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1、Robust,Gain-ScheduledControlofWindTurbinesPh.D.ThesisKasperZinckØstergaardAutomationandControlDepartmentofElectronicSystemsAalborgUniversityFredrikBajersVej7C,9220AalborgEast,DenmarkLoad,AerodynamicsandControlVestasWindSystemsA/SAlsvej21,8900Randers,Denm
2、arkISBN:978-87-90664-33-6December2008Copyright2008cKasperZinckØstergaardThisthesiswastypesetusingLATEX2ePrinting:VesterKopi,DenmarkPrefaceandAcknowledgementsThisthesisissubmittedinpartialfulfilmentoftherequirementsforthedegreeofDoctorofPhilosophyatAutomat
3、ionandControl,DepartmentofElectronicSystems,AalborgUniversity.TheresearchhasbeencarriedoutfromOctober2004toNovember2007inaco-operationbetweenVestasWindSystemsA/SandAalborgUniversityinaframe-workdenotedindustrialph.d.Thismeansthattheprojecthasbeenfundedpa
4、rtlybyVestasWindSystemsA/SandpartlybytheDanishMinistryofScience,TechnologyandInnovation.IamverygratefultomysupervisorsProfessorJakobStoustrupfromAalborgUni-versityandph.d.PerBrathfromVestasWindSystemsA/S.Throughmanyenlighteningdiscussionsontheoreticalasw
5、ellaspracticalissuestheyhavenotonlysharedtheirextensiveknowledgebutalsoprovidedthemotivationandsupportthroughoutthestudy.AlsoIwouldliketoexpressmygratitudetoVestasWindSystemsA/SandtheDan-ishMinistryofScience,TechnologyandDevelopment.Withouttheirfinancials
6、upport,itwouldnothavebeenpossibletoperformthestudyresultinginthisthesis.AspecialthankstoProfessorCarstenSchererfromDelftCenterforSystemsandControl,TheNetherlands,formanyinterestingdiscussionsduringmyfivemonthstayin2006.FurthermoreIwouldliketothankmycollea
7、guesatbothAalborgUniversityandVestasWindSystemsA/Sformanyinterestingdiscussionsthroughoutthestudy.FinallyandmostimportantlyIwouldliketothankmywife,Jeanette,forallherpatienceandsupport.Withoutthissupportfromhome,thegreatresultsinthethesiscouldnothavebeenp
8、ossible.AbstractThecontrolofwindturbinesisaverychallengingtaskbecauseitrequiresmulti-objectivecontrolthatneedstotakeintoaccounteffectslikestructuralfatigue,powerproduc-tion/quality,andslipinthegenerator.Inthisthesis,anumbe
