Depósi o de In es igación de la Uni e sidad de Se illa
h ps://idus.us.es/
This is an Accep ed Manusc ip o an a icle published by IEEE:
J. Rodas, C. Ma ín, M. R. A ahal, F. Ba e o and R. G ego , "In luence o
Co a iance-Based ALS Me hods in he Pe o mance o P edic i e Con olle s
Wi h Ro o Cu en Es ima ion," in IEEE T ansac ions on Indus ial Elec onics,
ol. 64, no. 4, pp. 2602-2607, Ap il 2017, DOI: 10.1109/TIE.2016.2636205
“© 2017 IEEE. Pe sonal use o his ma e ial is pe mi ed. Pe mission om
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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
In luence o Co a iance-Based ALS Me hods in
he Pe o mance o P edic i e Con olle s wi h
Ro o Cu en Es ima ion
Jo ge Rodas, Membe ,IEEE, C is ina Ma ´
ın, Manuel R. A ahal, Membe ,IEEE, Fede ico Ba e o, Senio
Membe ,IEEE, and Ra´
ul G ego
Abs ac —The use o on-line o o cu en es ima o s
wi h p edic i e cu en con olle s has been e y ecen ly
s a ed in i e-phase induc ion mo o d i es, whe e he
closed-loop pe o mance o he sys em is imp o ed using
sub-op imal es ima o s based on Kalman il e s. In his
wo k, he in e es o using op imiza ion me hods in he
de ini ion o he Kalman il e , like he co a iance echnique,
is analyzed. Ob ained sys em pe o mances using op imal
and sub-op imal o o cu en es ima o s a e expe imen ally
compa ed.
Index Te ms—Kalman il e , mul iphase d i es, op imal
co a iance es ima ion, p edic i e cu en con ol.
I. INTRODUCTION
THE in e es in model p edic i e con ol like an al e na i e
in powe con e e s and d i es o ield o ien ed o di ec
o que con olle s has been g owing up in he las decade [1].
In he mul iphase d i es’ esea ch ield he p edic i e cu en
con ol (PCC) echnique ep esen s he mos popula case
s udy [2]. PCC uses a s a e-space ep esen a ion o he d i e o
op imize he con ol ac ion. The es ima ion o non-measu able
s a e componen s, ypically o o cu en s, is a complex
p oblem ha has been ecen ly sol ed using di e en me hods
o he on-line es ima ion o he o o a iables [3, 4]. These
s udies illus a e he bene i s in using o o cu en obse e s
like Kalman il e s (KF), al hough sub-op imal echniques
we e applied du ing he necessa y uning p ocess o hese
obse e s.
Manusc ip ecei ed May 5, 2016; e ised Sep embe 1, 2016 and
Oc obe 17, 2016; accep ed No embe 15, 2016. This wo k was
suppo ed by he Pa aguayan Go e nmen h ough he CONACYT
g an 14-INV-101 ( esea ch P ojec ) in he amewo k o he p og am
“P og ama Pa aguayo pa a el Desa ollo de la Ciencia y Tecnolog´
ıa,”
PROCIENCIA. This wo k was also unded by he Spanish Minis y o
Science and Inno a ion unde P ojec DPI2013-44278-R, he Uni e si y
o Se ille, Spain (V Resea ch Plan, ac ion II.2).
J. Rodas and R. G ego a e wi h he Labo a o y o Powe
and Con ol Sys ems, Facul ad de Ingenie ´
ıa, Uni e sidad Nacional
de Asunci´
on, 2060 Luque, Pa aguay (e-mail: [email p o ec ed]y;
[email p o ec ed]y).
C. Ma ´
ın and F. Ba e o a e wi h he Depa men o Elec onic
Enginee ing, Uni e si y o Se ille, 41004 Se ille, Spain (e-mail:
cma [email p o ec ed]; [email p o ec ed]).
M. R. A ahal is wi h he Depa men o Sys ems Enginee ing and
Au oma ic Con ol, Uni e si y o Se ille, 41004 Se ille, Spain (e-mail:
a [email protected]).
In his pape , a o o cu en obse e based on KF
is included in he con en ional PCC echnique, being a
ema kable con ibu ion o he wo k he op imal design o he
KF by means o a obus co a iance es ima ion me hod. In [4]
he KF gains a e uned based on ial and e o s a egies,
using some p io expe knowledge o hypo hesis abou he
noise. The p oposed me hod is based on he es ima ion o
ue co a iances in he con ol sys em, which has no been
p e iously es ed in he mul iphase elec ical d i es’ ield. A
i e-phase induc ion machine (IM) is used as a case example,
bu he ob ained esul s can be ex apola ed o di e en
elec ical machines.
II. PREDICTIVE CURRENT CONTROL WITH OPTIMAL
ROTOR CURRENT ESTIMATION
A i e-phase IM d i e wi h dis ibu ed windings equally
displaced #=2⇡/5and powe ed by a i e-phase wo-le el
ol age sou ce in e e (VSI) is used. A block diag am o
he con en ional PCC echnique de ailed in [2] is shown
in Fig. 1(a) oge he wi h a schema ic ep esen a ion o he
i e-phase IM d i e. This PCC con olle u ilizes a disc e e
model o he sys em, named p edic i e model, o p edic (a
ime k) he u u e alues ( ime k+1) o he machine’s
s a o cu en s, bis(k+1|k), o each possible s a o ol age,
u(k). Thus, he p edic i e model elies on he knowledge o
some a iables such as he measu ed s a o cu en s is(k)and
elec ical speed ! (k), as i is shown in he ollowing equa ion:
bi(k+1|k)=Ai(k)+Bu(k)(1)
whe e i=(i↵s,i
s,i
xs,i
ys,i
↵ ,i
 ),u=(u↵s,u
s,u
xs,u
ys),
and Aand Ba e ma ices ha depend on he elec ical
pa ame e s o he machine and he sampling ime Ts. Ma ix
Aalso depends on he ac ual alue o ! (k), and i mus
be calcula ed e e y sampling ime. A de ailed explana ion
o he machine model is no included he e o he sake o
conciseness and can be ound in [3]. I is wo h s a ing ha ,
acco ding o he well-known ec o space decomposi ion
app oach [4], he elec omechanical ene gy con e sion
a iables a e mapped in o he ↵subspace, meanwhile he
cu en componen s in he xysubspace in he analyzed
elec ical machine a e ela ed o ha monic losses.
In con en ional PCC he compu a ion o he con ol signal
akes a signi ican amoun o ime which is compa able wi h
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Fig. 1. Schema ic diag am o he i e-phase IM d i e and blok diag am o (a) he con en ional PCC echnique applied in [2] o he egula ion o
i e-phase IM d i es, and (b) he p oposed PCC echnique ha uses a KF-based op imum o o cu en es ima o .
Ts, so a second-s ep ahead p edic ion o he s a o cu en s
bis(k+2|k)is equi ed [3]. In he exis ing li e a u e his e m is
ob ained i e a i ely using he p edic i e model. Rega ding he
o o quan i ies ha appea in (1), mos esea ch wo ks ely on
agg ega ing all unmeasu able quan i ies in o one e m ha is
acked, al hough he use o es ima o s o o o quan i ies has
been ecen ly p oposed in [4], a he expense o a ema kable
inc emen o he compu a ional cos o he implemen ed
con olle (by 36 % o he o al). Once he second-s ep ahead
p edic ion is ob ained, an op imiza ion p ocess is applied e e y
sampling pe iod, whe e a cos unc ion Jis calcula ed o all
32 (25) possible s a o ol ages o ob ain a desi ed e e ence
ajec o y i⇤
s(k). The ol age ec o ha minimizes he cos
unc ion is selec ed and applied o he sys em du ing he nex
sampling pe iod. The cos unc ion can be de ined in di e en
ways, al hough he de ia ion be ween e e ence and p edic ed
s a o cu en s is no mally used as ollows:
J(k+2|k)=kbe↵ k2+xy kbexy k2(2)
being be he second-s ep ahead p edic ed e o compu ed as
be=i⇤
s(k+ 2) bis(k+2|k), and xy a uning pa ame e ha
allows o pu mo e emphasis on ↵o xysubspaces [1, 5].
A. In luence o Ro o Cu en in P edic ion
As commen ed be o e, he p edic i e model gi en by (1)
canno be used o p oducing p edic ions i o o cu en s
a e no measu able (as i is he no mal case) unless some
es ima ion o o o cu en s is p o ided. PCC me hods ha e
o e come his p oblem by agg ega ing all non-measu able
e ms in one ac o ha is la e acked and upda ed (G).
Fo his pu pose, he s a o cu en ec o is di ided in o a
measu able pa , is=(i↵s,i
s,i
xs,i
ys), and a non-measu ed
pa , i =(i↵ ,i
 ), and he p edic i e model akes he
ollowing o m:
bis(k+1|k)=¯
Ai
s(k)+¯
Bu(k)+b
G(k|k)(3)
wi h app op ia e ¯
Aand ¯
Bma ices ob ained om (1) using
elemen al algeb a. The b
G(k|k) e m is app oxima ed holding
i s p e ious alue b
G(k1|k)compu ed a ime k, using pas
alues o measu ed a iables:
b
G(k1|k)=is(k)¯
Ai
s(k1) ¯
Bu(k1) (4)
B. Ro o Cu en Es ima o Based on Kalman Fil e
Ins ead o using he acking and upda ing echnique
p oposed in con en ional PCC me hods, a KF is used in [4]
as i is shown in Fig. 1(b), whe e he b
Q⇢and b
R⌫es ima o s
block we e no aken in o accoun . The o o cu en s (
bi )
a e es ima ed e e y sampling ime using he measu ed o o
speed ! , s a o phase cu en s isand s a o phase ol ages u.
Conside ing unco ela ed p ocesses and ze o-mean Gaussian
measu emen noises, he machine’s model (1) can be w i en
as ollows:
bi(k+1|k)=Ai(k)+Bu(k)+H⇢(k)
is(k)=Ci(k)+⌫(k)(5)
being ⇢(k) he dis u bance ec o (p ocess noise), ⌫(k) he
measu emen noise, and H he noise weigh ma ix.
Di iding he cu en ec o in wo pa s, i↵s=(i↵s,i
s)
and i↵ =(i↵ ,i
 ), he dynamic o he educed-o de o o
cu en es ima o can be de ined in he ollowing way:
bi↵ (k+1|k)=(A22 K(k)A12)bi↵ (k)
+K(k)bi↵s(k+1|k)
+(A21 K(k)A11)i↵s(k)
+(B2K(k)B1)u↵(k)
(6)
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
whe e K(k) ep esen s he KF gain ma ix and
u↵ =(u↵s,u
s). This es ima ion o o o cu en s can
now be used o p oduce he second-s ep ahead p edic ion o
he s a o cu en as:
bi↵s(k+2|k)=A11 bi↵s(k+1|k)+A12 bi↵ (k+1|k)
+B1u↵(k+ 1) (7)
The KF gain ma ix is calcula ed a each sampling ime
in a ecu si e manne using an es ima ion o wo co a iance
ma ices o he noises called b
Q⇢and b
R⌫. These co a iances
a e de ined as he expec ed alues o he dis u bance and
he measu emen noise as Q⇢=co (⇢)=E{⇢·⇢T}and
R⌫=co (⌫)=E{⌫·⌫T}, being he KF gain ma ix ob ained
using he ollowing s eps:
(k)='(k)'(k)·CT(C·'(k)·CT+b
R⌫)1·C·'(k)(8)
K(k)=(k)·CTb
R1
⌫(9)
'(k+ 1) = A(k)·AT+Hb
Q⇢·HT(10)
This comple es he equi ed ela ions o he s a e
es ima ion, whe e he minimum es ima ion e o s depends on
K(k)and i is gua an eed i he es ima ed noise co a iances
and he ini ial condi ion o he s a e co a iance ('(0)) a e
known. No ice ha he in e es o using KF in he con ex
o he s a o cu en p edic ion and PCC is p esen ed in [4],
whe e he KF was ha dly uned using ini ial alues, bu
he ob ained expe imen al esul s encou aged u u e esea ch
owa ds es ablishing he KF as a ool o choice o he
de ini ion o p edic i e con olle s in elec ical d i es.
C. P oposed op imiza ion p ocedu e
The KF op imal implemen a ion is di icul due o he
lack o in o ma ion abou he noises. The use o an op imal
es ima ion using KF equi es he es ima ion o b
Q⇢and b
R⌫,
which can be done h ough Bayesian, maximum likelihood,
co a iance ma ching o co ela ion echniques. Bayesian
and maximum likelihood a e complex and equi e much
da a. Co a iance ma ching uses he esiduals o he s a e
es ima ion p oblem, bu i p o ides biased es ima es o he
ue co a iances, esul ing in a non op imal KF uning. In [6]
he Au oco a iance Leas Squa es me hod (ALS) is p oposed
o p o ide unbiased es ima es wi h he lowes a iance,
gua an eeing op imal KF uning. The ALS me hod is done
o -line based on da a ga he ed om closed-loop ope a ion.
The posi i e semi-de ini eness o he co a iance es ima ion
is gua an eed by adding cons ain s o he ALS p oblem.
No e ha wi hou his me hod, and gi en he cu en le el
o sophis ica ion o he p edic i e con ol me hods, he use o
KF is incomple e, ollowing he Bellman op imali y p inciple.
Fu he mo e, he KF algo i hm compu a ional cos is he same
whe eas he sys em pe o mance imp o es.
The ini ial es ima ion o dis u bance co a iances ( b
Q⇢0and
b
R⌫0) can be ob ained om he esiduals o he es ima o
using (11) and (12), as i is s a ed in [7]. Then, by sol ing
he op imiza ion p oblem (13) he es ima ed co a iances ( b
Q⇢
and b
R⌫) a e ob ained. The i s e m in (13) is he esidues
no m, he second e m is he cons ain penaliza ion e m, he
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Fig. 2. ALS low cha conside ing ini ial co a iances (Q⇢0and Rnu0)
and numbe o da a poin s (Nd).
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Fig. 3. P oposed PCC algo i hm in a low cha diag am.
e m |·|deno es he de e minan o he ma ix, Aand bba e
de ined in [6] as Eqs. (11) and (12), espec i ely, and µis he
ba ie pa ame e o he semi-de ini e cons ain (Q⇢0and
R⌫0). By using a New on-based op imiza ion p ocedu e,
he co a iances a e ob ained a e a p ede ined numbe o
i e a ions (n) o when he esul s con e ge as shown in Fig. 2.
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Fig. 4. Scheme o he expe imen al es ig.
b
Q⇢0=co {bi(k+1|k)Abi(k|k1)
Bu(k)H⇢(k|k1)}(11)
b
R⌫0=co {is(k)Ci(k|k1) I⇢(k|k1)}(12)
minQ⇢
R⌫A(Q⇢)s
(R⌫)sbb
2
2
µlog Q⇢0
0R⌫(13)
No e ha b
Q⇢and b
R⌫a e cons an alues du ing he
p oposed PCC algo i hm. To make hings clea e , a low cha
o he p oposed PCC con ol algo i hm is p esen ed in Fig. 3.
In gene al, uning pa ame e s o he p edic i e con olle s
is no easy as many s udies ocusing on his a ea ha e
shown [5, 8]. Al hough he use o KF imp o es he modeling
o complex elec ical sys ems and consequen ly he be e
pe o mance o he PCC con olle , he op imal pa ame e s
o he il e was s ill a p oblem o be sol ed, and he
p oposed me hod co e s his pa o he p oblem by an op imal
es ima ion o b
Q⇢and b
R⌫. The con ibu ion o his pape
analyzes he ob ained imp o emen when his op imal o o
cu en es ima o is applied.
III. EXPERIMENTAL RESULTS
To alida e he p oposed con ol me hod, an expe imen al
e alua ion has been conduc ed. A diag am o he es ig is
shown in Fig. 4. The p incipal elemen is a h ee pai s o
poles i e-phase IM whose nominal pa ame e s ha e been
expe imen ally de e mined as Rs= 19.45 ⌦,R =6.77 ⌦,
Lls = 100.7mH, Ll = 38.06 mH, M= 656.5mH, !n=
1,000 pm and Pn=1kW. Two 2-le el h ee-phase powe
con e e s om Semik on (SKS22F) a e used o d i e he
i e-phase IM, whe e he DC-link ol age is se o 300 V
using a DC powe supply sys em. The con ol sys em is based
on a MSK28335 boa d and a TMS320F28335 DSP, being he
o o mechanical measu ed using a GHM510296R/2500 digi al
encode and he eQEP pe iphe al o he DSP. A DC mo o is
also used o in oduce a a iable load o que in he sys em.
Di e en es s we e ca ied ou o alida e he cu en
con olle pe o mance using he con en ional PCC me hod
(C1), he PCC me hod wi h KF de ailed in [4] (C2) and
he PCC wi h he p oposed op imum-KF (C3). A sampling
TABLE I
EXPERIMENTAL RESULTS AT DIFFERENT OPERATING POINTS
![ pm] Figu es o me i C1 C2 C3
400
MSEi⇤
↵s0.1068 0.0972 0.0954
MSE
b
i⇤
↵s0.1468 0.1390 0.1382
MSEi⇤
xs 0.1217 0.1199 0.1176
THD(%) 14.15 13.29 13.47
500
MSEi⇤
↵s0.1075 0.0950 0.0907
MSE
b
i⇤
↵s0.1411 0.1343 0.1267
MSEi⇤
xs 0.1284 0.1051 0.0963
THD(%) 16.86 15.07 14.07
550
MSEi⇤
↵s0.1227 0.1044 0.0879
MSE
b
i⇤
↵s0.1526 0.1363 0.1247
MSEi⇤
xs 0.1408 0.1354 0.1260
THD(%) 16.08 14.63 13.18
600
MSEi⇤
↵s0.1177 0.0924 0.0860
MSE
b
i⇤
↵s0.1469 0.1318 0.1234
MSEi⇤
xs 0.1435 0.1355 0.1203
THD(%) 16.42 12.50 12.96
700
MSEi⇤
↵s0.1266 0.0875 0.0835
MSE
b
i⇤
↵s0.1579 0.1300 0.1285
MSEi⇤
xs 0.1524 0.1433 0.1430
THD(%) 17.34 14.81 14.70
equency o 15 kHz and hal o he nominal load a e
conside ed, as well as he cos unc ion de ined in (2) wi h
xy =0.1( he o que and lux p oduc ion a e p omo ed
by he con olle o e he ha monic losses). Fou igu es o
me i a e used o compa e he e iciency o he di e en
o o cu en es ima o s in e ms o con ol pe o mance and
p edic ion accu acy. These a e mean squa ed alues o he
cu en con ol e o in ↵and xaxis, de ined in (14), he
model p edic ion e o in ↵axis (15), and a o al ha monic
dis o ion measu emen (THD) o he s a o phase (15).
MSEi⇤
(↵,x)s=
u
u
PN
j=1 ⇣i(↵,x)s(j)i⇤
(↵,x)s(j)⌘2
N(14)
MSEbi↵s=
u
u
PN
j=1 ⇣i↵s(j)bi↵s(j)⌘2
N(15)

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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Fig. 5. Expe imen al compa ison o ob ained s a o cu en s in ↵and xaxis using (a) C1, (b) C2 and (c) C3 echniques a 550 pm and hal nominal
o que load.
THDbis=sMSEbi2
↵s+MSE
bi2
xys
i↵s peak/2(16)
Table I and Fig. 5 summa ize he ob ained esul s in
s eady-s a e ope a ion, whe e i is quan i ied he ob ained
imp o emen when he p oposed o o cu en es ima o is
used. I is obse ed ha all mean squa ed alues a e imp o ed
(lowe alues) i he p oposed op imum KF o o cu en
es ima o (C3) is used. Fo ins ance, he ob ained MSEi⇤
↵s
alue a 550 pm using C3 is educed in 28.36 % and
15.80 % when i is compa ed wi h hose ob ained using C1
and C2, espec i ely. Simila ly, he ob ained MSEbi↵s alue
a 600 pm is also educed in 16.00 % and 6.37 % when
C3 is employed ins ead o C1 and C2, espec i ely. No e
ha simila esul s a e ob ained a di e en ope a ing poin s.
Fig. 5 de ails he pe o mance o he sys em using C1, C2
and C3 a 550 pm, whe e he cu en acking cha ac e is ics
in ↵and xaxis a e plo ed, showing ha he closed-loop
pe o mance o he sys em using C3 echnique o e s be e
acking cha ac e is ics han o he s. Rega ding he ha monic
con en o he s a o cu en , he ob ained alue is lowe
i he o o cu en es ima o is used, being C3 he bes
in mos cases.
The dynamic pe o mance using he C3 me hod is inally
analyzed, and he ob ained esul s a e shown in Fig. 5. The
qs a o cu en e e ence (i⇤
qs) is a ied acco ding o a s ep
p o ile, while he ds a o cu en e e ence is se o a cons an
alue (i⇤
ds=0.57 A); see Fig. 5 (uppe plo ). The measu ed
s a o cu en s in synch onous (dand qaxis, uppe plo o
Fig. 5) and s a iona y (↵xyaxis, middle plo o
Fig. 5) ames ollow he imp essed e e ences, which con i ms
ha he p oposed con olle wo ks well a di e en mechanical
speed and du ing ansien s a es. No e ha he ou e speed
con olle is no used in he es and he mechanical speed is
no egula ed, hence i a ies as i is shown in he lowe plo o
Fig. 5. I is also wo h men ioning ha a sampling equency
o 15 kHz (sampling ime o abou 67 µs) is used, which s ill
enables he implemen a ion o he KF-based o o es ima o in
he C2 and C3 con olle s. No e also ha he p oposed ALS
me hod does no a ec he compu a ional cos ( he p oposed
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Fig. 6. T ansien esponse using he C3 con olle . F om op o bo om:
dqs a o cu en s ids and iqs, and hei e e ences i⇤
ds and i⇤
qs;↵and
xcu en s i↵sand ixs, wi h he imposed e e ence i⇤
↵s, and mechanical
speed !m.
op imiza ion p ocedu e is pe o med o -line, p io o s a ing
he no mal ope a ion o he mul iphase d i e).
IV. CONCLUSION
This wo k add esses he applica ion o KF in he design o
o o cu en obse e s when PCC me hods a e used in IM
d i es. In pa icula , a p ocedu e o he design o an op imal
KF is p esen ed. Expe imen al esul s in a i e-phase IM d i e
show he in e es o he p oposed p ocedu e, which imp o es
s a o cu en p edic ion and acking, compa ing wi h o he
con en ional o KF-based PCC me hods. No ice ha all he
ob ained conclusions o a pa icula case example based on
i e phase IM can be ex ended o di e en mul iphase and
con en ional IM.
REFERENCES
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pp. 8–21, Dec. 2015.
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[2] F. Ba e o and M.J. Du an, “Recen Ad ances in he Design, Modeling,
and Con ol o Mul iphase Machines – Pa I,” IEEE T ans. Ind. Elec on.,
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[3] C. Ma in, M.R. A ahal, F. Ba e o, and M.J. Du an, “Mul iphase
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Es ima ion o Ro o Va iables in P edic i e Cu en Con olle s: a
Case S udy Using Fi e-Phase Induc ion Machine,” IEEE T ans. Ind.
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based Cu en Con ol o a Fi e-Phase Induc ion Mo o and i s
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Ma . 2012.
Jo ge Rodas (S’08–M’12) was bo n in
Asuncion, Pa aguay, in 1984. He ecei ed his
B.Eng. deg ee in Elec onic Enginee ing om
he Na ional Uni e si y o Asuncion, Pa aguay,
in 2009. He ecei ed his M.Sc. deg ees om
he Uni e si y o Vigo, Spain, in 2012 and om
he Uni e si y o Se ille, Spain, in 2013. He
ecei ed his Ph.D. deg ees om he Na ional
Uni e si y o Asuncion, in 2016 and om he
Uni e si y o Se ille, in 2016.
In 2011, P o . Rodas joined he Enginee ing
Facul y a he Na ional Uni e si y o Asuncion, whe e he is cu en ly
a Full P o esso . His main esea ch a eas a e p edic i e con ol,
mul iphase d i es, ma ix con e e s and con ol o powe con e e s o
enewable ene gy applica ions.
C is ina Ma ´ın was bo n in Se ille, Spain,
in 1989. She ecei ed he Indus ial Enginee
deg ee om he Uni e si y o Malaga, Spain,
in 2014. In 2015, she joined he Elec onic
Enginee ing Depa men o he Uni e si y
o Se ille, whe e she is cu en ly wo king
owa d he Ph.D. deg ee. He cu en esea ch
in e es s include modeling and con ol o
mul iphase d i es, mic op ocesso and DSP
de ice sys ems, and elec ical ehicles.
Manuel R. A ahal (M’06) was bo n in Se ille,
Spain, in 1966. He ecei ed he M.Sc. and
Ph.D. deg ees in Indus ial Enginee ing om
he Uni e si y o Se ille, Spain, in 1991 and
1996, espec i ely. He is cu en ly a P o esso
a he Sys ems Enginee ing and Au oma ion
Depa men a he Uni e si y o Se ille. He
has been dis inguished wi h he Bes Pape
Awa ds om he IEEE T ansac ions on Indus ial
Elec onics o 2009, and om he IET Elec ic
Powe Applica ions o 2010–2011.
Fede ico Ba e o (M’04–SM’05) ecei ed he
M.Sc. and Ph.D. deg ees in Elec ical and
Elec onic Enginee ing om he Uni e si y o
Se ille, Spain, in 1992 and 1998, espec i ely.
In 1992, he joined he Elec onic Enginee ing
Depa men a he Uni e si y o Se ille, whe e
he is cu en ly an Associa e P o esso . He
ecei ed he Bes Pape Awa ds om he IEEE
T ansac ions on Indus ial Elec onics o 2009
and om he IET Elec ic Powe Applica ions o
2010–2011.
Ra´ul G ego was bo n in Asuncion,
Pa aguay, in 1979. He ecei ed his B.Eng.
deg ee in Elec onic Enginee ing om he
Ca holic Uni e si y o Asuncion, Pa aguay,
in 2005. He ecei ed he M.Sc. and Ph.D.
deg ees in Elec onic, Signal P ocessing and
Communica ions om he Highe Technical
School o Enginee ing (ETSI), Uni e si y o
Se ille, Spain, in 2008 and 2010, espec i ely.
Since Ma ch 2010, P o . G ego is Head o he
Labo a o y o Powe and Con ol Sys em o he
Enginee ing Facul y in he Na ional Uni e si y o Asuncion, Pa aguay.
He ecei ed he Bes Pape Awa ds om he IEEE T ansac ions
on Indus ial Elec onics o 2009 and om he IET Elec ic Powe
Applica ions o 2010–2011. His esea ch in e es s include; mul iphase
d i es, ad anced con ol o powe con e e s opologies, quali y o
elec ical powe , enewable ene gy, modelling, simula ion, op imiza ion
and con ol o powe sys ems, sma me e ing & sma g ids and
p edic i e con ol.