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Wind Power Plant (WPP) and Wind Turbine (WT) modeling are becoming of key importance due to the relevant wind-generation impact on power systems. Wind integration into power systems must be carefully analyzed to forecast the effects on grid stability and reliability. Different agents, such as Transmission System Operators (TSOs) and Distribution System Operators (DSOs), focus on transient analyses. Wind turbine manufacturers, power system software developers, and technical consultants are also involved. WPP and WT dynamic models are often divided into two types: detailed and simplified. Detailed models are used for Electro-Magnetic Transient (EMT) simulations, providing both electrical and mechanical responses with high accuracy during short time intervals. Simplified models, also known as standard or generic models, are designed to give reliable responses, avoiding high computational resources. Simplified models are commonly used by TSOs and DSOs to carry out different transient stability studies, including loss of generation, switching of power lines or balanced faults, etc., Assessment and validation of such dynamic models is also a major issue due to the importance and difficulty of collecting real data. Solutions facing all these challenges, including the development, validation and application of WT and WPP models are presented in this Issue.
History of engineering & technology --- bearing current --- common mode current --- doubly fed induction generators --- permanent magnet synchronous generators --- wind turbine generator --- doubly-fed generator --- converter control --- short-circuit current --- second harmonic component --- low-voltage ride-through (LVRT) field test data --- complex terrain --- terrain-induced turbulence --- turbulence intensity --- LES --- vortex shedding --- frequency control --- wind power integration --- power system stability --- turbulence --- statistical modelling --- Wind Turbine (WT) --- Doubly Fed Induction Generator (DFIG) --- unbalanced grid voltage --- DC-linked voltage control --- Proportional Resonant with Resonant Harmonic Compensator (PR+HC) controller --- Adaptive Proportional Integral (API) control --- power control --- wind turbine near wake --- wind turbine wakes --- wake aerodynamics --- computational fluid dynamics --- rotor aerodynamics --- wind turbine validation --- MEXICO experiment --- wind energy --- model validation --- wind turbine aerodynamics --- wind farms --- wind turbines interaction --- wind farm modeling --- kernel density estimation --- multiple wind farms --- joint probability density --- ordinal optimization --- reactive power capability --- wind power plant --- wind power collection system --- aggregated, modelling --- wind integration studies --- long term voltage stability --- fault-ride through capability --- IEC 61400-27-1 --- Spanish PO 12.3 --- Type 3 wind turbine --- inertia --- wind power --- droop --- primary control --- frequency containment process --- wind integration --- demand response --- ancillary services --- wind turbine nacelle --- lightning electromagnetic pulse (LEMP) --- magnetic field intensity --- shielding mesh --- wake steering --- yaw misalignment --- multi body simulation --- main bearing loads --- rain flow counts --- aeroelasticity --- multi-rotor system --- wind turbine --- computational fluid dynamics (CFD) --- horizontal-axis wind turbine (HAWT) --- permanent-magnet synchronous-generator (PMSG) --- linear quadratic regulator (LQR) --- PI control algorithm --- LQR-PI control --- wind turbine blade --- large-eddy simulation --- turbulence evaluation index --- fatigue damage evaluation index --- DIgSILENT-PowerFactory --- MATLAB --- transient stability --- type 3 wind turbine --- DFIG --- field testing --- full-scale converter --- generic model --- validation --- HAWT --- aerodynamic characteristics --- dynamic yawing process --- near wake --- start-stop yaw velocity --- load frequency control (LFC) --- equivalent input disturbance (EID) --- active disturbance rejection control (ADRC) --- wind --- linear matrix inequalities (LMI) --- dynamic modeling --- grey-box parameter identification --- subspace identification --- recursive least squares --- optimal identification --- bearing current --- common mode current --- doubly fed induction generators --- permanent magnet synchronous generators --- wind turbine generator --- doubly-fed generator --- converter control --- short-circuit current --- second harmonic component --- low-voltage ride-through (LVRT) field test data --- complex terrain --- terrain-induced turbulence --- turbulence intensity --- LES --- vortex shedding --- frequency control --- wind power integration --- power system stability --- turbulence --- statistical modelling --- Wind Turbine (WT) --- Doubly Fed Induction Generator (DFIG) --- unbalanced grid voltage --- DC-linked voltage control --- Proportional Resonant with Resonant Harmonic Compensator (PR+HC) controller --- Adaptive Proportional Integral (API) control --- power control --- wind turbine near wake --- wind turbine wakes --- wake aerodynamics --- computational fluid dynamics --- rotor aerodynamics --- wind turbine validation --- MEXICO experiment --- wind energy --- model validation --- wind turbine aerodynamics --- wind farms --- wind turbines interaction --- wind farm modeling --- kernel density estimation --- multiple wind farms --- joint probability density --- ordinal optimization --- reactive power capability --- wind power plant --- wind power collection system --- aggregated, modelling --- wind integration studies --- long term voltage stability --- fault-ride through capability --- IEC 61400-27-1 --- Spanish PO 12.3 --- Type 3 wind turbine --- inertia --- wind power --- droop --- primary control --- frequency containment process --- wind integration --- demand response --- ancillary services --- wind turbine nacelle --- lightning electromagnetic pulse (LEMP) --- magnetic field intensity --- shielding mesh --- wake steering --- yaw misalignment --- multi body simulation --- main bearing loads --- rain flow counts --- aeroelasticity --- multi-rotor system --- wind turbine --- computational fluid dynamics (CFD) --- horizontal-axis wind turbine (HAWT) --- permanent-magnet synchronous-generator (PMSG) --- linear quadratic regulator (LQR) --- PI control algorithm --- LQR-PI control --- wind turbine blade --- large-eddy simulation --- turbulence evaluation index --- fatigue damage evaluation index --- DIgSILENT-PowerFactory --- MATLAB --- transient stability --- type 3 wind turbine --- DFIG --- field testing --- full-scale converter --- generic model --- validation --- HAWT --- aerodynamic characteristics --- dynamic yawing process --- near wake --- start-stop yaw velocity --- load frequency control (LFC) --- equivalent input disturbance (EID) --- active disturbance rejection control (ADRC) --- wind --- linear matrix inequalities (LMI) --- dynamic modeling --- grey-box parameter identification --- subspace identification --- recursive least squares --- optimal identification
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The most influential research topic in the twenty-first century seems to be mathematics, as it generates innovation in a wide range of research fields. It supports all engineering fields, but also areas such as medicine, healthcare, business, etc. Therefore, the intention of this Special Issue is to deal with mathematical works related to engineering and multidisciplinary problems. Modern developments in theoretical and applied science have widely depended our knowledge of the derivatives and integrals of the fractional order appearing in engineering practices. Therefore, one goal of this Special Issue is to focus on recent achievements and future challenges in the theory and applications of fractional calculus in engineering sciences. The special issue included some original research articles that address significant issues and contribute towards the development of new concepts, methodologies, applications, trends and knowledge in mathematics. Potential topics include, but are not limited to, the following: Fractional mathematical models; Computational methods for the fractional PDEs in engineering; New mathematical approaches, innovations and challenges in biotechnologies and biomedicine; Applied mathematics; Engineering research based on advanced mathematical tools.
Technology: general issues --- History of engineering & technology --- fractional order IMC --- first order plus dead-time processes --- event-based implementation --- numerical simulations --- comparative closed loop results --- nonlinear wave phenomen --- RBF --- local RBF-FD --- stability --- unmanned aerial vehicle (UAV) --- quaternion-based estimator --- low-cost design --- automatic optical inspection --- kinetic theory --- parallel robots --- robust control --- sliding mode control --- basinI --- basinII --- mean pressure head --- pressure head with different probabilities of occurrence --- standard deviation of the pressure fluctuations --- statistical modeling --- USBR --- desalination --- humidification-dehumidification --- waste heat recovery --- mathematical model --- yearly analysis --- thermo-economics --- multi-objective optimization --- cruise altitude --- fuel consumption --- time to climb --- Hermite-Simpson method --- trajectory optimization --- terminal residual analysis (TRA) --- m-σ terminal residual analysis (m-σ TRA) --- power transformer --- stray losses --- analytical methods --- finite element method --- gridshell structures --- shape ratio --- length ratio --- regularity --- particle swarm optimization --- genetic algorithm --- hybrid nanofluid --- dual solutions --- mixed convection --- stagnation point --- radiation --- stability analysis --- machine learning --- eXterme Gradient Boosting --- Computation Fluid Dynamics --- blade vibration --- unsteady aerodynamic model --- active disturbance rejection control (ADRC) --- multiobjective optimization --- time delay systems --- tuning rules --- soft robotics --- fractional calculus --- CACSD toolbox --- operating point linearization --- automatic uncertainty bound computation --- Model-in-the-Loop simulation --- hybrid simulation --- ℋ∞ control --- μ synthesis --- DC-to-DC power converters --- buck --- boost --- SEPIC --- rainfall-runoff model --- curve number --- inferential statistics --- 3D runoff difference model --- model calibration --- PAT model --- modified affinity laws --- hydraulic simulation tool --- μ-synthesis --- fractional-order control --- swarm optimization --- artificial bee colony optimization --- CNC machine --- mixed sensitivity --- D–K iteration --- Linear Matrix Inequality --- biotechnology --- fermentation process --- batch bioreactors --- modeling --- control system design and synthesis --- linear control --- adaptive control --- model reference adaptive control --- control system realization --- mixed-sensitivity --- FO-PID --- twin rotor aerodynamic system --- fractional order IMC --- first order plus dead-time processes --- event-based implementation --- numerical simulations --- comparative closed loop results --- nonlinear wave phenomen --- RBF --- local RBF-FD --- stability --- unmanned aerial vehicle (UAV) --- quaternion-based estimator --- low-cost design --- automatic optical inspection --- kinetic theory --- parallel robots --- robust control --- sliding mode control --- basinI --- basinII --- mean pressure head --- pressure head with different probabilities of occurrence --- standard deviation of the pressure fluctuations --- statistical modeling --- USBR --- desalination --- humidification-dehumidification --- waste heat recovery --- mathematical model --- yearly analysis --- thermo-economics --- multi-objective optimization --- cruise altitude --- fuel consumption --- time to climb --- Hermite-Simpson method --- trajectory optimization --- terminal residual analysis (TRA) --- m-σ terminal residual analysis (m-σ TRA) --- power transformer --- stray losses --- analytical methods --- finite element method --- gridshell structures --- shape ratio --- length ratio --- regularity --- particle swarm optimization --- genetic algorithm --- hybrid nanofluid --- dual solutions --- mixed convection --- stagnation point --- radiation --- stability analysis --- machine learning --- eXterme Gradient Boosting --- Computation Fluid Dynamics --- blade vibration --- unsteady aerodynamic model --- active disturbance rejection control (ADRC) --- multiobjective optimization --- time delay systems --- tuning rules --- soft robotics --- fractional calculus --- CACSD toolbox --- operating point linearization --- automatic uncertainty bound computation --- Model-in-the-Loop simulation --- hybrid simulation --- ℋ∞ control --- μ synthesis --- DC-to-DC power converters --- buck --- boost --- SEPIC --- rainfall-runoff model --- curve number --- inferential statistics --- 3D runoff difference model --- model calibration --- PAT model --- modified affinity laws --- hydraulic simulation tool --- μ-synthesis --- fractional-order control --- swarm optimization --- artificial bee colony optimization --- CNC machine --- mixed sensitivity --- D–K iteration --- Linear Matrix Inequality --- biotechnology --- fermentation process --- batch bioreactors --- modeling --- control system design and synthesis --- linear control --- adaptive control --- model reference adaptive control --- control system realization --- mixed-sensitivity --- FO-PID --- twin rotor aerodynamic system
Choose an application
The most influential research topic in the twenty-first century seems to be mathematics, as it generates innovation in a wide range of research fields. It supports all engineering fields, but also areas such as medicine, healthcare, business, etc. Therefore, the intention of this Special Issue is to deal with mathematical works related to engineering and multidisciplinary problems. Modern developments in theoretical and applied science have widely depended our knowledge of the derivatives and integrals of the fractional order appearing in engineering practices. Therefore, one goal of this Special Issue is to focus on recent achievements and future challenges in the theory and applications of fractional calculus in engineering sciences. The special issue included some original research articles that address significant issues and contribute towards the development of new concepts, methodologies, applications, trends and knowledge in mathematics. Potential topics include, but are not limited to, the following: Fractional mathematical models; Computational methods for the fractional PDEs in engineering; New mathematical approaches, innovations and challenges in biotechnologies and biomedicine; Applied mathematics; Engineering research based on advanced mathematical tools.
Technology: general issues --- History of engineering & technology --- fractional order IMC --- first order plus dead-time processes --- event-based implementation --- numerical simulations --- comparative closed loop results --- nonlinear wave phenomen --- RBF --- local RBF-FD --- stability --- unmanned aerial vehicle (UAV) --- quaternion-based estimator --- low-cost design --- automatic optical inspection --- kinetic theory --- parallel robots --- robust control --- sliding mode control --- basinI --- basinII --- mean pressure head --- pressure head with different probabilities of occurrence --- standard deviation of the pressure fluctuations --- statistical modeling --- USBR --- desalination --- humidification-dehumidification --- waste heat recovery --- mathematical model --- yearly analysis --- thermo-economics --- multi-objective optimization --- cruise altitude --- fuel consumption --- time to climb --- Hermite-Simpson method --- trajectory optimization --- terminal residual analysis (TRA) --- m-σ terminal residual analysis (m-σ TRA) --- power transformer --- stray losses --- analytical methods --- finite element method --- gridshell structures --- shape ratio --- length ratio --- regularity --- particle swarm optimization --- genetic algorithm --- hybrid nanofluid --- dual solutions --- mixed convection --- stagnation point --- radiation --- stability analysis --- machine learning --- eXterme Gradient Boosting --- Computation Fluid Dynamics --- blade vibration --- unsteady aerodynamic model --- active disturbance rejection control (ADRC) --- multiobjective optimization --- time delay systems --- tuning rules --- soft robotics --- fractional calculus --- CACSD toolbox --- operating point linearization --- automatic uncertainty bound computation --- Model-in-the-Loop simulation --- hybrid simulation --- ℋ∞ control --- μ synthesis --- DC-to-DC power converters --- buck --- boost --- SEPIC --- rainfall-runoff model --- curve number --- inferential statistics --- 3D runoff difference model --- model calibration --- PAT model --- modified affinity laws --- hydraulic simulation tool --- μ-synthesis --- fractional-order control --- swarm optimization --- artificial bee colony optimization --- CNC machine --- mixed sensitivity --- D–K iteration --- Linear Matrix Inequality --- biotechnology --- fermentation process --- batch bioreactors --- modeling --- control system design and synthesis --- linear control --- adaptive control --- model reference adaptive control --- control system realization --- mixed-sensitivity --- FO-PID --- twin rotor aerodynamic system
Choose an application
Wind Power Plant (WPP) and Wind Turbine (WT) modeling are becoming of key importance due to the relevant wind-generation impact on power systems. Wind integration into power systems must be carefully analyzed to forecast the effects on grid stability and reliability. Different agents, such as Transmission System Operators (TSOs) and Distribution System Operators (DSOs), focus on transient analyses. Wind turbine manufacturers, power system software developers, and technical consultants are also involved. WPP and WT dynamic models are often divided into two types: detailed and simplified. Detailed models are used for Electro-Magnetic Transient (EMT) simulations, providing both electrical and mechanical responses with high accuracy during short time intervals. Simplified models, also known as standard or generic models, are designed to give reliable responses, avoiding high computational resources. Simplified models are commonly used by TSOs and DSOs to carry out different transient stability studies, including loss of generation, switching of power lines or balanced faults, etc., Assessment and validation of such dynamic models is also a major issue due to the importance and difficulty of collecting real data. Solutions facing all these challenges, including the development, validation and application of WT and WPP models are presented in this Issue.
History of engineering & technology --- bearing current --- common mode current --- doubly fed induction generators --- permanent magnet synchronous generators --- wind turbine generator --- doubly-fed generator --- converter control --- short-circuit current --- second harmonic component --- low-voltage ride-through (LVRT) field test data --- complex terrain --- terrain-induced turbulence --- turbulence intensity --- LES --- vortex shedding --- frequency control --- wind power integration --- power system stability --- turbulence --- statistical modelling --- Wind Turbine (WT) --- Doubly Fed Induction Generator (DFIG) --- unbalanced grid voltage --- DC-linked voltage control --- Proportional Resonant with Resonant Harmonic Compensator (PR+HC) controller --- Adaptive Proportional Integral (API) control --- power control --- wind turbine near wake --- wind turbine wakes --- wake aerodynamics --- computational fluid dynamics --- rotor aerodynamics --- wind turbine validation --- MEXICO experiment --- wind energy --- model validation --- wind turbine aerodynamics --- wind farms --- wind turbines interaction --- wind farm modeling --- kernel density estimation --- multiple wind farms --- joint probability density --- ordinal optimization --- reactive power capability --- wind power plant --- wind power collection system --- aggregated, modelling --- wind integration studies --- long term voltage stability --- fault-ride through capability --- IEC 61400-27-1 --- Spanish PO 12.3 --- Type 3 wind turbine --- inertia --- wind power --- droop --- primary control --- frequency containment process --- wind integration --- demand response --- ancillary services --- wind turbine nacelle --- lightning electromagnetic pulse (LEMP) --- magnetic field intensity --- shielding mesh --- wake steering --- yaw misalignment --- multi body simulation --- main bearing loads --- rain flow counts --- aeroelasticity --- multi-rotor system --- wind turbine --- computational fluid dynamics (CFD) --- horizontal-axis wind turbine (HAWT) --- permanent-magnet synchronous-generator (PMSG) --- linear quadratic regulator (LQR) --- PI control algorithm --- LQR-PI control --- wind turbine blade --- large-eddy simulation --- turbulence evaluation index --- fatigue damage evaluation index --- DIgSILENT-PowerFactory --- MATLAB --- transient stability --- type 3 wind turbine --- DFIG --- field testing --- full-scale converter --- generic model --- validation --- HAWT --- aerodynamic characteristics --- dynamic yawing process --- near wake --- start-stop yaw velocity --- load frequency control (LFC) --- equivalent input disturbance (EID) --- active disturbance rejection control (ADRC) --- wind --- linear matrix inequalities (LMI) --- dynamic modeling --- grey-box parameter identification --- subspace identification --- recursive least squares --- optimal identification
Choose an application
Wind Power Plant (WPP) and Wind Turbine (WT) modeling are becoming of key importance due to the relevant wind-generation impact on power systems. Wind integration into power systems must be carefully analyzed to forecast the effects on grid stability and reliability. Different agents, such as Transmission System Operators (TSOs) and Distribution System Operators (DSOs), focus on transient analyses. Wind turbine manufacturers, power system software developers, and technical consultants are also involved. WPP and WT dynamic models are often divided into two types: detailed and simplified. Detailed models are used for Electro-Magnetic Transient (EMT) simulations, providing both electrical and mechanical responses with high accuracy during short time intervals. Simplified models, also known as standard or generic models, are designed to give reliable responses, avoiding high computational resources. Simplified models are commonly used by TSOs and DSOs to carry out different transient stability studies, including loss of generation, switching of power lines or balanced faults, etc., Assessment and validation of such dynamic models is also a major issue due to the importance and difficulty of collecting real data. Solutions facing all these challenges, including the development, validation and application of WT and WPP models are presented in this Issue.
bearing current --- common mode current --- doubly fed induction generators --- permanent magnet synchronous generators --- wind turbine generator --- doubly-fed generator --- converter control --- short-circuit current --- second harmonic component --- low-voltage ride-through (LVRT) field test data --- complex terrain --- terrain-induced turbulence --- turbulence intensity --- LES --- vortex shedding --- frequency control --- wind power integration --- power system stability --- turbulence --- statistical modelling --- Wind Turbine (WT) --- Doubly Fed Induction Generator (DFIG) --- unbalanced grid voltage --- DC-linked voltage control --- Proportional Resonant with Resonant Harmonic Compensator (PR+HC) controller --- Adaptive Proportional Integral (API) control --- power control --- wind turbine near wake --- wind turbine wakes --- wake aerodynamics --- computational fluid dynamics --- rotor aerodynamics --- wind turbine validation --- MEXICO experiment --- wind energy --- model validation --- wind turbine aerodynamics --- wind farms --- wind turbines interaction --- wind farm modeling --- kernel density estimation --- multiple wind farms --- joint probability density --- ordinal optimization --- reactive power capability --- wind power plant --- wind power collection system --- aggregated, modelling --- wind integration studies --- long term voltage stability --- fault-ride through capability --- IEC 61400-27-1 --- Spanish PO 12.3 --- Type 3 wind turbine --- inertia --- wind power --- droop --- primary control --- frequency containment process --- wind integration --- demand response --- ancillary services --- wind turbine nacelle --- lightning electromagnetic pulse (LEMP) --- magnetic field intensity --- shielding mesh --- wake steering --- yaw misalignment --- multi body simulation --- main bearing loads --- rain flow counts --- aeroelasticity --- multi-rotor system --- wind turbine --- computational fluid dynamics (CFD) --- horizontal-axis wind turbine (HAWT) --- permanent-magnet synchronous-generator (PMSG) --- linear quadratic regulator (LQR) --- PI control algorithm --- LQR-PI control --- wind turbine blade --- large-eddy simulation --- turbulence evaluation index --- fatigue damage evaluation index --- DIgSILENT-PowerFactory --- MATLAB --- transient stability --- type 3 wind turbine --- DFIG --- field testing --- full-scale converter --- generic model --- validation --- HAWT --- aerodynamic characteristics --- dynamic yawing process --- near wake --- start-stop yaw velocity --- load frequency control (LFC) --- equivalent input disturbance (EID) --- active disturbance rejection control (ADRC) --- wind --- linear matrix inequalities (LMI) --- dynamic modeling --- grey-box parameter identification --- subspace identification --- recursive least squares --- optimal identification
Choose an application
The most influential research topic in the twenty-first century seems to be mathematics, as it generates innovation in a wide range of research fields. It supports all engineering fields, but also areas such as medicine, healthcare, business, etc. Therefore, the intention of this Special Issue is to deal with mathematical works related to engineering and multidisciplinary problems. Modern developments in theoretical and applied science have widely depended our knowledge of the derivatives and integrals of the fractional order appearing in engineering practices. Therefore, one goal of this Special Issue is to focus on recent achievements and future challenges in the theory and applications of fractional calculus in engineering sciences. The special issue included some original research articles that address significant issues and contribute towards the development of new concepts, methodologies, applications, trends and knowledge in mathematics. Potential topics include, but are not limited to, the following: Fractional mathematical models; Computational methods for the fractional PDEs in engineering; New mathematical approaches, innovations and challenges in biotechnologies and biomedicine; Applied mathematics; Engineering research based on advanced mathematical tools.
fractional order IMC --- first order plus dead-time processes --- event-based implementation --- numerical simulations --- comparative closed loop results --- nonlinear wave phenomen --- RBF --- local RBF-FD --- stability --- unmanned aerial vehicle (UAV) --- quaternion-based estimator --- low-cost design --- automatic optical inspection --- kinetic theory --- parallel robots --- robust control --- sliding mode control --- basinI --- basinII --- mean pressure head --- pressure head with different probabilities of occurrence --- standard deviation of the pressure fluctuations --- statistical modeling --- USBR --- desalination --- humidification-dehumidification --- waste heat recovery --- mathematical model --- yearly analysis --- thermo-economics --- multi-objective optimization --- cruise altitude --- fuel consumption --- time to climb --- Hermite-Simpson method --- trajectory optimization --- terminal residual analysis (TRA) --- m-σ terminal residual analysis (m-σ TRA) --- power transformer --- stray losses --- analytical methods --- finite element method --- gridshell structures --- shape ratio --- length ratio --- regularity --- particle swarm optimization --- genetic algorithm --- hybrid nanofluid --- dual solutions --- mixed convection --- stagnation point --- radiation --- stability analysis --- machine learning --- eXterme Gradient Boosting --- Computation Fluid Dynamics --- blade vibration --- unsteady aerodynamic model --- active disturbance rejection control (ADRC) --- multiobjective optimization --- time delay systems --- tuning rules --- soft robotics --- fractional calculus --- CACSD toolbox --- operating point linearization --- automatic uncertainty bound computation --- Model-in-the-Loop simulation --- hybrid simulation --- ℋ∞ control --- μ synthesis --- DC-to-DC power converters --- buck --- boost --- SEPIC --- rainfall-runoff model --- curve number --- inferential statistics --- 3D runoff difference model --- model calibration --- PAT model --- modified affinity laws --- hydraulic simulation tool --- μ-synthesis --- fractional-order control --- swarm optimization --- artificial bee colony optimization --- CNC machine --- mixed sensitivity --- D–K iteration --- Linear Matrix Inequality --- biotechnology --- fermentation process --- batch bioreactors --- modeling --- control system design and synthesis --- linear control --- adaptive control --- model reference adaptive control --- control system realization --- mixed-sensitivity --- FO-PID --- twin rotor aerodynamic system
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