Suboptimal design of hydroturbine governors

A state space method for the design of turbine governors in hydro power plants with Kaplan turbines is presented. The design is based on the suboptimal regulator problem solved by the use of projective controls. A design procedure that permits the design of multivariable static and low order dynamic hydroturbine governors is proposed. It provides an organized way of choosing the governor structure and the tuning of its parameters. A case study is presented to illustrate the proposed design method and to demonstrate the extensive applicability of the suboptimal solution and its merits as compared to conventional governors