amb el control predictiu basat en model (MPC). El major desafiament que sorgeix en realitzar aquesta combinació radica en com formular el llaç de control perquè el mecanisme de rebuig de pertorbacions de l'ADRC transforme el comportament del sistema controlat en el d'una planta desitjada simplificada, relaxant així el requisit d'un model detallat i considerant directament les restriccions en les variables del llaç. Aquesta tesi presenta tres contribucions al coneixement de l'ADRC per a abordar els desafiaments exposats anteriorment. La primera d'elles és una guia per al disseny i aplicació de controladors lineals mitjançant el control convencional per rebuig actiu de pertorbacions. Aquesta guia ofereix, a manera de tutorial, una revisió de la fonamentació teòrica de l'ADRC i condensa en un algorisme els passos per al disseny d'aquests controladors amb el propòsit de facilitar la seua implementació d'acord amb la formulació del problema en el marc de l'estimació i rebuig de pertorbacions i la selecció empírica dels seus guanys. La segona contribució d'aquesta dissertació és un conjunt de regles de sintonia per al càlcul dels tres paràmetres distintius de l'ADRC amb els quals es dissenyen els guanys de l'observador d'estats i de la llei de control. Aquestes regles permeten sintonitzar l'ADRC per al control d'un procés aproximat mitjançant un model FOPDT i ofereixen al dissenyador diferents conjunts de paràmetres d'acord amb un nivell de robustesa desitjat. Aquesta contribució es basa en el desenvolupament de procediments de disseny d'optimització multiobjectiu enfocats al control d'un grup de plantes FOPDT nominals. Els resultats d'aquests procediments es van ajustar a les fórmules de sintonia proporcionades. La tercera contribució és una nova arquitectura de control que combina el mecanisme de rebuig de pertorbacions de l'ADRC i l'estratègia d'horitzó lliscant del MPC. En aquest llaç, una llei de control predictiu governa una planta de primer ordre més integrador que s'indueix sobre procés real subjecte a restriccions. L'anterior és possible compensant el desajustament entre les plantes real i desitjada i incorporant el terme de compensació de l'ADRC en la formulació de les restriccions del controlador predictiu. El bucle pretén proporcionar una solució per a controlar sistemes amb restriccions per als quals no s'ha identificat un model nominal. Aquesta dissertació està dirigida tant als investigadors interessats a explorar el control per rebuig actiu de pertorbacions com a aquells que consideren a aquesta tecnologia com una de les seues línies d'investigació principals. Les contribucions serveixen als qui s'inicien en l'estudi de l'ADRC, als dissenyadors de controladors que cerquen implementar l'ADRC lineal considerant el rebuig de pertorbacions de processos FOPDT i als investigadors oberts a la discussió dels beneficis potencials de de combinar l'ADRC amb el MPC. / [EN] Numerous and varied contributions based on the ADRC are currently available. On the one hand, some works address the ADRC methodology. Still, only some offer a comprehensive explanation of its design and application aimed at those researchers who are starting to explore this control strategy. On the other hand, the ADRC tuning and the ADRC-based composite control are open research areas. One of the discussions that remain active in the literature is related to how to select the LADRC main parameters so that closed-loop stability is achieved with appropriate disturbance rejection and robustness, mainly when the ADRC is used to control processes approximated by more straightforward representations such as the first-order plus delay (FOPDT) model. Likewise, the active estimation of uncertainty and disturbances has made integrating the ADRC topology with advanced control techniques, like Model-Based Predictive Control (MPC), attractive. The major challenge in realising this combination lies in how to formulate the control loop so that the ADRC disturbance rejection mechanism transforms the behaviour of the controlled system into that of a simplified desired plant, thus relaxing the requirement for a detailed model while directly considering the constraints on the loop variables. This thesis presents three contributions to ADRC knowledge to address the challenges mentioned above. The first is a guide for designing and applying linear controllers using conventional active disturbance rejection control. This guide offers a review of the theoretical foundation of the ADRC. It condenses in an algorithm the steps for designing these control loops to facilitate their implementation according to the problem formulation in the disturbance estimation and rejection framework and the empirical selection of their gains. The second contribution of this dissertation is a set of tuning rules for computing the three distinctive parameters of the ADRC with which the state observer and control law gains are designed. These rules allow tuning the ADRC to control an approximate process using a first-order plus delay model and offer different sets of parameters according to a desired level of robustness. This contribution is based on developing multi-objective optimisation design procedures focused on controlling a group of nominal FOPDT plants. The results of these procedures were fitted to the tuning formulae provided. The third contribution is a new control architecture that combines the disturbance rejection mechanism of the ADRC and the receding horizon strategy of the MPC. In this loop, a predictive control law governs a first-order plus integrator plant enforced on the real process subject to constraints. The above is possible by compensating for the mismatch between the real and desired plants and incorporating the ADRC compensation term in the constraints formulation of the predictive controller. The loop is intended to provide a solution to control constrained systems for which no nominal model has been identified. This dissertation addresses researchers interested in exploring active disturbance rejection control and those considering this technology as one of their main lines of research. The contributions of this dissertation serve those new to the study of ADRC, controller designers seeking to implement linear ADRC by considering the disturbance rejection response of processes approximated using first-order plus delay models, and researchers open to discussing the potential benefits of combining ADRC with advanced techniques such as MPC. / Martínez Carvajal, BV. (2023). Design of controllers based on active disturbance rejection control (ADRC) and its integration with model predictive control (MPC) [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/196581