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International audience; Future smart grids can be seen as a system of interlinked microgrids, including small-scale local power systems. They consist of main power sources, external loads, and energy storage devices. In these microgrids, the negative incremental impedance behavior of constant power loads (CPLs) is of major concern since it can lead to instability and oscillations. To cope with this issue, this article aims to propose a comparative study of adaptive Hamiltonian control laws, also known as interconnection and damping-assignment-passivity-based controllers (IDA-PBC). These control laws are developed to ensure the stability of the DC output voltage of a boost converter supplied by a proton exchange membrane fuel cell (PEMFC) source. To validate the develop control laws, experiments have been performed on a fit test bench including a real 2.5 kW PEMFC stack (hydrogen is supplied by a reformer engine), a DC-DC step-up circuit, and a real-time controller dSPACE (implementation of the control laws). Moreover, a comparative study has been carried out between the proposed three adaptive Hamiltonian control laws and a classic linear cascaded proportional-integral (PI) control law. The obtained results by simulations through MATLAB/SimulinkTM and experimentally have allowed demonstrating that the third Hamiltonian control law presents the best performances over the other control laws.

International audience; This paper addresses the problem of Current Sharing (CS) and Average Voltage Regulation (AVR) in Direct Current (DC) microgrids composed of several interconnected Distributed Generation Units (DGUs), power lines and loads. To achieve the control objectives (CS and AVR), the system is augmented with two distributed integral actions. The existence of equilibrium points for the augmented system is proved. Then, a distributed-based static state feedback control architecture is proposed. This latter guarantees the global asymptotic convergence of the system state to a desired equilibrium for which the control objectives are reached, thanks to the passivity property of the DGU with local controller. Simulation results are provided to illustrate the effectiveness of the proposed methodology.

Rapid developments in hydrogen fuel cell (FC) energy and DC microgrid systems have extended the applications of multiphase parallel interleaved step-up converters for stabilizing DC bus voltages. DC microgrid applications include vehicle systems, shipboard power systems, and more electric aircraft, which generate power at low voltage levels. The cascade architecture of a power converter in a DC microgrid may cause large oscillations and imbalance given that converters considered as loads have constant power load characteristics. In this work, output DC bus voltage stabilization and current sharing of a multiphase parallel-interleaved-FC boost converter is presented. The proposed robust controller with added integrator action is based on the Hamiltonian–Lyapunov function. The efficacy and robustness of the designed controller were successfully authenticated by experimental results obtained using a 2.5 kW prototype FC converter (via four-phase parallel-interleaved boost converters) and the dSPACE MicroLabBox platform. The main source of the FC is based on a fuel reformer engine that converts fuel methanol and water into H2 gas in a polymer-electrolyte-membrane-FC stack (50 V, 2.5 kW).

International audience; It is well known that the interaction between cascaded individually designed power conversion systems can cause instability. To overcome this issue, a Hamiltonian energy control scheme is proposed, which is based on passivity control theory and port-controlled Hamiltonian framework. A complementary PI adjustment term is also included in the control algorithm to eliminate the steady-state output voltage error caused by the parameter uncertainty. The proposed control approach is applied to three different cascade structures. First, the cascade structure between dc/dc converters is considered, and the detailed controller design is given. Second, the cascade connection of a single converter and its LC filter is studied. By placing the LC filter into the Hamiltonian model of the controlled converter system, the dynamic and potential instability caused by the filter can be adjusted. Finally, the cascade structure between subsystems including filters and converters, which are common in microgrids, is studied. By using the Hamiltonian function (storage function) as the Lyapunov function candidate, the large-signal stability of each controlled converter system is proved. When the cascade structure contains multiple controlled converter systems, the stability of the entire cascaded system is guaranteed by the superposition of multiple Lyapunov functions. A 3.5 kW 220-270-350 V test bench is built in the laboratory to demonstrate the application of the proposed control approach to these three cascade structures.

International audience; The cascaded connection of power converters in a DC microgrid may cause instabilities. Indeed, power converters operating as external loads exhibit constant power load (CPL) behaviors. In this study, the design of the feedback controller of a multi–cell interleaved fuel cell (FC) step–up power circuit is based on the adaptive Hamiltonian control law. It includes two integral terms to confirm that there is no steady-state error in the DC bus voltage, and to guarantee the current balancing of each input inductor current. The design confirms that the desired equilibrium point is (locally) asymptotically stable by using the Lyapunov stability proof. The control approach is validated via digital simulations and experimental tests performed with a 2500 W FC converter supplied by an FC/reformer size of 2500 W and 50 V.

International audience; This article proposes a modified interconnection and damping assignment passivity-based control (IDA-PBC) for dc/dc converter cascaded with an LC filter. The plant is modeled using the port-controlled Hamiltonian (PCH) form. The main objective is to stabilize the cascaded system in case the system supplies constant power load (CPL). To solve the instability issues caused by tightly controlled cascaded systems, the IDA-PBC based on an overall PCH model, including LC input filter and dc/dc converter, is established. Moreover, to ensure that the proposed IDA-PBC admits one unique solution, an adaptive interconnection matrix is designed to build the internal links in the PCH model. Furthermore, in order to improve the implementation on an onboard dc microgrid application with time-varying CPLs, a modified IDA-PBC algorithm is proposed based on the error between the state vector and the desired operating point, which might be variable. The closed-loop Hamiltonian function is chosen as the Lyapunov candidate function to guarantee that the system operates in a stable manner. The virtual damping assignment technique is addressed to tune the dynamic characteristic of the closed-loop system. Simulation and experimental results are carried out to illustrate the proposed method’s effectiveness.

International audience; The features of a Variable Flux Machines (VFM) composed by a solid cylindrical rotor based on FeCrCo will be explored in this paper. A comprehension of the controllable magnetization state of these machines is exposed. Element finite analysis and experimental tests are proposed to analyze a magnetization strategy for two different levels of d-axis current. Additionally, the armature reaction and its effects in the machine operation is discussed.

Robust property of the controlled system is required for all applications. In this paper, the controlled method based on flatness properties is proposed. Due to its properties, high dynamical performances can be achieved thanks to a one-loop control architecture. An open-loop control can be used if the system being controlled is well known. In practice, an exact model is hard to develop. Therefore, online-estimators are applied to estimate the modeling error and make a more realistic model. In this way, open-loop control can be used. The contribution of this work is that the high bandwidth controlled system can be operated under either closed-loop or open-loop control and those with a reduced number of sensors. Simulation and experimental results are given to validate the proposed control method.

International audience; Series connection of input filters with static converters might lead to instability. However, the input filter has rarely taken into account in the stable design of power converters. Indeed, an input LC filter cascaded with a converter can become unstable, and so even if the converter is regulated by a tight controller ensuring its stability alone. This fact is due to the interactions between the filter and the converter. To tackle the instability potential, an Adaptive Energy Shaping Control (AESC), which is based on the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC), is addressed in this paper to regulate the cascaded system and achieve the following attractive features: 1) The input filter’s dynamics are considered in the control law, so the interactions between the filter and the converter are taken into account during the controller design; 2) The influence between several subsystems, put in cascade, is considered by the proposed method and the new large-signal stability proof is given accordingly. Simulation and experimental results from a 3.5 kW 270 V–200 V buck converter cascaded with an input filter under different load conditions, i.e. Constant Impedance Load (CIL), Constant Current Load (CCL), and Constant Power Load (CPL), are presented to demonstrate the proposed approach.

The emergence of electrical propelled aircraft increases the degree of electrification of aircraft. Electric generation is achieved by coupling a gas turbine with multiple electrical generators, which allows a large autonomy and a very favourable power weight ratio compared to an electrical storage system. The study focuses on a one voltage control of a DC grid using flatness properties. Theses properties are proposing a simple solution to both comply with stability and weight of passive components criteria. In addition, a power sharing model is proposed to distribute the power generation among electric generator in order to improve global efficiency.

International audience; This article is focused on an original control approach applied to a transportation system that includes a polymer electrolyte membrane fuel cell (PEMFC) as the main energy source and supercapacitors (SC) as the energy storage backup. To interface the SC with the DC bus of the embedded network, a two-port bidirectional DC-DC converter was used. To control the system and ensure its stability, a reduced-order mathematical model of the network was developed through a nonlinear control approach employing a differential flatness algorithm, which is an attractive and efficient solution to make the system stable by overcoming the dynamic issues generally met in the power electronics networks of transportation systems. The design and tuning of the system control were not linked with the equilibrium point at which the interactions between the PEMFC main source, the SC energy storage device, and the loads are taken into consideration by the proposed control law. Besides this, high dynamics in the load power rejection were accomplished, which is the main contribution of this article. To verify the effectiveness of the developed control law, a small-scale experimental test rig was realized in the laboratory and the control laws were implemented in a dSPACE 1103 controller board. The experimental tests were performed with a 1 kW PEMFC source and a 250 F 32 V SC module as an energy storage backup. Lastly, the performances of the proposed control strategy were validated based on real experimental results measured during driving cycles, including motoring mode, ride-though, and regenerative braking mode.

Increasing energy demand, together with environmental concerns, results in a significant tendency toward the research and development of renewable systems and particularly solar energy. Locating in the sunbelt of earth, Iran has great solar potential. However, due to the noticeable amount of dust activities in the Middle East, there are several challenges in the way of development of the photovoltaic systems. The current article provides a comprehensive literature review on the photovoltaic status in Iran regarding the climate conditions, photovoltaic development potentials, energy policies within the country, and photovoltaic experiences. A regionally focused review of the conducted works is provided to investigate the effect of dust activities on the output performance of photovoltaic systems. A focus on dust origins, frequency, and specifications is a priority in order to analyze its impacts on the performance of photovoltaic systems. Furthermore, a review of cleaning methods to overcome the dust deposition problem is provided. The comprehensive literature review conducted in this article is represented to researchers, designers, and engineers dealing with photovoltaic systems in regions with dust problems such as the Middle East and particularly Iran.

Published in Communications in Computer and Information Science, vol. 1354, pp. 306-314, Springer International Publishing 2021; International audience; This paper addresses the problem of Current Sharing (CS) and Average Voltage Regulation (AVR) in Direct Current (DC) microgrids composed of several interconnected Distributed Generation Units (DGUs), power lines and loads. To achieve the control objectives (CS and AVR), the system is augmented with distributed integral actions. A distributed-based static state feedback control architecture is proposed. This latter guarantees the global asymptotic convergence of the system state to the set of all equilibrium points for which the control objectives are achieved, thanks to the passivity property of the DGU with local controller. Simulation results are provided to illustrate the effectiveness of the proposed methodology.

International audience; This article presents a multiphase interleaved boost converter supplied by a fuel-cell (FC)/reformer power source for highly dynamic transportation applications. A control theory based on the Hamiltonian function approach is considered. Using the port-controlled Hamiltonian system, we propose simple solutions to the dynamic performance and convergence problems when an interaction occurs between the power sources and constant power loads. To corroborate the proposed control law, an FC boost converter (2.5-kW two-phase interleaved converter) is used and investigated in the laboratory. The methanol FC system is composed of a fuel reformer reactor that transforms water and methanol liquid fuel into hydrogen gas to a polymer electrolyte membrane FC stack (2.5 kW, 50 V). The studied control approach is realized by digital calculation using a MicroLabBox controller board (dSPACE platform). The simulation using the MATLAB/Simulink program and the experimental results validate that our proposed solution is an excellent control algorithm for highly dynamic power-load cycles.

Hybridization systems working with electric generators and energy storage devices lead to optimal technologies for recent power sources. They are becoming more popular due to their advantages such as high efficiency, saved energy and low pollution. There are many types of architecture of hybridization. This article proposes a novel converter structure for a hybrid fuel cell/supercapacitor application that the fuel cell is hybridized with a bank of supercapacitors. Its benefits include high efficiency and maximum use of supercapacitor energy. The mathematical model is developed. The operation and modeling of the converter are presented. Closed-loop controls by using an indirect-sliding mode technique for the inner current loop and the energy control in the outer loop including a disturbance estimator are provided. Finally, simulation and experimental results obtained from the 150 W testbench are given to validate the proposed converter and system. The obtained results have shown that the proposed converter structure offers the right candidate for a hybridization fuel cell/supercapacitor power source.

This paper studys a multi-phase boost converter for fuel cell (FC) applications. An original control law based on the Hamiltonian energy control principle for dc microgrid is considered. Using the port-controlled Hamiltonian property, we propose simple solutions to the system performance and stabilization problems when the interaction between power sources and constant power loads (CPLs). To corroborate the proposed control law, a prototype FC power converter (2.5-kW two-phase boost converter) is implemented in the laboratory. The Methanol FC system includes a fuel reformer that converts methanol and water liquid fuel into hydrogen gas to polymer electrolyte membrane FC (PEMFC) stack (2.5-kW, 50 V). The proposed control approach is realized with a digital estimate in a dSPACE MicroLabBox controller card. The experimental and simulation results verify that this is a good control scheme during constant power load cycles.

International audience; An optimization method is proposed to design a dc-dc boost converter, including the differential input filter and the associated control strategy, for embedded applications [aerospace, electric vehicle/hybrid electric vehicle (EV/HEV)], where high power density and high efficiency are strongly required. The problem is treated as a multiobjective optimization, whose purpose is to maximize compactness and efficiency of the converter. In order to find a tradeoff between the two objective functions (volume and power losses), a genetic algorithm was employed (NSGA-II) to generate the most convenient design solutions. The operating conditions includes both steady-state and load power transients of a constant power load (CPL). In order to comply with the specification on the output voltage admitted range in both conditions, the control strategy is discussed and included in the design procedure. The interaction of a differential input filter with a CPL may lead to serious instability issues. A constraint function in the algorithm excludes all the unstable and unfeasible design solutions. A high-efficiency converter ( $\eta =98.5\%$ ) was realized, and experimental tests prove that stability and design specifications are respected.

This paper presents a new modular DC-DC converter topology. As modular topology, the converter can be used for several energy sources. Each converter module is based on a three-level DC-DC converter, which contains two output capacitors. The first module shares the second capacitor in common with the first capacitor of the next module. In this way, N-module can be utilized for N-energy source. The output capacitor voltages are balanced thanks to the proposed topology and the controller. The controller is based on the indirect-sliding mode controller where the input current of each energy source and the output voltage balancing are taken into account. Simulation and experimental results are provided to validate the topology.

International audience; It is known that the interactions between individually designed subsystems in cascaded can yield instability. To ensure the system stability, the Passivity-Based Controller (PBC) called Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) is addressed in this paper. The stability of the cascaded systems are proved via using the Hamiltonian function (storage function) as the Lyapunov candidate function. Especially the dynamic and the potential instability caused by the LC filter are regulated by rendering the LC filter into the Hamiltonian framework of the controlled subsystem. The performance of the proposed approach are illustrated in simulation and experiment.

Managing the energy is one of the most important issues for the efficiency of vehicular applications using hybrid electric power systems. This paper deals with an analysis of an energy management for hybrid power system, which consists of fuel cell, ultra-capacitor and battery and dedicated to electrical vehicles. Thus, an energy management method is applied in order to split the energy flow between the three used sources. This strategy is based on a combination of three control methods; a fuzzy logic control, a flatness control and rule-based algorithm. For the fuzzy logic, the main idea is inspired from rule-based algorithms except that it is more flexible and less aggressive. The second technic is an innovative control using the flatness property for a Fuel cell/ supercapacitor/ Battery hybrid power system. For the rules based algorithm, it uses a supercapacitor state-of-charge control principle. Then, an experimental validation is done for the energy management method to show the efficiency of the proposed control strategy in term of the well share of the energy between sources to satisfy the load demand. A dSpace real-time card is used for management algorithm implementation and data acquisition. The obtained experimental results prove the efficiency and the validity of the proposed supervisor.

International audience; In the more electric aircraft context, dc distribution systems have a time-varying structure due to the flexible distributed loads and complex operation conditions. This feature poses challenges for system stability and increases the difficulty of the stability analysis. Besides, the risk of instability may be increased under constant power load condition due to the negative incremental impedance characteristic. To this end, this article proposes an improved interconnection and damping assignment passivity-based control scheme. Particularly, an adaptive interconnection matrix is developed to establish the internal links in port-controlled Hamiltonian models and to generate the unique control law. The damping assignment technique is addressed to tune the dynamic characteristic. In order to meet the load requirements of different voltage levels, the design procedures were given for determining the control law in both boost converter and buck converter cases. The simulation and experimental results are performed to demonstrate the validity of the proposed control approach.

International audience; In light of the low efficiency of photovoltaic (PV) panels and varying environmental conditions, it is necessary to develop methods for maximum power extraction of PV panels in any environmental conditions. Here, a new hybrid method is proposed for maximum power point tracking (MPPT). The fuzzy logic control-based method is very fast and accurate but difficult to implement. In addition, this method depends on PV arrays. The three-point weight method is another MPPT method that does not compromise on the maximum power point under fast transient conditions. The advantages of both methods are utilized in the proposed method. Furthermore, the overall complexity is decreased by simplifying the fuzzy logic part. The three methods were experimentally validated and, in addition, were numerically simulated in Matlab.

International audience; An interconnection and damping assignment (IDA) passivity-based control (PBC) scheme for boost converter cascaded with LC filter supplying constant power load (CPL) is presented in this paper. The plant is described by port-controlled Hamiltonian (PCH) form. To perfect the implementation of the CPL application, an improved IDA-PBC is introduced based on the error between the desired equilibrium point and the state variable. Furthermore, the virtual damping assignment technique is addressed to tune the dynamic characteristic and an adaptive interconnection matrix is introduced for building the internal links in PCH models. Simulation and experimental results are given to show the effectiveness of the proposed approach.

International audience; The two new state observers are proposed in this paper to improve the performance and robustness of the flatness-based control against the changeable parameter. The hardware system of the PMSM control is implemented by using a small-scale PMSM of 6-pole, 1-kW, and 3000 rpm in a laboratory, to validate the proposed methodology. Simulation and experimental validation reflect that the two new state observers are better than the linear observer such as extended Luenberger observer (ELO) method regarding convergence for nonlinear systems and convergence rapidity.

International audience; Moving toward more electric aircraft (MEA) concept, electrification of modern aircraft will consist of a large amount of constant power load (CPL), which giving tough stability problems and research opportunities. In such an application, on-board dc power system may have a time-varying system structure and operation pattern due to the flexibility of the distributed loads. This feature poses challenges for system stability and increases the difficulty of the stability analysis. To solve this problem, an interconnection and damping assignment (IDA) passivity-based controller (PBC) is proposed in this paper. Particularly, an adaptive interconnection matrix is designed for building the internal links in port-controlled Hamiltonian (PCH) system, and the virtual damping assignment technique is addressed to tune the dynamic characteristic. To meet all the electricity supply needs, the design procedures were introduced for determining the control law in both boost converter and buck converter cases. Simulation and experimental results are performed to confirm the proposed control algorithm. Results show that the proposed control approach ensures the stability and the fast response of the system in different cases when the CPL changes.Index Terms-- interconnection and damping assignment (IDA), passivity-based control (PBC), port-controlled Hamiltonian system (PCHS), more electric aircraft (MEA), dcdc converter, on-board power system, constant power load (CPL), boost converter, buck converter.

In islanded microgrid, the conventional voltage and frequency droop control is commonly used to share the real and reactive power among parallel inverters in autonomous fashion without communication. However, this is done at the expense of changing the system frequency and voltage. To enhance the power sharing and to restore the frequency and voltage to their nominal values, a secondary loop is added to the droop where in certain cases a communication link is imposed between a centralized controller and each associated droop control. To avoid using complicated multiloop feedbacks, this paper proposes a new angle droop control to share power with improvement in stability and power sharing enhancement. To perfectly control the output voltage of inverters with smaller THD and high bandwidth, a one-loop flatness based control is employed. For stability analysis and droop parameters settings, a model of the power system is developed. The state-space equations are formed with respect to the common reference frame. The resulting system matrix around an operating point is used to derive the eigenvalues to analyze the small-signal stability of the system. The theoretical analysis and the effectiveness of the proposed angle droop have been validated by simulation and experiments.

Harmonics are found to have deleterious effects on power system equipment including transformers, capacitor banks, rotating machines, etc. However, the distributed generation interfacing converters (DICs) are able to improve power quality and system efficiency in case of adding a flexible control strategy. This paper describes the voltage distortion generated by nonlinear loads and proposes a new harmonic droop control to reduce the voltage harmonic distortion at the point of common coupling (PCC) and to share the harmonic power between parallel islanded inverters controlled by classical frequency droop method. The main objective it to effectively compensate the harmonic currents drawn by each DIC to supply the nonlinear loads in parallel with voltage harmonic damping at PCC. The operation principle of the proposed harmonic droop is explained in details. Modeling and stability analysis are developed in order to define the control parameters suitable for proper operation. Simulation and experimental results are presented to show the competence of the proposed algorithm in achieving harmonic power sharing and in improving the voltage harmonic distortion at the PCC.

International audience; Design and modeling of the control parameters are important to guarantee the operation in a desired regime and to have the optimal dynamic behavior. To achieve these objectives, a proposed continuous-time averaging model is developed for a pulsewidth modulation current controller based on a modulated hysteresis controller while ensuring a fixed frequency operation. Stability analysis is performed using the eigenvalues of the system and estimating the bifurcation point for different cases to investigate parameter tuning. Moreover, the dynamic and static behaviors of the current for different values of bifurcation parameter are presented. The current controller in a two-loop control scheme is investigated. The simulation and experimental results are given to confirm the proposed method.

International audience; In this paper, the topology of dc microgrid implemented in electrified transportation systems is studied. Due to the commonly used topology is not entirely realistic, to solve this problem, this paper presents three different topologies that correspond to three kinds of dc microgrid structures in practice. Moreover, modeling and stability analysis are developed to define the stability characteristics in each case. The simulation results are performed to confirm the correctness of the proposed topology and the accuracy of the modeling and stability analysis.

International audience

International audience; This paper presents a nonlinear control algorithm based on differential flatness approach for controlling a servo permanent magnet synchronous motor (PMSM) drive. The differential flatness approach is a model-based estimation. Subsequently, two state-observers are introduced to calculate a load torque disturbance and a stator resistance (representing losses in an inverter and motor) using its voltage drop. This can enable the improvement of the PMSM drive system and its efficiency. Using the flatness approach, we propose simple solutions to the dynamics and stabilization problems of the PMSM drive structure. In order to evaluate the proposed control algorithm, a hardware system is realized in a laboratory and digital estimation is obtained using a dSPACE controller DS1104 platform. Simulation and experimental results with a small-scale motor of 1000 W and 3000 r/min in a laboratory corroborate the excellent control scheme during motor-drive cycles.

International audience; In this paper, a practical online open-switch fault detection method is presented. The proposed open-switch fault detection method is used to detect the open-circuited fault switch in the parallel inverters system. This method can relieve the severe effects of the over-current stress, to avoid the secondary fault to the electrical components in the parallel inverters system. This method is based on the detection of the resulting zero-sequence current, under the fault conditions. The proposed algorithm is activated by detecting the zero-sequence current between the parallel units, under the open-switch fault conditions. The sign of the resulting zero-sequence current is related to the upper or the lower open-switch fault case. The faulty phase identification relies on the analysis and the investigation of only the current measurements information of the faulty inverter. This method can get rid of the effects of the load, to obtain a reliable identification. The effectiveness of the proposed open-switch fault detection algorithm, is theoretically analyzed and validated by the simulations and the experiments.

International audience

International audience; This paper presents a method to generate the references trajectories of the flat outputs for the controlled hybrid power source with the one-loop control flatness-based control approach. This hybrid system uses a fuel cell (FC) and a bank of supercapacitor (SC) as main and additional sources, respectively. The two-phase bidirectional interleaved boost DC-DC converters are used to transfer energies between the sources and load. This control method allows operating with high bandwidth control loop. The simulation results are provided to highlight the effectiveness of the control technique.

International audience; It is well know that the interaction between poorly damped LC input filter with dc-dc converter lead to degradation of dynamic performance and fault scenario of the system. This problem also often occurs in fuel cell systems. Due to the relatively low and unregulated output voltage, the high gain boost converter is need in such application. A floating interleaved boost converter (FIBC) is selected as a good candidate to achieve this desired effect. In order to ensure the system stability, this paper addresses a method which permits to design a fault-tolerant stabilizing system for the proposed converter and the filter. It consists in implementing an active stabilizer for each switch. Afterward, a method to design fault-tolerant stabilizing system is developed. The simulation results are reported to verify the effectiveness of the proposed method.

International audience; A new sensorless control strategy applied to nonlinear system has been developed in order to reach better dynamic performances. Indeed in current sensorless control strategies, the speed of the control is limited by the speed of the estimation of the state variables. The main asset of this new control strategy is to determine the control vector in parallel of the estimation of the state variables, which allows the control dynamics to get closer to the dynamics of the estimation. Compared to a classic control strategy put afterwards the variable estimation performed with an extended Kalman filter, this new strategy presented in this paper shows good results.