2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), 2016
This paper presents a load disaggregation method for the monitoring and supervision of the load p... more This paper presents a load disaggregation method for the monitoring and supervision of the load profiles of individual equipment in an HVAC installation. The method takes advantage of the wealth of sensor and actuation information found in Building Energy Management Systems in order to find correlations between the state of operation of each machine and the power demand of the installation. This enables to model the individual power of the equipment on account of their state, and in combination with other support variables that influence their load demand, such as weather conditions. The resulting array of equipment models can be evaluated in real-time to infer the expected power consumption of each machine. Then, allowing the tracking of their individual power consumption while at the same time significantly lowering the cost of the acquisition and monitoring infrastructure, because a single power meter can be used to accurately monitor several machines when following this approach. The presented method has been validated by means of experimental data from a pilot plant where the complete system has been implemented.
Amidst the ongoing European energy crisis, the EU has proposed a legislative package to enhance g... more Amidst the ongoing European energy crisis, the EU has proposed a legislative package to enhance gas independence from Russia, diversify energy supplies, and increase renewable energy targets. However, the urgency for energy security has led some countries to prioritise gas independence over decarbonisation, potentially sacrificing or delaying EU targets. Considering this framework, this article contributes to the body of knowledge by examining the electricity mix of the six most significant EU countries in terms of generation capacity, considers their alignment with 2025 energy transition goals, and analyses the latest legislative trends to evaluate their compatibility with EU objectives. The findings from these analyses indicate that EU members are currently prioritising gas independence, which has led to re-starting or extending the lifespan of coal-fired power plants and an increasing interest in nuclear energy as a low-carbon alternative. These findings have significant implicat...
2018 IEEE International Conference on Industrial Technology (ICIT), 2018
In this paper, a feedback active gate driver (AGD) based on a multistage technique for improving ... more In this paper, a feedback active gate driver (AGD) based on a multistage technique for improving the switching trajectory of silicon carbide (SiC) MOSFET devices is presented. The main purpose of this technique is to reduce the oscillations and overshoot in high-frequency with low switching losses. Besides, the gate driver is designed considering the current load variations with simple circuit structure. An AGD validation has been developed by using simulations. The results have shown the behaviour of the AGD and feasibility. Therefore, the AGD can reduce the oscillations to avoid electromagnetic interference (EMI) and also decrease the overshoots caused by high di/dt current and dv/dt voltage slopes. In addition, the tests showed that the proposed AGD can be developed with low switching losses in high-frequency applications and medium power.
2017 IEEE Applied Power Electronics Conference and Exposition (APEC), 2017
This paper introduces a novel active gate driver (AGD) for switching control of the silicon carbi... more This paper introduces a novel active gate driver (AGD) for switching control of the silicon carbide (SiC) MOSFETs. The new gate driver improves the current and voltage profiles by suppression of the overshoot problems. The main innovation of the proposed AGD is the modification of gate-source voltage slope in two stages for both turn-on and turn-off transitions with a simple closed-loop control, which directly implies to the control of di/dt and dv/dt. The new gate driver is validated by experimental results. Moreover, an analysis of performance and electromagnetic interference (EMI) is realized. The experimental tests have been developed with 100 kHz of switching frequency and 200 V of dc-bus, in hard-switching conditions. The results show that the proposed AGD can reduce EMI problems with a minimum side effect on the efficiency of the SiC MOSFETs.
This article proposes a new modulation strategy for a five-phase high-frequency voltage source in... more This article proposes a new modulation strategy for a five-phase high-frequency voltage source inverter (VSI) based on sigma–delta (<inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula>) modulators. This modulation strategy of five-phase large–medium-zero vectors <inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula> (5P-LMZV-<inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula>) applies the same switching states as the two large and two medium space vector modulation (2L+2M SVM). Because <inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula> modulations are designed to operate at high switching frequencies, using wide-bandgap devices, therefore, improves the efficiency of the VSI, despite its operating at these high switching frequencies. We analyze the use of single-loop and double-loop <inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula> modulators (SL-5P-LMZV-<inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula> and DL-5P-LMZV-<inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula>, respectively), and additionally modify the proposed modulation strategy to use all the vectors in order to analyze the effects from applying small vectors. The proposed modulation techniques allow minimizing switching losses due to the reduced switching operations, mitigating low-order harmonics, decreasing the amplitude of high-frequency harmonics, and reducing common-mode voltage <italic>dv/dt</italic> transitions. We analyze the performance of the proposed modulation technique using MATLAB/Simulink and PLECS, and then compare it with 2L+2M SVM. Using a VSI with silicon carbide <sc>mosfet</sc>, we obtained our experimental results demonstrating these characteristics, by which we conclude that our proposed strategy is an improvement over 2L+2M SVM.
IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, 2019
In this work, an optimal power sharing controller for a three-phase Inverter-based Generator (IG)... more In this work, an optimal power sharing controller for a three-phase Inverter-based Generator (IG) in a synchronous d-q reference frame is presented. The optimization of this controller is computed using a Linear-Quadratic (LQ) tracking index that measures the tracking error. This approach has many advantages regarding to stability and robustness over classical Proportional-Integral (PI) or Proportional-Resonant (PR) controllers that use droop functions for power sharing. In addition, a comprehensive model that represents a grid-connected IG sharing power to the main grid is developed using the superposition principle. This model integrates the Voltage-Current (V-I) and power sharing dynamics in a single state space expression. To the best of our knowledge, although there have been approaches in V-I and power sharing control that improve microgrid stability and transient response, there are no formal methods that integrate both controllers as a single entity. The results of this method were compared against a known Proportional-Resonant controller that use droop functions for power sharing. Results show that the optimal power sharing controller improves transient response, improves power decoupling, and also reduces the quadratic cost associated with microgrid states and inputs.
IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society, 2016
The increasing ubiquity of sensing and metering devices in buildings is a gateway of opportunitie... more The increasing ubiquity of sensing and metering devices in buildings is a gateway of opportunities for the analysis of their behavior and the detection of anomalies or sub-optimal performance. In particular, the instrumentation of HVAC equipment, necessary for its monitoring and control, may be used in order to supervise its operation at a finer level. The intelligent supervision methodology proposed in this paper allows the accurate overseeing of the power consumption of HVAC equipment by means of establishing the relationship between the power consumed and the operating status of the installation, and its individual machines. The accurate correlation between the instantaneous power and the available control or state signals of the equipment, simultaneously with other support variables, allows detecting malfunctions or deviations from their nominal operation. First, a model of the power demand of the installation is obtained by means of a training function. Afterwards, the model can be applied in real-time over new samples in order to check if the power demand corresponds to the state of operation of the installation. In addition to the accurate tracking of the power demand, the chosen approach allows to monitor the installation with a single power meter, therefore decreasing the cost of implementation. Finally, this methodology has been validated by means of experimental data from a pilot plant where the complete system has been implemented.
IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society, 2016
Buildings often operate under inefficient conditions and configurations due to their complex dyna... more Buildings often operate under inefficient conditions and configurations due to their complex dynamics, a necessity of in-depth knowledge and intricate analysis tools. The fact is that interest in proposing higher order approaches for tackling efficiency problems in buildings has been steadily increasing during recent years. A wide range of approaches are being demonstrated, from model-predictive control schemes to frameworks for the detection of anomalies in energy consumption. Occupancy-centric methodologies, in particular, present one of the avenues with greatest potential of improvement because of their ability to adapt the behavior of the building to the real necessities of the users. This paper presents a novel occupancy modeling and forecasting methodology with the capability to support downstream demand-side management tools by providing accurate insight regarding the occupancy of spaces in the building. The proposed methodology takes advantage of the availability of presence detectors located on the different spaces of the building to study their dynamics and autonomously map their behavior. The complete methodology is validated experimentally in terms of accuracy and performance using real data from a research building.
2006 IEEE Instrumentation and Measurement Technology Conference Proceedings, 2006
Double frequency tests are used for evaluating stator windings analyzing the temperature. Likewis... more Double frequency tests are used for evaluating stator windings analyzing the temperature. Likewise, signal injection on induction machines is used on sensorless motor control fields to find out the rotor position. Motor current signature analysis (MCSA) is the most widely used method for identifying faults in induction motors. MCSA focuses its efforts on the spectral analysis of stator current. Motor faults such as broken rotor bars, bearing damage and eccentricity of the rotor axis can be detected. However, the method presents some problems at low speed and low torque, mainly due to the proximity between the frequencies to be detected and the small amplitude of the resulting harmonics. This paper proposes to inject an additional voltage into the machine under test at a frequency different from the fundamental one, and then to study the resulting harmonics around the new frequencies appearing due to the composition between injected and main frequencies
2012 IEEE PES Innovative Smart Grid Technologies (ISGT), 2012
ABSTRACT For a massive introduction of electric vehicles to the market is required to have a reli... more ABSTRACT For a massive introduction of electric vehicles to the market is required to have a reliable infrastructure. The Infrastructure needs includes enough charging stations around cities and electric parking lots. Currently the grid is able to support the electric consumption and hardly support recharging the fleet of electric vehicles. Likewise, the public utility has to keep high power quality without blackout, voltage dips, harmonics, etc. This paper studies the electric infrastructure of an electric parking lot. It is considered a high penetration of charging stations. The analysis has been performed by means of vehicle battery and charging station modeling in MATLAB Simulink. The paper analyzes the power flow into the distributed transformer using three different scenarios.
IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society, 2007
ABSTRACT This paper presents a study of a permanent magnet synchronous machine (PMSM) running und... more ABSTRACT This paper presents a study of a permanent magnet synchronous machine (PMSM) running under demagnetization. The demagnetization fault is analyzed through stator currents analysis and processing tools at different speeds. Advanced signal analysis by means of wavelet transforms is presented. Simulations were carried out by using two dimensional (2-D) finite element analysis (FEA), and result were compared with experimental ones, showing the effectiveness of the proposed method for magnetization fault detection and identification.
International Journal of Electrical Engineering Education, 2014
The study of the dynamic behaviour of electric vehicles is being incorporated in the syllabuses o... more The study of the dynamic behaviour of electric vehicles is being incorporated in the syllabuses of an increasing number of graduate and undergraduate courses. This paper analyses the basic mechanical and electric concepts of electric traction applied to automobiles. For this purpose, in this work the switched reluctance motor is analysed. A model based on MATLAB/Simulink to simulate the behaviour of both the electric motor and the vehicle dynamics is described. It allows students to gain a better understanding of the fundamental mechanical and electrical concepts by simulating the system behavior in an interactive and flexible manner.
8th International Conference on Harmonics and Quality of Power. Proceedings (Cat. No.98EX227)
... These instruments were c ~ ~ e ~ ted to a host PC with a GPIB bus. 516 Page 2. Fig. ... 151 A... more ... These instruments were c ~ ~ e ~ ted to a host PC with a GPIB bus. 516 Page 2. Fig. ... 151 AMTrynadlowski, F.Blaabjerg, JKPedasea, RLKidin, SLegowski, "Random pulse modulation techniques for convata fed drives system. A review" ZEEE Trans. on Zndusny Applrcations. ...
ISIE'2000. Proceedings of the 2000 IEEE International Symposium on Industrial Electronics (Cat. No.00TH8543), 2000
The authors present a self-tuning PID adaptive speed controller for AC motor speed regulation wit... more The authors present a self-tuning PID adaptive speed controller for AC motor speed regulation with a very low computational algorithm. The traditional industrial solution to obtain acceptable characteristics for tracking and process regulation consists to find a compromise point for both two situations, or in advanced regulators, to adopt a simple two degrees of freedom PID control, whose parameters are
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), 2016
This paper presents a load disaggregation method for the monitoring and supervision of the load p... more This paper presents a load disaggregation method for the monitoring and supervision of the load profiles of individual equipment in an HVAC installation. The method takes advantage of the wealth of sensor and actuation information found in Building Energy Management Systems in order to find correlations between the state of operation of each machine and the power demand of the installation. This enables to model the individual power of the equipment on account of their state, and in combination with other support variables that influence their load demand, such as weather conditions. The resulting array of equipment models can be evaluated in real-time to infer the expected power consumption of each machine. Then, allowing the tracking of their individual power consumption while at the same time significantly lowering the cost of the acquisition and monitoring infrastructure, because a single power meter can be used to accurately monitor several machines when following this approach. The presented method has been validated by means of experimental data from a pilot plant where the complete system has been implemented.
Amidst the ongoing European energy crisis, the EU has proposed a legislative package to enhance g... more Amidst the ongoing European energy crisis, the EU has proposed a legislative package to enhance gas independence from Russia, diversify energy supplies, and increase renewable energy targets. However, the urgency for energy security has led some countries to prioritise gas independence over decarbonisation, potentially sacrificing or delaying EU targets. Considering this framework, this article contributes to the body of knowledge by examining the electricity mix of the six most significant EU countries in terms of generation capacity, considers their alignment with 2025 energy transition goals, and analyses the latest legislative trends to evaluate their compatibility with EU objectives. The findings from these analyses indicate that EU members are currently prioritising gas independence, which has led to re-starting or extending the lifespan of coal-fired power plants and an increasing interest in nuclear energy as a low-carbon alternative. These findings have significant implicat...
2018 IEEE International Conference on Industrial Technology (ICIT), 2018
In this paper, a feedback active gate driver (AGD) based on a multistage technique for improving ... more In this paper, a feedback active gate driver (AGD) based on a multistage technique for improving the switching trajectory of silicon carbide (SiC) MOSFET devices is presented. The main purpose of this technique is to reduce the oscillations and overshoot in high-frequency with low switching losses. Besides, the gate driver is designed considering the current load variations with simple circuit structure. An AGD validation has been developed by using simulations. The results have shown the behaviour of the AGD and feasibility. Therefore, the AGD can reduce the oscillations to avoid electromagnetic interference (EMI) and also decrease the overshoots caused by high di/dt current and dv/dt voltage slopes. In addition, the tests showed that the proposed AGD can be developed with low switching losses in high-frequency applications and medium power.
2017 IEEE Applied Power Electronics Conference and Exposition (APEC), 2017
This paper introduces a novel active gate driver (AGD) for switching control of the silicon carbi... more This paper introduces a novel active gate driver (AGD) for switching control of the silicon carbide (SiC) MOSFETs. The new gate driver improves the current and voltage profiles by suppression of the overshoot problems. The main innovation of the proposed AGD is the modification of gate-source voltage slope in two stages for both turn-on and turn-off transitions with a simple closed-loop control, which directly implies to the control of di/dt and dv/dt. The new gate driver is validated by experimental results. Moreover, an analysis of performance and electromagnetic interference (EMI) is realized. The experimental tests have been developed with 100 kHz of switching frequency and 200 V of dc-bus, in hard-switching conditions. The results show that the proposed AGD can reduce EMI problems with a minimum side effect on the efficiency of the SiC MOSFETs.
This article proposes a new modulation strategy for a five-phase high-frequency voltage source in... more This article proposes a new modulation strategy for a five-phase high-frequency voltage source inverter (VSI) based on sigma–delta (<inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula>) modulators. This modulation strategy of five-phase large–medium-zero vectors <inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula> (5P-LMZV-<inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula>) applies the same switching states as the two large and two medium space vector modulation (2L+2M SVM). Because <inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula> modulations are designed to operate at high switching frequencies, using wide-bandgap devices, therefore, improves the efficiency of the VSI, despite its operating at these high switching frequencies. We analyze the use of single-loop and double-loop <inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula> modulators (SL-5P-LMZV-<inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula> and DL-5P-LMZV-<inline-formula><tex-math notation="LaTeX">$\Sigma \Delta$</tex-math></inline-formula>, respectively), and additionally modify the proposed modulation strategy to use all the vectors in order to analyze the effects from applying small vectors. The proposed modulation techniques allow minimizing switching losses due to the reduced switching operations, mitigating low-order harmonics, decreasing the amplitude of high-frequency harmonics, and reducing common-mode voltage <italic>dv/dt</italic> transitions. We analyze the performance of the proposed modulation technique using MATLAB/Simulink and PLECS, and then compare it with 2L+2M SVM. Using a VSI with silicon carbide <sc>mosfet</sc>, we obtained our experimental results demonstrating these characteristics, by which we conclude that our proposed strategy is an improvement over 2L+2M SVM.
IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, 2019
In this work, an optimal power sharing controller for a three-phase Inverter-based Generator (IG)... more In this work, an optimal power sharing controller for a three-phase Inverter-based Generator (IG) in a synchronous d-q reference frame is presented. The optimization of this controller is computed using a Linear-Quadratic (LQ) tracking index that measures the tracking error. This approach has many advantages regarding to stability and robustness over classical Proportional-Integral (PI) or Proportional-Resonant (PR) controllers that use droop functions for power sharing. In addition, a comprehensive model that represents a grid-connected IG sharing power to the main grid is developed using the superposition principle. This model integrates the Voltage-Current (V-I) and power sharing dynamics in a single state space expression. To the best of our knowledge, although there have been approaches in V-I and power sharing control that improve microgrid stability and transient response, there are no formal methods that integrate both controllers as a single entity. The results of this method were compared against a known Proportional-Resonant controller that use droop functions for power sharing. Results show that the optimal power sharing controller improves transient response, improves power decoupling, and also reduces the quadratic cost associated with microgrid states and inputs.
IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society, 2016
The increasing ubiquity of sensing and metering devices in buildings is a gateway of opportunitie... more The increasing ubiquity of sensing and metering devices in buildings is a gateway of opportunities for the analysis of their behavior and the detection of anomalies or sub-optimal performance. In particular, the instrumentation of HVAC equipment, necessary for its monitoring and control, may be used in order to supervise its operation at a finer level. The intelligent supervision methodology proposed in this paper allows the accurate overseeing of the power consumption of HVAC equipment by means of establishing the relationship between the power consumed and the operating status of the installation, and its individual machines. The accurate correlation between the instantaneous power and the available control or state signals of the equipment, simultaneously with other support variables, allows detecting malfunctions or deviations from their nominal operation. First, a model of the power demand of the installation is obtained by means of a training function. Afterwards, the model can be applied in real-time over new samples in order to check if the power demand corresponds to the state of operation of the installation. In addition to the accurate tracking of the power demand, the chosen approach allows to monitor the installation with a single power meter, therefore decreasing the cost of implementation. Finally, this methodology has been validated by means of experimental data from a pilot plant where the complete system has been implemented.
IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society, 2016
Buildings often operate under inefficient conditions and configurations due to their complex dyna... more Buildings often operate under inefficient conditions and configurations due to their complex dynamics, a necessity of in-depth knowledge and intricate analysis tools. The fact is that interest in proposing higher order approaches for tackling efficiency problems in buildings has been steadily increasing during recent years. A wide range of approaches are being demonstrated, from model-predictive control schemes to frameworks for the detection of anomalies in energy consumption. Occupancy-centric methodologies, in particular, present one of the avenues with greatest potential of improvement because of their ability to adapt the behavior of the building to the real necessities of the users. This paper presents a novel occupancy modeling and forecasting methodology with the capability to support downstream demand-side management tools by providing accurate insight regarding the occupancy of spaces in the building. The proposed methodology takes advantage of the availability of presence detectors located on the different spaces of the building to study their dynamics and autonomously map their behavior. The complete methodology is validated experimentally in terms of accuracy and performance using real data from a research building.
2006 IEEE Instrumentation and Measurement Technology Conference Proceedings, 2006
Double frequency tests are used for evaluating stator windings analyzing the temperature. Likewis... more Double frequency tests are used for evaluating stator windings analyzing the temperature. Likewise, signal injection on induction machines is used on sensorless motor control fields to find out the rotor position. Motor current signature analysis (MCSA) is the most widely used method for identifying faults in induction motors. MCSA focuses its efforts on the spectral analysis of stator current. Motor faults such as broken rotor bars, bearing damage and eccentricity of the rotor axis can be detected. However, the method presents some problems at low speed and low torque, mainly due to the proximity between the frequencies to be detected and the small amplitude of the resulting harmonics. This paper proposes to inject an additional voltage into the machine under test at a frequency different from the fundamental one, and then to study the resulting harmonics around the new frequencies appearing due to the composition between injected and main frequencies
2012 IEEE PES Innovative Smart Grid Technologies (ISGT), 2012
ABSTRACT For a massive introduction of electric vehicles to the market is required to have a reli... more ABSTRACT For a massive introduction of electric vehicles to the market is required to have a reliable infrastructure. The Infrastructure needs includes enough charging stations around cities and electric parking lots. Currently the grid is able to support the electric consumption and hardly support recharging the fleet of electric vehicles. Likewise, the public utility has to keep high power quality without blackout, voltage dips, harmonics, etc. This paper studies the electric infrastructure of an electric parking lot. It is considered a high penetration of charging stations. The analysis has been performed by means of vehicle battery and charging station modeling in MATLAB Simulink. The paper analyzes the power flow into the distributed transformer using three different scenarios.
IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society, 2007
ABSTRACT This paper presents a study of a permanent magnet synchronous machine (PMSM) running und... more ABSTRACT This paper presents a study of a permanent magnet synchronous machine (PMSM) running under demagnetization. The demagnetization fault is analyzed through stator currents analysis and processing tools at different speeds. Advanced signal analysis by means of wavelet transforms is presented. Simulations were carried out by using two dimensional (2-D) finite element analysis (FEA), and result were compared with experimental ones, showing the effectiveness of the proposed method for magnetization fault detection and identification.
International Journal of Electrical Engineering Education, 2014
The study of the dynamic behaviour of electric vehicles is being incorporated in the syllabuses o... more The study of the dynamic behaviour of electric vehicles is being incorporated in the syllabuses of an increasing number of graduate and undergraduate courses. This paper analyses the basic mechanical and electric concepts of electric traction applied to automobiles. For this purpose, in this work the switched reluctance motor is analysed. A model based on MATLAB/Simulink to simulate the behaviour of both the electric motor and the vehicle dynamics is described. It allows students to gain a better understanding of the fundamental mechanical and electrical concepts by simulating the system behavior in an interactive and flexible manner.
8th International Conference on Harmonics and Quality of Power. Proceedings (Cat. No.98EX227)
... These instruments were c ~ ~ e ~ ted to a host PC with a GPIB bus. 516 Page 2. Fig. ... 151 A... more ... These instruments were c ~ ~ e ~ ted to a host PC with a GPIB bus. 516 Page 2. Fig. ... 151 AMTrynadlowski, F.Blaabjerg, JKPedasea, RLKidin, SLegowski, "Random pulse modulation techniques for convata fed drives system. A review" ZEEE Trans. on Zndusny Applrcations. ...
ISIE'2000. Proceedings of the 2000 IEEE International Symposium on Industrial Electronics (Cat. No.00TH8543), 2000
The authors present a self-tuning PID adaptive speed controller for AC motor speed regulation wit... more The authors present a self-tuning PID adaptive speed controller for AC motor speed regulation with a very low computational algorithm. The traditional industrial solution to obtain acceptable characteristics for tracking and process regulation consists to find a compromise point for both two situations, or in advanced regulators, to adopt a simple two degrees of freedom PID control, whose parameters are
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