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IFAC-PapersOnLine 49-8 (2016) 199203
Nonlinear
Nonlinear observer
observer design
design for
for a
a first
first order
order
Nonlinear
Nonlinear observer
observer design
design for
for a
a first
first order
order
hyperbolic
hyperbolic PDE:
PDE: application
application to
to the
the
hyperbolic
hyperbolic PDE:
PDE: application
application to the
to the
estimation
estimation of
of the
the temperature
temperature
estimation
estimation of the
of solartemperature
the temperature 
in
in parabolic
parabolic solar collectors
collectors 
in parabolic solar collectors
in parabolic solar collectors 
Shahrazed
Shahrazed Elmetennani Elmetennani Taous Taous MeriemMeriem Laleg-Kirati
Laleg-Kirati
Shahrazed Elmetennani Taous Meriem Laleg-Kirati
Shahrazed

Elmetennani Taous Meriem Laleg-Kirati
King Abdullah University of Science and Technology
King Abdullah University
King Abdullah
University
of Science and Technology
of Science and Technology
Computer,
Computer,
KingElectrical
Abdullahand
Electrical and Mathematical
Mathematical
University of ScienceSciences
Sciences and
and Engineering,
and TechnologyEngineering,
Computer, Electrical Thuwal, and23955-6900,
Mathematical Sciences
Saudi Arabia and Engineering,
Computer, Electrical Thuwal, and23955-6900,
Mathematical Saudi Arabia
Sciences and Engineering,
Email: Thuwal, 23955-6900,
{shahrazed.elmetennani, Saudi Arabia
taousmeriem.laleg}@kaust.edu.sa.
Email: {shahrazed.elmetennani,
Thuwal, 23955-6900, taousmeriem.laleg}@kaust.edu.sa.
Saudi Arabia
Email: {shahrazed.elmetennani, taousmeriem.laleg}@kaust.edu.sa.
Email: {shahrazed.elmetennani, taousmeriem.laleg}@kaust.edu.sa.
Abstract:
Abstract: In In this
this paper,
paper, the the problem
problem of of estimating
estimating the the distributed
distributed profileprofile of
of the
the temperature
temperature
Abstract:
along the In this
tube of apaper, the problem
concentrated of estimating
distributed solar the distributed
collector from profile of measurements
boundary the temperature is
along the tube
Abstract: In this of apaper,
concentrated
the problem distributed solar collector
of estimating from boundary
the distributed profile of measurements
the temperature is
along the tube
addressed. A of a concentrated
nonlinear observer is distributed
proposed solaroncollector
based a nonlinearfromintegral
boundary measurements
transformation. Theis
addressed. A nonlinear observer is proposed based on a
along the tube of a concentrated distributed solar collector from boundary measurements isnonlinear integral transformation. The
addressed.
objective A nonlinear observer is error
proposed basedsome on astable
nonlinear integral transformation. The
objective is
addressed. isAto force
force the
tononlinear estimation
the observer
estimation is error to
to follow
proposed follow
basedsome on astable
nonlineartransport
transport dynamics.
dynamics.
integral Convergence
Convergence
transformation. The
objective
conditions isare
to force
derived theinestimation
order to error to follow
determine the some stable
observer gain transport
ensuring dynamics.
the Convergence
stabilization of
conditionsisare
objective derived
to force theinestimation
order to determine the observer
error to follow some stable gaintransport
ensuring dynamics.
the stabilization of the
Convergence the
conditions
estimation are
error derived
in in order to Numerical
determine simulations
the observerare gaingivenensuring the the
stabilization of the
estimation are
conditions error in a
derived a finite
finite
in order time.
time. to Numerical
determine simulations
the observerare gaingiven to
to show
ensuring show
the the effectiveness
effectiveness
stabilization of theof
of
estimation
the proposed error in a finite
algorithm under time. Numerical
different workingsimulations
conditions. are given to show the effectiveness of
the proposed algorithm under different working conditions.
estimation error in a finite time. Numerical simulations are given to show the effectiveness of
the proposed algorithm under different working conditions.
the proposed
2016, algorithm under
IFAC (International different
Federation working Control)
of Automatic conditions. Hosting by Elsevier Ltd. All rights reserved.
Keywords:
Keywords: Nonlinear observer, Hyperbolic PDE, Parabolic
Nonlinear observer, Hyperbolic PDE, Parabolic solar solar collector.
collector.
Keywords: Nonlinear observer, Hyperbolic PDE, Parabolic solar collector.
Keywords: Nonlinear observer, Hyperbolic PDE, Parabolic solar collector.
1.
1. INTRODUCTION
INTRODUCTION control
control designdesign is is usually
usually based
based on on approximate
approximate models models
1. INTRODUCTION control
using design is usually
discretization basedschemes
numerical on approximate
(Camacho models
et
1. INTRODUCTION using discretization
control design is usually numerical
basedschemes (Camachomodels
on approximate et al.
al.
In the last few decades, an increasing interest has been using
(1997, discretization
2007)). There numerical
is an schemes
abundant (Camacho
litterature onet the
al.
In the last few decades, an increasing interest has been using (1997, discretization numerical schemes (Camacho et the
2007)). There is an abundant litterature on al.
In the
given last
tolast few
renewable decades,
energyaninan increasing
inincreasing
order to interest
to reduce
reduce thehas been
depen- (1997,
design 2007)).
of There
observers is
for an abundant
approximate litterature
discretized on
modelsthe
given
In theto renewable energy
few decades, order interestthe been (1997,
hasdepen- design 2007)).
of observers Therefor is approximate
an abundant discretized
litterature models
on the
given design
while
while the of observers
of design of for
for approximate
of observers for
for PDE
PDE systemsdiscretized
has models
has been less
dence to
dence
given on renewable
on
to fossil
renewable energy
fossil resources
resources
energy and
and in order
in their
their to
to reduce
reduce the
orderenvironmental
environmental depen-
the impact.
depen- design
impact. while
the design
observers
the design
observers
of observers
approximate systems
for PDE(2012);
discretized
systemsGallego
been
models
has been
less
less
dence
To meet
To meet on fossil
the resources
exponential and
growth their ofenvironmental
energy demand, impact.
solar
solar whileconsidered
consideredthe design(Gallego
(Gallego and Camacho
and Camacho
of observers for PDE(2012);
systemsGallego
has been et al.
etless
al.
dence on thefossilexponential
resources and growth theirofenvironmental
energy demand, impact. considered (Gallego and Camacho (2012); Gallego et al.
To meet
energy the
presents exponential
a promising growth of
alternativeenergy demand,
clean source.solar
In (2013)).
(2013)).
considered (Gallego and Camacho (2012); Gallego et al.
energy
To meetpresents a promising
the exponential growth alternative
of energy clean
demand,source. In (2013)).
solar
energy
particular,presents
the a promising
parabolic alternative
distributed clean
technology source.
has beenIn (2013)).
particular, the parabolic distributed technology
energy presents a promising alternative clean source. In Inspired has been Inspired by by thethe backstepping
backstepping observer
observer introduced
introduced by by
particular,
widely usedthe
widely used
particular, in
the parabolic
in several
several
parabolic plants
plants distributed
which
which are
distributed aretechnology
already has
has been
already successfully
technology successfully
been KrsticInspired by inthe backstepping observer(2008))introduced by
Krstic
Inspired et
et al.
al.
by in
the(Krstic
(Krstic and
and
backsteppingSmyshlyaev
Smyshlyaev
observer (2008)) using
using the
introduced the
by
widely
operating
operating
widely used
used or in
orin several
under
under
several plants
construction.
construction.
plants whichwhich are already
Concentrated
Concentrated successfully
distributed Krstic et transformation,
distributed Volterra
are already successfully al. in (Krstic and Smyshlyaev (2008)) using the
operating or under construction. Concentrated distributed Volterra
Krstic et transformation,
al. in (Krstic andthis
this paper
paper
Smyshlyaev presents
presents
(2008)) a
a nonlinear
nonlinear
using the
solar
solar collectors
collectors
operating or underconsist
consist of
of parabolic
parabolic
construction. shaped
shaped mirrors
Concentrated mirrors which Volterra for
which observer
distributed transformation,
the this paper presents profile
a nonlinear
solar collectors theconsist of observer for
tube Volterra the estimation
estimationthis
transformation, of
of the
the temperature
temperature
paper presents profile along
along
a nonlinear
concentrate
concentrate
solar collectors the received
received
consist of parabolic
sunlight shaped
sunlight
parabolic into a
into
shaped a mirrors
receiver which
receiver
mirrors tube
which observer
the for the estimation
concentrated
the concentrated
observer distributed
distributed
for the estimation
of solar
the temperature
of solar collector.
collector. The
the temperature
profile
The along
proposed
proposed
profile along
concentrate
placed in thethe
placed in thethecentral
concentrate received
central
received line sunlight
of
line sunlight the into
collectors
of the collectors a receiver
into a receiver in order
in order tube
tubeto
to observer
the concentrated distributed solar collector. The proposed
observer
the is developed
is developed
concentrated based
based on
distributed on a nonlinear
a nonlinear
solar integral
collector.integral trans-
trans-
The proposed
placed
heat the in
heat theinthermal
placed the
thermal central
carrier line
carrierline
the central fluid of the
flowing
fluidofflowing collectors
in it in
(Camacho
in it (Camacho
the collectors order
in order et to
al.
to observer
et al. is developed based on a nonlinear integral trans-
heat
(1997);theLemos
thermal et carrier
al. fluid flowing in it (Camacho et al. formation formationisconsidering
observer considering
developed basedaa Luenberger
Luenberger form.
form. The
on a nonlinear The observation
observation
integral trans-
(1997);
heat theLemos
thermal al. (2014)).
et carrier fluid flowing in it (Camacho et al. formation
(2014)). gain is considering
obtained
gain is obtained by a Luenberger
stabilizing
by stabilizing theform. The observation
estimation
theform.
estimation error
error in in
(1997); Lemos et al. (2014)). formation considering a Luenberger The observation
(1997); Lemos et al. (2014)). gain is obtained by stabilizing the estimation errorThe in
Due
Due toto the
the intermittent
intermittent and and unpredictible
unpredictible variations
variations of the again
of the a finite
a
finite time
time following
is obtained
finite time
following stable
stable transport
by stabilizing
following stable
transport
transport
dynamics.
dynamics.
the estimation
dynamics.
errorThe
The
in
Due to
external the intermittent
disturbances and unpredictible variations of the proposed approach has the advantage of compromising
external
Due to the intermittentaffecting
disturbances affecting the
the solar
and unpredictible solar collector
collector
variations dynam-
of the aproposed
dynam- finite time approach
followinghas stable
the advantage
transportofdynamics.
compromising The
external disturbances affecting the proposed
between
between the approach
simplicity hasofthe
hasof the advantage
the implementation of
of compromising
and
and the
the ac-
ics,
ics, studies
studies
external are
are continuously
continuously
disturbances affecting the solar
conducted
conducted incollector
solarin order
order to
collector dynam-
to manage
dynam- proposed
manage between
the
the
simplicity
approach
simplicity
the
ofThe
implementation
advantage
the performance
implementation
compromising
and the ac-
ac-
ics,
the studies
heat are continuously
production and conducted
enhance the in order
collector to manage
efficiency. curacy
curacy ofthe of the estimation.
the simplicity
estimation.ofThe the performance of the
of the proposed
proposed
the studies
ics, heat production and enhance
are continuously conducted the collector
in order to manage between
efficiency. curacy of has
the estimation.
implementation and the ac-
the
The heat
aim
aim is
The heat
production
to
to design
isproduction
and enhance
design efficient
efficient
the collector
controllers
controllers able
able to
efficiency.
to achieve
achieve the observer
the observer
curacy of has been
the estimation.provenThe
been proven Theby performance
by numerical tests
numerical
performance
of the
tests
of the
proposed
considering
considering
proposed
the and enhance the collector efficiency. observer has been proven by numerical tests considering
The aim
control is to design efficient controllers able to achieve the different working conditions starting from several initial
aimobjectives
control
The is to designusing
objectives using the available
available boundary
the controllers
efficient boundary
able to achievemeasure-
measure- different has
the observer working
different working
been conditions
proven by starting
conditions
numerical
starting
fromtestsseveral
from several
initial
considering
initial
control
ments. objectives
Indeed, only using
the the
inlet available
and the boundary
outlet measure-
temperatures conditions.
conditions. The obtained
The obtained results
results are promising
are promising and show
andinitial
show
ments. Indeed,
control objectives onlyusing
the inlet and the outlet
the available boundary measure- different
temperatures conditions.
working conditions
The obtained
starting from several
results areofpromising and show
ments.
can be Indeed,
measured.
can be measured. only the
Thereafter,
Thereafter,inlet and
for anthe outlet
efficient temperatures
control design good performance.
good performance.
design conditions. The convergence
The convergence
The obtained the
results areofpromising estimated
the estimated tem-
tem-
and show
ments. Indeed, only the inlet for andanthe efficient
outlet control
temperatures good performance. The convergence ofthe
thecollector
estimated tem-
can
with bethe
measured.
available Thereafter,
feedback for an efficient
information, control design
controllers may perature
perature is
is achieved
achieved gradually
gradually along
along the collector tube
tube in
in
withbethe
can availableThereafter,
measured. feedback information,
for an efficient controllers
control designmay good perature
performance. The convergence of the estimated tem-
is achieved gradually along the collector tube in
with
require the an available
estimated feedback
profile information,
of the temperature controllers
along may
the a
a finite
finite
perature time.
time.
is Moreover,
Moreover,
achieved the
the
gradually stabilization
stabilization
along the of
of the
the
collector estima-
estima-
tube in
require
with theanavailable
estimated profile of
feedback the temperature
information, alongmay
controllers the
require
collector an estimated
tube. This profile
motivates ofthethedesign
temperatureof alongable
observers the tion aation
finite
error
error
finite time.
time.is Moreover,
ensured
is ensured
Moreover, in athe
in athe stabilization
short
short transient
transient time
stabilization of
time the estima-
(seconds)
of the(seconds)
estima-
collectorantube.
require This motivates
estimated profile ofthe thedesign
temperatureof observers
alongable
the tion error to is the
ensured in adynamics
short transient time (seconds)
collector
ensuretube. This compared system which
which is an
an interesting
to
to ensure
collector a
tube. This motivates
a stable
stable estimationthe
estimation
motivates the design
error
error
design of
of observers
within
within a
observers able
a relatively
able tion
relatively compared
error to
compared
is the
to
system
ensured
the system
in adynamics
short transient
dynamics which
istime
is an
interesting
(seconds)
interesting
to
shortensure a
transient stable
time estimation
with error within a relatively feature forforto thetheclosed loop control. which is an interesting
short
to transient
ensure with respect
time estimation
a stable respect to
to the
error the
withinsystem
system dynam-
dynam- compared
a relatively feature the closed
systemloop control.
dynamics
short transient
ics despite
despite the time
varying with respectconditions.
external to the system dynam- feature
Considering for
for thethe closed loop
loop control.
ics
short transient the varying
time with external
respectconditions.
to the system dynam- feature
Considering The
The remainder
remainder of
closed paper
of this
this paper is
control.
is organized
organized as as follows.
follows. Section
Section
ics
theirdespite
distributedthe varying
nature, external
solar conditions.
collectors are Considering
modeled by a
theirdespite
ics distributed nature, external
the varying solar collectorsconditions. are modeled
Consideringby a 2The 2
remainder
describes
describes the
the
of this
heat
heat
paper is organized
transport
transport dynamics
dynamics
as follows.
of
of the
Section
solar
theSection
solar
their
first distributed
order nature,
hyperbolic solar
partial collectors
differential are modeled
equation by
(PDE) a The remainder of this paper is organized as follows.
first order
their hyperbolic
distributed nature, partial
solar differential
collectors are equation
modeled (PDE) 2 describes
by a collector. Then,the the heatestimation
transportproblemdynamics is of the solar
formulated in
first
to order hyperbolic partial differential equation (PDE) collector.
2 describes Then,the the
heatestimation
transport problem
dynamics is formulated
of the in
solar
to describe
firstdescribe the
the heat
order hyperbolic transport
heat partial
transport dynamics.
dynamics.
differential However,
However,
equation the
the section
(PDE) collector.3, Then,
section 3, Then, followed
followed
the byestimation
the problem
observer design is formulated
and proof in
of
to describe the heat transport dynamics. However, the collector. the by the observer
estimation problemdesign and proof in
is formulated of
to
 describe the heat transport dynamics. However, the section
the 3, followed
estimation error by the observer
convergence. Somedesign and proof
numerical resultsof
Research reported in this publication has been
 Research reported in this publication has been supported by the supported by the the estimation
section 3, followed errorby convergence.
the observer Somedesignnumerical results
and proof of
 Research
King Abdullah reported in this
University of publication
Science has been supported by the the
are estimation
presented error
and convergence.
discussed in Some
section 4.numerical
Finally, results
section

King Abdullah
Research University
reported in this Science and
of publication andhasTechnology
Technology (KAUST).
(KAUST).
been supported by the are presented
the estimationand error discussed in section
convergence. Some4.numerical
are presented and discussed in section 4. Finally, section
Finally, section
results
King Abdullah University of Science and Technology (KAUST). are presented and discussed in section 4. Finally, section
King Abdullah University of Science and Technology (KAUST).
Copyright
2405-8963
Copyright 2016,
2016
2016 International Federation
IFAC (International
International of
Federation
Federation of 201
of Automatic Control)
201 Hosting by Elsevier Ltd. All rights reserved. 201
201
Copyright
Automatic
Peer review
Automatic 2016 responsibility
Control
under
Control International of
Federation of Federation of Automatic
International 201Control. 201
Copyright
Automatic 2016
Control International Federation of 201 201
10.1016/j.ifacol.2016.07.440
Automatic Control
IFAC CPDE 2016
200
June 13-15, 2016. Bertinoro, Italy Shahrazed Elmetennani et al. / IFAC-PapersOnLine 49-8 (2016) 199203

3. PROBLEM FORMULATION AND OBSERVER

DESIGN

We consider the distributed model of the system dynamics

Fig. 1. Concentrated distributed solar collector
5 summarizes the obtained results and gives some future
directions.
2. SYSTEM DESCRIPTION
A parabolic distributed solar collector is an industrial
system producing thermal energy using heat transport
in a thermal carrier fluid. The collector concentrates the
received sunlight with its parabolic shaped mirrors to the
central tube where the fluid flows (see Fig.1).
The parabolic collector is a spatially distributed system
which is modeled by a first order hyperbolic PDE describ-
ing the conservation of the energy by considering the fluid
temperature as the system state. Neglecting the heat losses
and the thermal exchanges between the tube and the fluid,
the model is expressed by (Camacho et al. (2007, 1997)):
defined by (1) with measured external disturbances. The
goal is to estimate the distributed profile of the temper-
ature along the collector tube for all admissible control
inputs u(t) and measured outputs y(t).
The objective is to design an observer for the distributed
system defined by (1) such that the state estimate vector
T (x, t) converges in a finite time to the state vector T (x, t).
Consider the following state observer:
Tt (x, t) + u(t) Tx (x, t) = s(t) + L(x, t)(y(t) y(t)),
T (0, t) = Tin (t),
y(t) = T (L, t),
(2)
such that T (x, t) and y(t) are the estimated state and
output respectively. L(x, t) is the observer gain obtained
by forcing the estimated state T (x, t) to converge to the
state vector T (x, t) in a finite time for all admissible
control inputs.
Define the estimation error T (x, t) such that:
T (x, t) = T (x, t) T (x, t), (3)
with the corresponding dynamics defined by:

Tt (x, t) = u(t) Tx (x, t) L(x, t)T (L, t),
(4)
T (0, t) = 0,

Our objective is to force the estimation error dynamics

Tt (x, t) + u(t) Tx (x, t) = s(t), defined in (4) to follow the stable target dynamics given
T (0, t) = Tin (t), (1) by (Lemos et al. (2014)):

y(t) = T (L, t) = Tout (t), wt (x, t) = u(t) wx (x, t),
(5)
where x [0, L] denotes the position along the pipe and w(0, t) = 0,
t R+ represents the time. T (x, t) R+ refers to the
fluid temperature at a certain position x and time t, where in order to stabilize the estimation error T (x, t) in a finite
Tt (x, t) Tt (x,t)
and Tx (x, t) Tx
(x,t)
are the first time and consequently force the estimated state T (x, t) to
derivatives with respect to time and space respectively. converge to the real state T (x, t).
0 G
s(t) = cA s
I(t) is the source term which depends on Proposition 1. The observer error system defined by (4)
converges in a finite time, for all admissible control inputs
the solar irradiance I(t). u(t) = Q(t) is the system
As u(t), considering the following observation gain:
control input which is function of the fluid volumetric
flow rate Q(t). Besides, Tin and Tout denote the measured L(x, t) = u(t)G(x), (6)
boundary values of the fluid temperature respectively at such that:
the positions x = 0 and L such that y(t) = Tout is G(x) = K(x, L), (7)
the system output. The remaining system parameters are where K(x, ) verifies the following nonlinear distributed
summarized below. equation, for (x, ) [0, L]2 :
Fluid density (kg m3 ) K (x, ) + Kx (x, ) = K(x, L)K(L, ), (8)
c Fluid Specific heat capacity (J C1 kg1 ) subject to the boundary condition:
As Tube cross-sectional area (m2 )
0 Mirrors optical efficiency K(0, ) = 0. (9)
G Mirrors optical aperture (m) Proof. Consider the following transformation:
L Length of the collector tube (m)  L
Considering the system technology, the limited number of T (x, t) = w(x, t) K(x, )w(, t)d. (10)
accessible measurement points along the collector makes 0
the feedback control design constrained due to the insuffi-
Differentiating (10) with respect to time, we obtain:
cient information about the system dynamics. Thereafter,  L
controllers may require the design of observers in order to
Tt (x, t) = wt (x, t) K(x, )wt (, t)d. (11)
estimate the temperature profile along the collector. 0

202
 IFAC CPDE 2016
June 13-15, 2016. Bertinoro, Italy Shahrazed Elmetennani et al. / IFAC-PapersOnLine 49-8 (2016) 199203 201

In order to follow the target system defined by (5), 3

x 10
equation (11) can be rewritten as: 10
 L

Fluid flow rate (m /s)

Tt (x, t) = wt (x, t) + u(t) K(x, )w (, t)d. (12) 9

3
0
By integration by part, we get: 8
Tt (x, t) = wt (x, t) + u(t)K(x, L)w(L, t)
 L 7
u(t)K(x, 0)w(0, t) u(t) K (x, )w(, t)d. (13)
0
6
Then, differentiation of (10) with respect to space yields:
 L 5
Tx (x, t) = wx (x, t) Kx (x, )w(, t)d. (14) 0 1 2 3 4 5 6
0
Time (mins)
Lets rewrite the estimation error dynamics defined by (4)
using the resulting expressions (13) and (14): Fig. 2. Profile of the fluid flow rate
4
Tt (x, t) + u(t)Tx (x, t) = wt (x, t) + u(t)wx (x, t) x 10
+ u(t)K(x, L)w(L, t) u(t)K(x, 0)w(0, t)

Observation gain G(x)

 L  L
u(t) K (x, )w(, t)d u(t) Kx (x, )w(, t)d.
0 0 2
(15)
Thereafter, from (5),
Tt (x, t) + u(t)Tx (x, t) = u(t)K(x, L)w(L, t) 1
 L
u(t) [K (x, ) + Kx (x, )] w(, t)d. (16)
0
0
Moreover, substituting the transformation (10) in (4) 0 50 100 150 200
yields, X (m)
Tt (x, t) + u(t)Tx (x, t) = Fig. 3. Observation gain G(x)
  
L
the temperature distributed profile has been carried out
L(x, t) w(L, t) K(L, )w(, t)d. (17)
0 considering real working conditions. The parameters of the
Acurex field have been used for the simulations with a
Identifying (16) with (17), we obtain: varying fluid flow rate following the profile of Fig. 2.
L(x, t) = u(t)K(x, L), To implement the proposed observer, the gain has been de-
(18)
u(t) [K (x, ) + Kx (x, )] = L(x, t)K(L, ). termined by solving numerically the nonlinear distributed
Assuming that the observer gain is defined by: equation (8) which is subject to the boundary condition
(9) using finite differences scheme for (x, ) [0, L]2 . The
L(x, t) = u(t)G(x), (19) obtained profile is presented in Fig. 3 where it can be
the conditions of (18) can be rewritten as: observed that an exponentially increasing weight is given
G(x) = K(x, L), to the points going from the inlet to the outlet position.
(20)
K (x, ) + Kx (x, ) = K(x, L)K(L, ).
4.1 Constant working conditions
Then, from the boundary condition of (4), the nonlinear
distributed system of (20) is subject to the boundary
condition: Several tests have been performed using different initial
K(0, ) = 0. (21) profiles along the collector under constant external dis-
turbances in order to evaluate the effectiveness of the
Therefore, considering the gain expression (19), the esti- proposed observer. For these series of tests we have con-
mation error dynamics (4) converges to zero in a finite time sidered the inlet temperature at a level of 195 C and
following the stable target dynamics (5), if the observer the solar irradiance at a level of 1000W/m2 . Moreover,
gain verifies the conditions (20) and (21). the estimation has been initialized using different profiles
for the estimated temperature starting from a constant
4. NUMERICAL RESULTS
profile equal to the inlet temperature, followed by another
constant profile far from the inlet temperature value to a
In order to evaluate the performance of the proposed
sinusoidal profile around the inlet temperature value (see
observer, numerical tests have been run under various
Fig. 4a, 4d and 4g).
working conditions. First, we have tested the nonlinear
observer for the first order hyperbolic PDE considering The obtained results for the different tests are presented
constant external disturbances with different initial pro- in Fig. 4 for 5 different points along the collector. The esti-
files and varying fluid flow rate. Then, the estimation of mated temperature profile converges to the real dynamical

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IFAC CPDE 2016
202
June 13-15, 2016. Bertinoro, Italy Shahrazed Elmetennani et al. / IFAC-PapersOnLine 49-8 (2016) 199203

Real profile Estimation initial profile Real prole Estimated prole Real profile Estimated profile
206 230
X= 200m 220
204
Temperature(C)

Temperature(C)

Temperature(C)
220 X= 160m
202
X= 120m 210
200 210
X= 80 m
198
200 200
X= 40 m
196
194 190 190
0 50 100 150 200 0 1 2 3 4 5 6 0 15 30
Space (m) Time (mins) Time (second)

(a) Test1:Initial profile (b) Test1:Estimation results (c) Test1:Transient time

Real profile Estimation initial profile Real prole Estimated prole Real profile Estimated profile
206 230
X= 200m 220
204
Temperature(C)

Temperature(C)

Temperature(C)
220 X= 160m
202
X= 120m 210
200 210
X= 80 m
198
200 200
X= 40 m
196
194 190 190
0 50 100 150 200 0 1 2 3 4 5 6 0 15 30
Space (m) Time (mins) Time (second)

(d) Test2:Initial profile (e) Test2:Estimation results (f) Test2:Transient time

Real profile Estimation initial profile Real prole Estimated prole Real profile Estimated profile
205 230
X= 200m 220
Temperature(C)

Temperature(C)

Temperature(C)
220 X= 160m
200 210
X= 120m
210
X= 80 m
195 200 200
X= 40 m

190 190
190
0 50 100 150 200 0 1 2 3 4 5 6 0 15 30
Space (m) Time (mins) Time (second)

(g) Test3:Initial profile (h) Test3:Estimation results (i) Test3:Transient time

Fig. 4. Estimation results for constant working conditions

temperature profile along the collector in a finite time and

then reproduces accurately the dynamics of the system 1400
Solar irradiance (W/m )

(Fig. 4b, 4e and 4h). Moreover, the estimation error is

2

stabilized gradually along the collector starting from x = 0 1200

to x = L. As shown in Fig. 4c, 4f, and 4i the transient
time increases as x increases. Indeed, the convergence of 1000
the estimation error starts from the inlet position and
is stabilized along the collector tube until it reaches the 800
outlet.
600
4.2 Real working conditions

After the evaluation of the performance of the estimation 400

0 1 2 3 4 5 6
error stabilization, we have tested the nonlinear observer Time (mins)
under real working conditions by considering time vary-
ing external disturbances. Fig. 5 presents the profile of Fig. 5. Solar irradiance profile
the solar irradiance which is characterized by different
The proposed algorithm presents promising results in
changes, smooth evolution with some abrupt changes. The
terms of estimation accuracy. Moreover, the designed ob-
estimation algorithm has been initialized with a constant
server has a Luenberger form which is easy to imple-
profile equal to 195 C (see Fig. 6).
ment. Furthermore, the convergence is achieved within 10
The obtained results are satisfactory as shown in Fig. 7 seconds for an initial estimation error bigger than 10 C
despite the varying working conditions and the external which is very interesting for control strategies relying on
disturbances affecting the system dynamics. The estimated an estimated temperature profile.
values of the temperature at 5 different positions along
the collector are presented. The estimated state converges 5. CONCLUSION
at all points to the real dynamical value. The transient
time is different from one point to another such that the This paper presents a nonlinear observer for the temper-
estimation error convergence is achieved gradually as the ature profile estimation from boundary measurements in
position increases along the tube from the inlet point to a distributed concentrated solar collector. The observer is
the outlet (See Fig. 8). designed based on the first order hyperbolic PDE describ-

204
 IFAC CPDE 2016
June 13-15, 2016. Bertinoro, Italy Shahrazed Elmetennani et al. / IFAC-PapersOnLine 49-8 (2016) 199203 203

Thereafter, we intend to study the convergence and the

Real profile Estimation initial profile performance of the observer in a closed control loop.

195 ACKNOWLEDGEMENTS
Temperature(C)

Research reported in this publication has been supported

190 by the King Abdullah University of Science and Technol-
ogy (KAUST).
185 REFERENCES
Camacho, E.F., Berenguel, M., and Rubio, F.R. (1997).
180 Adanced control of solar plants. Springer.
0 50 100 150 200 Camacho, E.F., Rubio, F.R., Berenguel, M., and Valen-
Space (m)
zuela, L. (2007). A survey on control schemes for
Fig. 6. Initial profile under varying external disturbances distributed solar collector fields. part i: Modeling and
basic control approaches. Solar Energy, 81, 12401251.
Gallego, A.J. and Camacho, E.F. (2012). Adaptive state
space model predictive control of a parabolic trough
Inlet temperature Real prole Estimated prole field. Control Engineering Practice, 20, 904911.
230 X= 200m Gallego, A.J., Fele, F., Camacho, E.F., and Yebra, L.
X= 160m (2013). Observer-based model predictive control of a
Temperature(C)

220 X= 120m parabolic-trough field. Solar Energy, 2013, 426435.

X= 80 m
X= 40 m Krstic, M. and Smyshlyaev, A. (2008). Boundary Control
210 of PDEs. SIAM.
Lemos, J.M., Silva, R.N., and Igreja, J.M. (2014). Adaptive
200
Control of Solar Energy Collector Systems. Springer.
190

180
0 1 2 3 4 5 6
Time (mins)
Fig. 7. Estimation results under varying external distur-
bances

Inlet temperature Real profile Estimated profile

230
Temperature(C)

220

210

200

190

180
0 15 30
Time (second)
Fig. 8. Transient time under varying external disturbances

ing the system dynamics using a nonlinear transformation.

The considered nonlinear integral transformation ensures
the stabilization of the estimation error in a finite time fol-
lowing stable transport dynamics. The performance of the
proposed observer has been proven using numerical tests.
The estimated temperature profile converges to the real
fluid temperature along the collector despite the various
working conditions starting from different initial estima-
tion profiles. Moreover, the proposed observer has proven
its efficiency in tracking the real temperature in a short
transient time which is interesting for the control design.

205