Thesis PEMFC Contol PDF

Intelligent Adaptive Control for PEMFC
By
Zafar Iqbal
CIIT/FA15-REE-026/ISB
MS Thesis
In
Electrical Engineering
COMSATS Institute of Information Technology

Islamabad – Pakistan
Fall, 2017
A Thesis presented to
COMSATS Institute of Information Technology, Islamabad
In partial fulfillment
of the requirement for the degree of
MS (Electrical Engineering)
By
Zafar Iqbal
Fall, 2017
ii
A Graduate Thesis submitted to Department of Electrical Engineering as

partial fulfillment of the requirement for the award of Degree of M. S.
Electrical Engineering.
Name Registration Number
Zafar Iqbal CIIT/FA15-REE-026/ISB
Supervisor:
Dr. Rabiah Badar,

Assistant Professor,
Department of Electrical Engineering,
COMSATS Institute of Information Technology (CIIT),
Islamabad Campus,
November, 2017
iii
Final Approval
This thesis titled

By
Mr. Zafar Iqbal

has been approved
for the COMSATS Institute of Information Technology, Islamabad
External Examiner: __________________________________
Dr. Tahir Mahmood

Professor, Department of Electrical Engineering, UET, Taxila
Supervisor: ________________________________________
Dr. Rabiah Badar

Assistant Professor, Department of Electrical Engineering, Islamabad
Head of Department: ________________________________
Dr. M. Junaid Mughal

Professor, Department of Electrical Engineering, Islamabad
iv
Declaration
I Zafar Iqbal, CIIT/FA15-REE 026/ISB hereby declare that I have produced

the work presented in this thesis, during the scheduled period of study. I also
declare that I have not taken any material from any source except referred to
wherever due that amount of plagiarism within acceptable range. If a violation
of HEC rules on research has occurred in this thesis, I shall be liable to
punishable action under the plagiarism rules of the HEC.
Date: ________________
Signature of the Student
____________________
Zafar Iqbal
v
Certificate
It is certified that Zafar Iqbal, CIIT/FA15-REE-026/ISB has carried out all the
work related to this thesis under my supervision at the Department of Electrical
Engineering, COMSATS Institute of Information Technology, Islamabad and
the work fulfills the requirements for the award of MS degree.
Date: _________________
Supervisor:
________________________
Dr. Rabiah Badar
Assistant Professor
Head of Department:
________________________
Dr. M. Junaid Mughal
Professor, Department of Electrical Engineering
vi
DEDICATION
To My
Dearest Parents
&
Family members
Their prayers and support have helped me to

achieve this milestone.
vii
ACKNOWLEDGMENT
I am forever grateful to Almighty God, the Creator and the Guardian of the universe,
and to whom I owe my very existence. I owe my deepest gratitude to my supervisor Dr.
Rabiah Badar for mentoring me and supporting me throughout my thesis for the last
one year. This thesis would not have been possible unless it was for patience,
motivation, enthusiasm and immense knowledge of the subject matter.
I would also like to thanks my seniors Misbah Hafeez, Muhammad Abdul Basit and
Aqeel Ahmad for helping me with controller design during my phase of work.
I would also like to thanks my friends Bilal Amjad, Umair Saeed Sami Ur Rahman and
Umair Anjum, for their help and support not only during my period of thesis but from
the day we are friends.
I am grateful to my parents for encouraging me throughout my life and eventually
supporting my entire education.
Zafar Iqbal
viii
ABSTRACT
Fuel Cell Systems (FCSs) are a mean of clean and proficient energy generation. FCSs
are currently in phase of development for both mobile and stationary power
applications. The feasibility of this technology depends on understanding, foretelling
and controlling the distinctive transient behaviour of the FCSs. In FCSs, oxygen
starvation is a key phenomenon to control. Oxygen Excess Ratio (OER) affects the FCS
efficiency and life of the fuel cell stack. In this thesis, a supplementary controller is
proposed for the control of OER at nominal point or acceptable range of OER. The
dynamic model for Proton Exchange Membrane Fuel Cell (PEMFC), based on the
physical model of the components of PEMFC is used. The proposed supplementary
controller is the combination of Adaptive Neuro Fuzzy Inference System (ANFIS) and
Wavelet Neural Network (WNN). Adaptive Neuro Fuzzy Wavelet Control (ANFWC)
contains membership functions and Wavelet Neural Networks in antecedent and
consequent part respectively. Error back propagation based on gradient decent
optimization technique is used to update the parameters of ANFTSKC and ANFWC.
The performance of proposed control scheme is validated by comparing its performance
with conventional control schemes like Feedforward control and Adaptive Neuro Fuzzy
Takagi Sugeno Kang Control (ANFTSKC). It is shown that proposed controller has
improved performance as compared to other controllers. At the end, Performance
Indices (PIs) are computed for each control scheme and quantitative analysis is done
based on PIs. It is observed that the proposed controller has shown percentage
improvement with respect to other control schemes in steady state and transient region.
Keywords: Fuel cell, PEMFC, OER, ANFIS, ANFTSKC, ANFWC,
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TABLE OF CONTENTS
1 Introduction .................................................................................................. 1
1.1 Introduction ........................................................................................... 2
1.2 Fuel Cell Technology ........................................................................... 2
1.2.1 Alkaline fuel cell ...................................................................... 2
1.2.2 Molten Carbonate Fuel Cell ..................................................... 3
1.2.3 Direct Methanol Fuel Cell ........................................................ 3
1.2.4 Phosphoric Acid Fuel Cells ...................................................... 4
1.2.5 Solid Oxide Fuel Cell ............................................................... 4
1.2.6 Proton Exchange Membrane Fuel Cell ..................................... 4
1.3 Working Principle of PEMFC ............................................................ 5
1.4 Soft Computing .................................................................................. 6
1.4.1 Fuzzy Logic ........................................................................... 6
1.4.2 Artificial Neural Networks .................................................... 8
1.4.3 Wavelet Neural Network ....................................................... 8
1.4.4 Error Back Propagation ........................................................ 9
1.5 Literature Review ............................................................................. 10
1.6 Problem Statement ........................................................................... 12
1.7 Thesis Outline .................................................................................. 12
2 Mathematical Modeling of PEMFC ......................................................... 13
2.1 Modeling of PEM Fuel Cell: Auxiliary Components ...................... 14
2.1.1 Compressor Model ............................................................. 14
2.1.2 Lumped Model for Supply manifold ................................. 15
2.1.3 Lumped Model for Return manifold ................................. 15
2.2 Modeling of PEM Fuel Cell: Fuel Cell Stack .................................. 16
x
2.2.1 Modeling of Cathode Channel ........................................... 16
2.2.2 Modeling of Anode Channel ............................................. 17
2.3 Calculating the W v,memb .................................................................... 17
2.3.1 Stack Voltage Model ......................................................... 19
2.4 Defining the State Space Variables .................................................. 22
2.5 Dynamic Analysis ............................................................................ 24
2.6 Conclusion ....................................................................................... 27
3 Controller Design........................................................................................ 28
3.1 Close Loop structure ........................................................................ 29
3.2 Adaptive Neuro Fuzzy System ........................................................ 29
3.3 Adaptive Neuro Fuzzy control ......................................................... 30
3.5 Conclusion ....................................................................................... 33
4 Simulation Results and Discussion ........................................................... 34
4.1 Introduction ...................................................................................... 35
4.2 Simulation of PEMFC ...................................................................... 35
4.3 Simulation Results ........................................................................... 36
4.4 Performance Indices ......................................................................... 39
4.5 Quantitative Analysis ....................................................................... 41
4.6 Conclusion ....................................................................................... 42
5 Conclusion and Future Framework ......................................................... 43
5.1 Conclusion ....................................................................................... 44
5.2 Future Framework ............................................................................ 44
A PEMFC State Space equations ................................................................. 45
A.1 Mass flow dynamic Equations ........................................................ 45
A.1.1 Solving mass flow equation .............................................. 46
xi
A.1.4 Solving compressor dynamic equation ............................. 57
A.1.5 Solving inlet pressure dynamic equation .......................... 59
A.1.6 Solving inlet mass flow equation ...................................... 60
A.1.7 Solving anode water mass flow equation ......................... 61
A.1.8 Solving outlet manifold pressure equation ....................... 61
A.1.9 Solving cathode water mass flow equation ...................... 62
B PEMFC Plant System Data ....................................................................... 64
C Parameters Update mechanism................................................................ 66
C.1 Adaptation Mechanism 1................................................................. 66
C.2 Adaptation Mechanism 2................................................................. 70
D Update parameters .................................................................................... 75
D.1 ANFTSKC update parameters ........................................................ 75
D.2 ANFWC update parameters ............................................................ 76
References ........................................................................................................ 78
xii
LIST OF FIGURES
1.1: Schematic of single PEMFC cell

1.2: Wavelet Neural Network
2.1: Fuel Cell block Diagram

2.2: Feedforward open loop structure of Fuel Cell
2.3: Performance Parameters of Fuel Cell
2.4: Variation of state variables
2.5: Variation of OER w.r.t Compressor voltage
3.1: Close loop structure

3.2: ANF control structure
4.1: Close loop structure of PEMFC

4.2: OER result w.r.t. step current
4.3: Simulation results of key variables at step current: (a) Compressor Voltage (b)
Stack Voltage (c) Net Power (d) OER
4.4: Plant disturbance (Stack Current)
4.5: Simulation results of key variables for changing current: (a) Compressor
Voltage (b) Stack Voltage (c) Net Power (d) OER
4.6: OER (Oxygen Excess Ratio)
4.7: Control effort, PEMFC with varying current
4.8: Performance indices for step current
4.9: Performance indices for various controllers
D.1: Antecedent part parameters ANFTSKC

D.2: Consequent part parameters ANFTSKC
D.3: Antecedent part parameters ANFWC
D.4: Consequent part parameters ANFWC
xiii
LIST OF TABLES
1.1: Operators for fuzzy logic and Boolean logic
2.1: State Variable description
4.1: Performance improvement of PEMFC plant w.r.t. feedforward open loop

structure
B.1: Thermodynamic Constants

B.2: Parameters for Simulations
xiv
LIST OF ABBREVIATIONS
ANF Adaptive Neuro Fuzzy

FSC Fuel Cell System
AFC Alkaline Fuel Cell
MCFC Molten Carbonate Fuel Cell
DMFC Direct Methanol Fuel Cell
PAFC Phosphoric Acid Fuel Cell
SOFC Solid Oxide Fuel Cell
PEMFC Proton Exchange Membrane Fuel Cell
ANN Artificial Neural Network
WNN Wavelet Neural Network
PID Proportional Integral Derivative
PI Proportional Integrator
SMC Sliding Mode Control
OER Oxygen Excess Ratio
ANFIS Adaptive Neuro Fuzzy Inference System
ANFTSKC Adaptive Neuro Fuzzy Takage Sugeno Kang Contrl
ANFWC Adaptive Neuro Fuzzy Wavelet Control
PIs Performance Indices
IAE Integral Absolute Error
ISE Integral Square Error
ITAE Integral Time Absolute Error
ITSE Integral Time Square Error
MRE Mean Relative Error
xv
Chapter 1
Introduction
1
1.1 Introduction
Renewable energy sources are the world power to the future. Today, the world energy
requirement are heavily provided by the petroleum based energy resources. Whether it
is stationary or mobile power application. The economy of any country is dependent
on the availability of energy. Almost, 70% of the world energy is produced from fossils
fuels. Which every country don’t have in abundance. Importing fossil fuels to fulfill
energy requirement is costly to the economy. Other than affecting the economy there is
another problem with burning fossil fuels is affecting the climate. The dramatic change
in petroleum prices and climate change, are the major concerns for an alternate energy
source[? ][? ]. Due to environment friendly nature (low carbon emissions) and high ef-
ficiency, fuel cells have gain the attention in recent past [? ]. Fuel cells uses the process
of electrolysis, and convert the gaseous fuel directly into electricity, heat and water.
This process of energy conversion happens without combustion.Fuel cell are catego-
rized by their reactant type, membrane electrode assembly and operating temperature
[? ]. Fuel cells are highly non linear devices and have some control problem that needs
to be solved before it is commercially viable. Under constant load condition fuel cell
have constant operating temperature, constant cell voltage, constant anode and cathode
pressure, no fuel starvation. Under varying load condition fuel cell performance may
be affected by unaccepTable change in any of the above mention parameters. therefore,
it is very important to design a control for fuel cell for it’s secure operation [? ].
1.2 Fuel Cell Technology

Fuel cells are categorized by their operating temperature, type of fuel, and electrolyte.
Various types of fuel cell are described below.
1.2.1 Alkaline fuel cell
The difference between Alkaline Fuel Cell (AFC) and fuel cell types is its operating
temperature and chemical reaction. AFC is the first fuel cell that was available in prac-
tical use in vehicle technology in 1950s [? ]. The operating temperature 90-100 C̊ and
pressure for AFC are much higher than the environmental temperature and pressure.
2
There are three different types of electrolytes used in AFC, such as Mobile Electrolyte.
The pure Potassium Hydro-Oxide (KOH) is used as mobile electrolyte. The second
type of electrolyte is the Static Electrolyte, as the name suggest it is kept in matrix form
and don’t circulate in fuel cell. The third type of electrolyte is the Dissolved type elec-
trolyte . In this type of electrolyte KOH is combined with ammonia to make dissolved
electrode[? ][? ].
There are also three different types of electrodes available for AFC, One is Sintered
Nickle Powder, this type of powder form electrode is porous in nature and increase sur-
face area which in return increases the chemical reaction. Second type is Raney Metals,
this type of electrode is formed by two active and non active metal such aluminum is
used. The third type is the Rolled Electrodes, this type of electrode is the mixture of
carbon and polytetraflouroethelene (PTFE). The polytetraflouroethelene is non conduc-
tive in nature which make this type of electrode non feasible for stacking of multiple
cells[? ].
1.2.2 Molten Carbonate Fuel Cell
The property that differentiate between Molten Carbonate Fuel Cell (MCFC) and other
fuel cell is it electrolyte material which is made up of alkali metal carbonates. The
operating temperature of MCFC is 600-700 C̊. The carbon dioxide is supplied to the
cathode of the fuel cell. The thin sheets are made from an alloy LiOAlO2 and then put
together to form a stack.
The anode and cathode are made from different materials. Anode is made from
Ni-Cr alloy. At high temperature the reaction at node is faster so large area is not
required. The cahtode of MCFC is made from NiO2 . The problem with this Ni is
that it diffuses into electrolyte. This problem is reduced by operating the MCFC at
atmospheric pressure [? ].
1.2.3 Direct Methanol Fuel Cell
The name Direct Methanol Fuel cell (DMFC) is shows that instead of pure hydrogen
methanol is supplied directly to the anode. Hydrogen ions are produced by chemical
reaction at the anode. Methanol is used because the production of hydrogen and storage
3
is still a very big problem. which tends the industry towards the use of methanol.
As methanol is liquid and boils at 65C̊ a relatively low temperature and can easily be
contained. there are some problems associated with DMFC which highly devalued the
production of DMFC at industry levels. These problems are associated with anode and
cathode are described in [? ].
1.2.4 Phosphoric Acid Fuel Cells
Phosphoric Acid Fuel Cell (PAFC) uses the Phosphoric Acid as the electrolyte. It is
used because of its thermal stability, and does not create carbonate ions by reacting
with CO2 . The electrodes used in PAFC are made of gas diffusion, the catalyst used is
made from carbon.
Operating temperature 150-200 C̊ and pressure for PAFC is much higher than atmo-
spheric pressure [? ]. In Japan the 11 MW power plant supplying of grid power was
build as reported in [? ].
1.2.5 Solid Oxide Fuel Cell
Unlike the MCFC the Solid Oxide Fuel Cell (SOFC) has solid state configuration, solid
state cathode and anode. SOFC and MCFC are the best candidates for large energy
productions among the other types of fuel cell. The operating temperature of SOFC is
from 600-1000 C̊ [? ]. Due to solid state nature of SOFC, it is manufactured in different
designs, like Planer and Tubular, each design has its advantages. Due to high operating
temperature the SOFC is resistive to impurities [? ].
1.2.6 Proton Exchange Membrane Fuel Cell
Proton Exchange Membrane Fuel Cell (PEMFC) uses solid polymer as an electrolyte.
The membrane is made up of Nafion, etc material and has an ability to conduct pro-
ton and act as insulator for proton. The low operating temperature is the reason for
attraction towards it. PEMFC works at temperature about 80C̊and electrical generation
efficiency of 40% approximately. PEMFC can be used as stand alone power genera-
tion source for stationary and mobile systems. The advantages of PEMFC are quick
4
start and shutdown time and high power densities. The disadvantages are difficult water
management and complex system configuration [? ].
1.3 Working Principle of PEMFC

The working principle of PEMFC can be defined as, “PEMFC is electrochemical device
that convert chemical energy of fuel directly into electricity without any combustion”.
At anode hydrogen react with anode and releases an electron and proton (hydrogen
ion). while oxygen react with cathode and gain electrons and produce oxygen ion. The
proton moves through the membrane towards cathode channel while electrons moves
through electrical connection between anode and cathode. Hydrogen ions react with
oxygen ions and produces a valuable by product water [? ]. The schematic describing
fuel cell chemical process is shown in Figure 1.1 from [? ]. The chemical reactions at
anode and cathode are shown below
at anode :H2 → 2H + + 2e−
at cathode :O2 + 4H + + 4e− → 2H2 O
overall reaction :2H2 + O2 → 2H2 O
Figure 1.1: Schematic of single PEMFC cell
5
1.4 Soft Computing
The term soft computing was first introduced by Dr. Lotfi Zadeh [? ]. Soft Computing
is defined by Dr. Lotfi Zadeh in 1992 “soft computing is an emerging approach to
computing which parallel the remarkable ability of human mind to reason and learn in
the environment of uncertainly and imprecision”. In classical set theory the logic is
based on simply true or false Boolean logic. Some times, the classical set theory may
fail or produce inaccurate results for highly complex and non linear systems. That’s why
the need of the soft computing or computational intelligence arises. Computational
Intelligence exploit tolerance for impression and uncertainty [? ]. Soft computing is
categorizes are, Neural Computing, Evolutionary Computing, Probabilistic Computing,
Fuzzy logic. These categories are used in combination to each other to compute the
final outcome. The example for hybridization is Neuro-Fuzzy system, Fuzzy-Genetic
system, etc, in this research our concern is Neuro-Fuzzy systems [? ].
1.4.1 Fuzzy Logic
The classical or Boolean logic is based on true or false logic or two valued logic
only integers 0 and 1, while fuzzy is many valued logic which values ranges between
0 to 1. Fuzzy logic was first introduced by Dr. Lotfi Zadeh in 1965. The fuzzy
logic can be explained by example of selection of tallest man from a group of peo-
ple, we suppose we have a five members set [x1 x2 x3 x4 x5 ]with their heights in feet
are[4.5 5 5.6 6 6.3], if we are asked to select a tallest and shortest man of the group then
x5 will be tallest man and all other people will shortest according to classical Boolean
logic, in fuzzy logic the many valued set is defined for outcome for more certain re-
sults as [Shortest short small tall tallest], now we can have more appropriate outcome
for each member of the group.
Fuzzy Inference System (FIS) is a system which maps from fuzzy input to a fuzzy
output. FIS is three layer system consist of fuzzification, inferences system and de-
fuzzification.
6
Fuzzification
The membership of any object in fuzzy set is determined by its membership function.
The membership functions contain all the information of any fuzzy set, membership
functions are sued to fuzzify the crisp values. Many types of membership function are
used for this purpose but they have same properties which are defined below;
• The core of membership function define as the region where any object has com-
plete membership function.
• The support of membership function define the region where any object has non
zero membership function.
• The boundaries of membership function define the region where any object has
non zero membership but not complete membership [? ].
Inference System
At this stage rules are defined. Generally rules are defined in two ways Rule base and
data base [? ][? ].
Defuzzification
At this stage the the fuzzy values are again converted into crisp values [? ].
• Height method
• Centroid method
• Weighted average method
• Mean max membership
Fuzzy logic Operators
If x and y are two sets then
7
Table 1.1: operators for fuzzy logic and Boolean logic
Boolean logic Fuzzy Logic

AND(x,y) MIN(x,y)
OR(x,y) MAX(x,y)
Not(x) 1-x
1.4.2 Artificial Neural Networks
Artificial Neural Networks (ANN) are inspired by human neural system. Human neural
network is highly parallel and complex in nature. ANN model can have multiple layers
of connected nodes. These nodes are computational nodes and highly interconnected
with weighted lines. These weights are adjusted when data is presented to it during the
process of training. The process of training is called learning, due to this reason ANNs
are called intelligent systems [? ]. There are several learning mechanism, some of them
are given below
• Supervised learning
• Unsupervised learning
• Reinforced learning
The ANN are categorized by information flow in two ways, feedforward topology, and
recurrent topology. In feedforward the information only flows in uni-direction with no
feedback path. while in recurrent topology the information flows in bi-directional with
feedback path.
1.4.3 Wavelet Neural Network
Wavelet Neural Network (WNN) are the combination of wavelet analysis and neural
networks. For WNN to understand we need to understand the concept of wavelet anal-
ysis.
1.4.3.1 Wavelet Analysis
Real world data or signals frequently exhibits slowly changing trends or oscillations
punctuated with transients “fourier transform does not represents abrupt changes effi-
ciently”. Accurately analyzing the signals have abrupt changes a need to use a class of
8
functions that are well localized in time and frequency “a wavelets”. Wavelet is rapidly
decaying wave like oscillations that has zero mean. A wavelet exists for a finite dura-
tion. wavelet types are Morlet, Meyer, Maxican hat, Daubechies, Coiflets, Biothogonal,
Symlets. In this research maxican hat is used as wavelet.Wavelets has two features
• Scaling: A stretch wavelet helps in capturing the slow and varying changes in
signal while the shrunken wavelet helps capturing the abrupt changes.
• Shifting: means delaying or advancing the onset of the wavelet along the length
of the signal.
The schematic for WNN is given in Figure 1.2. WNN is a three layer architecture with
input hidden and output layer. Hidden layer consists of wavelet functions.
Figure 1.2: Wavelet Neural Network
1.4.4 Error Back Propagation
Neural network parameters are updated using the method error back propagation. Er-
ror back propagation has two steps one is forward pass: The process of computing the
output with initial assumed weight and calculating the error of the network by equation
E = 12 (target − out put)2 , if the error of the network is not with in required tolerance
then in second process: The error is back propagated and weight of each connected
node is updated so that error between target and output of the network is minimized.
Error back propagation uses optimization techniques for parameters updates. Each op-
timization technique has its advantages and limitations. Some of these parameters are
listed below
• Gradient decent
9
• Newtons method
• Conjugate gradient method
• Quassi-Newton method
• Levenberg-Marquard method
In this thesis the gradient decent method is used as error back propagation optimization
technique.
1.5 Literature Review

The Literature regarding the control of PEMFC is available, and some of these are
mention below:
In [? ] PEMFC model is designed based on LSSVM and MPC is designed to to
control the OER and stack voltage to there nominal set points. The simulation results
validate the effectiveness of proposed controller during steady state and transients state.
In [? ] PEMFC plant is design to supply power to the synchronous motor. The control
strategy Maximum Power Point Tracking (MPPT) based on fuzzy logic control is pre-
sented. The simulations results for proposed controller is presented. In [? ] different
control schemes are presented, for the control of OER. The author suggested to use the
variable value for OER rather than using a constant value. Control schemes like feed-
forward control, PID control, Fuzzy PID control and Dynamic Matrix Control (DMC)
are proposed, at the end simulation results are compared for each control scheme. In
[? ] PID controller tuned by Particle Swarm Optimization (PSO) method is presented
to control the output voltage of the PEMFC. In [? ] PID controller is presented for
the control of hydrogen fuel to control the output voltage of the PEMFC plant. The
proposed controller is design in LABVIEW environment. In [? ] first order sliding
mode controller is designed to keep the pressure difference between anode and cathode
minimum. The extremum seeking controller based on gradient decent is also presented
to control the compressor input voltage. In [? ] feedback linearization control for
nonlinear PEMFC plant is presented to avoid oxygen starvation to increase the system
efficiency by controlling air mass flow rate. In [? ] feedback PID controller is pre-
sented to avoid oxygen and hydrogen starvation by controlling the oxygen mass flow
10
and hydrogen mass flow. Feedforward controller is used with PID controller to control
the mass flow rates of the oxygen and hydrogen. In [? ] Neural Netwrok (NNI) model
centrifugal compressor is adopted for PEMFC air flow supply. A Sliding Mode Control
(SMC) strategy based on super twisting algoithm is proposed to control mass flow rate
of the compressor with respect to the load demand. In [? ] various control schemes like
operating temperature control, power density control, humidification control, control of
mass flow rate fo oxygen and hydrogen. The control of air cooling and water cooling are
proposed for temperature control, for low current operation air cooling is proposed and
for high current operation water cooling is proposed. In [? ] PI controller is proposed to
maintain the constant in the presence of load changing condition. In [? ] feedforward
PID (FFPID) controller and Fuzzy Logic tuned PID (FLPID) controllers are presented
to control the air flow of the PEMFC, results are compared for both controllers. In [?
] various control schemes like PI, dynamic feedforward PI (DFFPI) control, internal
model control (IMC) and linear quadratic regulator (LQR) to control the stack voltage,
while PI and DFFPI is proposed to control the temperature of the PEMFC plant. The
IMC shows better performance w.r.t. to other control schemes for stack voltage, while
for temperature control PI is sufficient. In [? ] temperature control of the PEMFC is
presented, the optimum value of temperature is selected using adaptive swarm intelli-
gence optimization algorithm. The incremental PID control is proposed for PEMFC
stack temperature.
High order sliding mode control is presented in [? ] for the control of the air flow
of PEMFC plant. The author guarantees the robustness of the control technique. The
proposed control strategy is based on super twisting algorithm. The author uses the six
states model instead of nine states model. The [? ] proposed the use of SMC with ob-
server for the control of air flow control of PEMFC six states plant. The author proposes
the two types of control strategies: cascaded control and sub-optimal control. The sim-
ulation results shows that cascaded control is better performer than sub-optimal control.
ANFIS is used in [? ] to model the PEMFC and performance is evaluated under ef-
fects of anode and cathode pressure, relative humidity of anode cathode and membrane
thickness. In [? ] model predictive controller is designed based on ANFIS to control
the output stack voltage of PEMFC. The author uses the electrochemical voltage model
for its control purpose. OER value is also kept at the range of (1-3). In [? ] [? ] ANFIS
11
based identification model is presented for PEMFC, then a fuzzy controller is presented
to control the temperature of the PEMFC stack. ANFIS predicts the temperature of the
stack on next time step. An observer based SMC is proposed in [? ] to control the
oxygen excess ratio by controlling the compressor motor voltage. The author uses a six
states PEMFC plant. SMC is implemented using super twisting algorithm. Similarly,
in [? ] the similar approach is used for the control design, the difference is the design
of filter to minimize the chattering effect produced by sliding mode controller. In [? ]
the nine states model is presented for control purpose. PEMFC plant is modeled from
physical components of the auxiliary part and chemical component of the stack. The
same model is used for the control purpose in this thesis.
1.6 Problem Statement

The PEMFC voltage changes with changing load which causes the phenomenon of
oxygen starvation. The starvation damages the membrane or burn it in severe cases.
Due to highly dynamics, nonlinearity and dependency of time changing variables of
PEMFC, its control is a challenging problem. The objective of this research is to design
an adaptive Neuro-Fuzzy controller of PEMFC while keeping the constraint in check
like starvation prevention.
1.7 Thesis Outline

This research has five chapters including Chapter 1 of introduction.
The Chapter 2 presents the mathematical modeling of various components of PEMFC
system. In the end validation of mathematical model is also presented.
The Chapter 3 presents the mathematical model for proposed control technique.
The Chapter 4 simulation results are presented for the proposed control schemes,
and quantitative and qualitative analysis is done for proposed control schemes.
The Chapter 5 presents the conclusion and future framework.
12
Chapter 2
Mathematical Modeling of PEMFC
13
Modeling any system for control purposes have some properties. Such as including
transient effects, with some other parameters are lumped in the form of differential
equations. PEMFC model has been divided into two parts, the auxiliary components
and fuel cell stack. The transients that are too fast in behavior like chemical reaction of
reactants and electrical dynamics of electrodes are ignored as reported in [? ].
Figure 2.1: Fuel Cell block Diagram
2.1 Modeling of PEM Fuel Cell: Auxiliary Components

Auxiliary components includes dynamic models of compressor, supply and return man-
ifold.
2.1.1 Compressor Model
Compressor model is divided into two parts: the static compressor map and compres-
sor and motor inertia. The static compressor map calculate the amount of air flow rate
passing through the compressor. On the other hand compressor and motor inertia deter-
mines the compressor speed which is used to determine the air flow rate in compressor
map.
Inputs to the compressor are:
• Inlet air pressure, Pcmp,in and its temperature, Tcmp,in
• Voltage command to the motor, vcmp
• The supply manifold pressure, Pcmp,out = Pim
14
The inlet air to the compressor is atmospheric and its temperature and pressure are
considered to be constant at Tatm = 25oC and Patm = 1atm.
Only dynamic state in compressor dynamics is the ωcp is given by below equation.
dωcmp
= B1Vcmp − ωcmp B2 + B3 n(x) (1 − d(x)) (2.1)
dt
Here Vcmp is the compressor voltage.

The detailed modeling of compressor dynamics can be found in [? ]. Compressor
is connected in series to the fuel cell and act as a parasitic load. The power required
for deriving the compressor motor can be delivered by fuel cell or any auxiliary power
source. The power required by compressor motor is given by [? ].
vcmp
Pcmp = (vcmp − kv ωcmp ) (2.2)
Rcm
2.1.2 Lumped Model for Supply manifold
Wcmp is the input mass to the supply manifold and Wim,out is the outflow mass.
The dynamic states in supply manifold are partial pressure of the supply manifold Pim
and mass of the supply manifold mim . The dynamic equations are given below for the
supply manifold are
dPim −1 2
− B8 Pim − B9 mN2 Pim − B10 ωcp Pim m−1

= B6 (1 − d(x)) 1 + n(x)ηcp ωcmp − B7 Pim im
dt
(2.3)
dmim
= B11 (1 − d(x)) ωcmp − B12 Pim + B13 + B14 mN2 + B15 mO2 (2.4)
dt
2.1.3 Lumped Model for Return manifold
Unlike supply manifold high air temperature, air in the return manifold has relatively
low temperature with respect to air leaving the return manifold. The dynamic state of
return manifold is Pom (o for outlet), partial pressure of the return manifold. The mass of
the air at return manifold does not affect the overall dynamics the stack. so the dynamic
equation for return manifold pressure can be written as:
dPom
= B49 mO2 + B48 mN2 + B47 − B46 mim − B70 (2.5)
dt
15
The detailed modeling of supply and return manifold dynamics can be found in [? ].
2.2 Modeling of PEM Fuel Cell: Fuel Cell Stack

Fuel Cell stack is the combination of cathode anode and membrane layers. Membrane
layer is sandwiched between anode and cathode, and separates electrically both of the
layers. Membrane layers is made such, that it only allow positively charged protons
pass through it.
2.2.1 Modeling of Cathode Channel
In this section the air flow behavior in the cathode channel is observed. The dynamics
states at the cathode channel are mO2 , mN2 , mω,cath , and the dynamics equations are
given below.
dmO2 h
= (B59 Pim − B60 − B61 mN2 − B62 mO2 ) (Pim − B20 Pim )−1
dt
i
+ (B63 Pim − B64 − B65 mN2 − B66 mO2 ) e(x)k(x)
− (B25 + B26 mN2 + B27 mO2 − B24 Pom )−1 J(x)m(x) − B32 Ist (2.6)
dmN2 h
= (B50 Pim − B51 − B52 mN2 − B53 mO2 ) (Pim − B20 Pim )−1
dt
i
+ (B54 Pim − B55 − B56 mN2 − B57 mO2 ) e(x)k(x)
− (B37 + B36 mN2 + B35 mO2 − B34 Pom ) (1 − J(x)B30 (J(x)B68 + MN2 )−1 m(x) (2.7)
dmω,cath h
= (B12 Pim − B13 − B14 mN2 − B15 mO2 )
dt
i
+ (B16 Pim − B17 − B18 mN2 − B19 mO2 ) (Pim − B20 Pim )−1 (1 − k(x))e(x)
− (B37 mO2 − B36 mN2 + B35 − B34 Pom ) (1 − m(x))
+ B71 Ist −Wv,membr (2.8)
16
2.2.2 Modeling of Anode Channel
Hydrogen is provided to the anode of the FC’s stack from tank. It is assumed mass flow
rate of the hydrogen is controlled by the valve, and the pressure difference between
anode and cathode is kept minimum. The dynamic state at anode channel are mH2 ,an
and mωa n . The dynamic equations of the anode channel are given below:
dmH2 ,an
= (B76 Pim − B77 mH2 − B78 ) z(x) − B72 Ist (2.9)
dt
dmωan
= (B76 Pim − B77 mH2 − B78 ) (1 − z(x)) −Wv,membr (2.10)
dt
2.3 Calculating the Wv,membr

Each proton caries water molecules with itself, and it can be calculated by:
i
Nv,o = nD (2.11)
F
• Nv,o (mol/(sec.cm2 )) is the total water flow from anode to cathode
• i(A/cm2 ) is the current density of the stack
• nD is co-efficient of electro-osmotic drag
Flow of water from cathode to anode is:
v,cathode − cv,anode
c
Nv,di f f usion = Dω (2.12)
tmt
• Nv,di f f usion (mol/(sec.cm2 )) is the total water flow from cathode to anode
• Dω is the co-efficient of diffusion of the membrane water
• tmt is the thickness of the membrane
• cv (mol/cm3 is the concentration of the water
cv,cathode and cv,anode can be found using equations:
ρmemb,dry
cv,cathode = λanode (2.13)
Mmemb,dry
17
ρmemb,dry
cv,an = λcathode (2.14)
Mmemb,dry
2
nD = 0.0029λmemb + 0.05λmemb − 3.4 × 10−19 (2.15)
λanode and λcathode and λmemb can be found by generalized form of equation.

0.043 + 17.81ai − 39.85a2 + 36a3 , i f 0 < ai ≤ 1

i i
λi = (2.16)
14 + 1.4(ai − 1),

i f 1 < ai ≤ 3
Here λi = [λanode , λcathode , λmemb ]. λmemb is the membrane water content. aanode and
acathode , can be found by generalized form of equation.
Pv,i
ai = (2.17)
Psat,i
Here ai = [aanode , acathode ]. amemb can be found using:
aanode + acathode
amemb = (2.18)
2
Diffusion co-efficient can be found using:
h 1 1 i
Dω = Dλ exp 2416 − (2.19)
303 Tst




10−6 , i f λmemb < 2


10−6 1 + 2(λmemb − 2) ,

i f 2 ≤ λmemb ≤ 3

Dλ = (2.20)
10−6 3 − .67(λmemb − 2) , i f 3 < λmemb < 4.5







1.25 × 10−6 ,

i ≥ 4.5
The total water flow from anode to cathode can be written in the form using (3.93) and
(3.94):
Nv,membr = Nv,o − Nv,di f f usion (2.21)
v,cathode − cv,anode
i c
Nv,membr = nD − Dω (2.22)
F tm t
18
Membrane water mass flow can be calculated using:
Wv,membr = Nv,membr × Mv × A f c × n (2.23)
2.3.1 Stack Voltage Model
Output voltage of the single cell of the stack can be written as:
V f c = E − vactv − vohmic − cconc (2.24)
Where E is the open circuit voltage of the stack, and is calculated using:
E = 1..229 − 0.85 × 10−3 (Tst − 298.15) + 4.3085 × 10−5 T [ln(pH2 ) + 0.5ln(pO2 )]

(2.25)
2.3.1.1 Activation Loss
To initiate a chemical reaction between reactants, an energy barrier between anode and
cathode must be overcome. In this process some portion of stack voltage is lost. The
process of chemical reaction at anode or hydrogen oxidation is very fast while chemical
reaction at cathode or oxygen reduction is relatively slow. therefore voltage drop due
to activation is mainly by reactions at cathode channel. Activation loss is related to the
current density of stack, and is described by Taffel equation [? ].

i
vact = aln f or i > i0 (2.26)
i0
where a is constant and i0 is the maximum current density. As Taffel equation is only
valid for the condition (i > i0 ) so a function that is valid for entire range of i is given
below:
vact = vo + va (1 − e−c1 i ) (2.27)
where c1 = 10 and
19
v0 = 0.279 − 8.5 × 10−4 (Tst − 298.15)

−5 Pca − Psat 1 0.1173 (Pca − Psat )
+ 4.308 × 10 Tst ln + ln (2.28)
1.01325 2 1.01325
P 2
−5 −2 O2
va = −1.618 × 10 Tst + 1.618 × 10 + Psat
0.1173

−4 PO2
+ Psat + −5.8 × 10−4 Tst + 0.5736 (2.29)

+ 1.8 × 10 Tst − 0.166
0.1173
2.3.1.2 Concentration Loss
Concentration loss occurs due to fast change in cell voltage at higher current densities.
Concentration loss is approximated by equation[? ].
i c3
vc onc = i c2 (2.30)
imax
Here c3 = 2 and imax = 2.2 and

−4
PO
−3 T + 1.6




 7.16 × 10 Tst − 0.662 2
0.1173 + Psat + −1.45 × 10 st

 P
O2

0.1173 + Psat < 2atm
 f or

c2 = PO (2.31)
−5 −4 T + 0.54

8.86 × 10 T − 0.068 2
+ P + −1.6 × 10



 st 0.1173 sat st

 P
 O2
≥ 2atm

 f or
0.1173 +P sat
2.3.1.3 Ohmic Loss
The ohmic loss depends on resistance of membrane, electrode resistance and resistance
of collector plates. Ohmic loss is directly proportional to the current density.
vohm = i × Rohm (2.32)
20
Where Rohm can be expressed in terms of membrane thickness tm and membrane con-
ductivity σm .
tm
Rohm = (2.33)
σm
Membrane conductivity σm can be found using:
1 1
σm = b1 exp b2 − (2.34)
303 Tst
Here b2 = 350, and tm = 0.0125.

b1 in terms of membrane water content λm
b1 = (b11 λm − b12 ) (2.35)
Values for b11 and b12 are given for Nafion 117 membrane in [? ]. b1 can be found then
using
b1 = 0.005139λm − 0.00326 (2.36)
2.3.1.4 Cell Terminal Voltage
Adding all the losses in to the equation (3.106) we have
h i c3 i
v f c = E − [v0 + va (1 − e−c1 i )] − iRohm − i c2 (2.37)
imax
The above equation is the voltage of only one cell. If the fuel cell stack consists of n
number of cells then the total voltage of the fuel cell is given by
vst = n × v f c (2.38)
21
2.4 Defining the State Space Variables
Table 2.1: State variable description
State Unit Representation

x1 = mO2 kg Cathode channel oxygen mass
x2 = mH2 kg Anode Channel hydrogen mass
x3 = mN2 kg Cathode channel nitrogen mass
x4 = ωcmp rad/s Compressor angular speed
x5 = Pim pa Inlet manifold pressure
x6 = mim kg Inlet manifold mass
x7 = mω,an kg Anode channel water mass
x8 = Pom kg Outlet manifold pressure
x9 = mω,ca kg Cathode channel water mass
Vcmp volt Compressor motor voltage: Control input
Ist A Measurable disturbance
State space equations (2.1) to (2.10) can be written again in terms of respective state
variables.
h
ẋ1 = (B59 x5 − B60 − B61 x3 − B62 x1 ) (x5 − B20 x5 )−1
i
+ (B63 x5 − B64 − B65 x3 − B66 x1 ) e(x)k(x)
− (B25 + B26 x3 + B27 x1 − B24 x8 ) (J(x)B67 + MN2 )−1 J(x)m(x)
− B32 Ist (2.39)
ẋ2 = (B76 x5 − B77 x2 − B78 ) z(x) − B72 Ist (2.40)
h
ẋ3 = (B50 x5 − B51 − B52 x3 − B53 x1 ) (x5 − B20 x5 )−1
i
+ (B54 x5 − B55 − B56 x3 − B57 x1 ) e(x)k(x)
− (B37 + B36 x3 + B35 x1 − B34 x8 ) (1 − J(x)B30 (J(x)B68 + MN2 )−1 m(x) (2.41)
ẋ4 = B1Vcmp − ωcmp B2 + B3 n(x) (1 − d(x)) (2.42)
22
ẋ5 = B6 (1 − d(x)) x4 − B7 x52 − B8 x5 − B9 x3 x5 − B10 x4 x5 x6−1

(2.43)
−1

ẋ6 = B11 (1 − d(x)) 1 + n(x)ηcp x4 − B12 x5 + B13 + B14 x3 + B15 x1 (2.44)
ẋ7 = (B76 x5 − B77 x2 − B78 ) (1 − z(x)) −Wv,membr (2.45)
ẋ8 = B49 x1 + B48 x3 + B47 − B46 x6 − B70 (2.46)
h
ẋ9 = (B12 x5 − B13 − B14 x3 − B15 x1 )
i
+ (B16 x5 − B17 − B18 x3 − B19 x1 ) (x5 − B20 x5 )−1 (1 − k(x)) e(x)
− (B37 x1 − B36 x3 + B35 − B34 x8 ) (1 − m(x))
+ B71 Ist −Wv,membr (2.47)
     
f (x1 , x3 , x5 , x8 ) 0 −B
     32 
f (x2 , x5 )  0 −B72 
     

     
 f (x1 , x3 , x5 , x8 )   0 
    
 0 

     
f (x1 , x2 )
     
  B1   0 
     
ẋ =  f (x1 , x3 , x4 , x5 , x6 ) +  0  Vcm +  0  Ist (2.48)
     
     
     
 f (x1 , x3 , x4 , x5 )   0   0 
     
     
 f (x2 , x5 )  0  0 
     
     
 f (x1 , x3 , x6 )   0   0 
     
f (x1 , x3 , x5 , x8 ) 0 B37
Derivation of state space equations can be found in Appendix.
23
2.5 Dynamic Analysis
The dynamics of the fuel cell are mainly dependent on control of the air supply. Since
air is supplied by the compressor driven by the motor, hence by adjusting the motor
control voltage vcm we can adjust the air supply in to the fuel cell. The primary ob-
jective is to efficiently obtain maximum power from fuel cell. The maximum power is
highly dependent on oxygen excess ratio. The term oxygen excess ratioλO2 is defined
to indicate the amount of air is supplied to the amount of air is used. λO2 is defined by
equation:
WO2 ,in
λ O2 =
WO2 ,react
From above equation we can see that λO2 is directly related to the oxygen mass supplied.
Since we know that compressor is acting like parasitic load, for high currents means
high stack voltages and means high compressor power to supply the air to cathode
channel, and also high oxygen excess ratio. So a very high value of λO2 is also not
suitable, hence an optimum value of λO2 is required. An optimum value of λO2 = 2
is selected. Steady state feedforward map is used to achieve the optimum value by
applying the compressor voltage [? ].
vcm = 0.67Ist + 33.5 (2.49)
Figure 2.2: Feedforward open loop structure of Fuel Cell
Series of step changing current is applied to the fuel cell to evaluate the different
performance parameters of the fuel cell as shown in Figure 2.3, and performance pa-
rameters results are, stack currnet, compressor voltage and stack voltage are shown in
Figure (2.3-a) , anode and cathode pressure, hydrogen pressure are shown in Figure
(2.3-b), nitrogen and oxygen pressure, compressor power are shown in Figure (2.3-c),
net power, oxygen excess ratio (OER) and air flow rate from compressor are shown in
24
Figure (2.3-d). The simulation of the PEMFC 40kW [? ] net power plant is done, and
it can be seen in the Figure 2.3. As said earlier that the difference between anode and
cathode pressure is kept minimum, results in Figure (2.3) verify that statement. The
compressor voltage shown in are directly taken from [? ], which derived in purpose to
keep λO2 = 2. The variation of state variables are given in Figure 2.4. In Figure 2.5 it
is shown that how OER (λO2 ) changes with compressor voltages, for first 22 seconds
the compressor voltages are same as in equation (3.123), after that voltage is change
randomly at [20-25] seconds and [26-30] seconds and it can be seen that OER image is
not equal to the reference value of 2 at interval [20-30] seconds.
300 10 5
3
I st (A)
Pan (Pa)
200
2
100
1
0 5 10 15 20 25 30
0 10 5 5 10 15 20 25 30
Vcmp (V)
3
Pca (Pa)
200
2
100
0 5 10 15 20 25 30 0 5 10 15 20 25 30
10 5
3
PH (Pa)
Vst (V)
250
2
2
1
200
0 5 10 15 20 25 30 0 5 10 15 20 25 30
time(s) time(s)
(a) (b)
105 10 4
6
Pnet (W)
P n (Pa)
2
4
2
1
2
0 5 10 15 20 25 30 0 5 10 15 20 25 30
10 4
2.5
OER ( O2 )
3
PO (Pa)
2
2
2
1.5
1
0 5 10 15 20 25 30 0 5 10 15 20 25 30
0.1
W cmp (Kg/s)
20000
Pcmp (W)
10000 0.05
0
0
0 5 10 15 20 25 30 0 5 10 15 20 25 30
time(s) time(s)
(c) (d)
Figure 2.3: Performance parameters of Fuel Cell
25
10-3 10 4
1.5
3
x1
x4
2
1
1 0.5
0 5 10 15 20 25 30 0 10 5 5 10 15 20 25 30
10 -4
10
3
x2
x5
5 2
1
0 5 10 15 20 25 30 0 5 10 15 20 25 30
0.02
0.04
x3
x6
0.01
0.02
0 5 10 15 20 25 30 0 5 10 15 20 25 30
time(s) time(s)
(a) (b)
10 -3
1.4
1.2
x7
1
0.8
0 10 5 5 10 15 20 25 30
3
x8
1
0 5 10 15 20 25 30
1.2
x9
1.15
0 5 10 15 20 25 30
time (s)
(c)
Figure 2.4: Variation of state variables
300
I st (A)
200
100
0 5 10 15 20 25 30
Vcmp (V)
200
100
0 5 10 15 20 25 30
2.5
OER ( O2 )
1.5
0 5 10 15 20 25 30
time (s)
Figure 2.5: Variation of OER w.r.t compressor voltage
26
2.6 Conclusion
In this chapter state space model is used for PEMFC plant based on its auxiliary compo-
nents and stack components. The modeling includes the electrochemical voltage model
for the PEMFC stack. At the end, the feedforward control is implemented to keep
the oxygen excess ratio at set point, the simulation results are presented to verify the
statement about oxygen excess ratio.
27
Chapter 3
Controller Design
28
3.1 Close Loop structure
In Figure 3.1 the feedback control strategy is illustrated under various control schemes.
Static feedforward control is the open loop control scheme for PEMFC power plant.
The feed back control strategies like ANFTSKC and ANFWC are tested under auxiliary
control. The error is minimized based in gradient decent based error back propagation
method for ANFTSKC and ANFWC. The output for ANFC is f j .
Figure 3.1: Close Loop structure
3.2 Adaptive Neuro Fuzzy System

Adaptive neuro fuzzy system is the combination of both neural network and fuzzy logic.
Neural network and fuzzy logic are explained in chapter 1. Neural network and fuzzy
logic both has their own advantages and disadvantages, and combining them overcome
there disadvantages and show better performance by utilizing each other advantages.
Neural networks has good learning and fuzzy logic has good reasoning ability. The
disadvantage of neural network is that they cannot reach to a final decision while on
other hand fuzzy logic lack the learning ability[? ].
Neuro fuzzy models has two types of properties: the linguistic fuzzy modeling also
called interpretability and precise fuzzy modeling also know as accuracy. Based on
these two types neuro fuzzy systems are divided into mamdani and TSK models. In
29
mamdani model the property of interpretability succeeds while the property of accuracy
succeeds in TSK model [? ]. Adaptive neuro fuzzy inference system based on TSK
fuzzy models enables the system to achieve success wide range of applications. ANFIS
is used to model both linear and non-linear relation between input and output of the
system [? ]. ANFIS is easy to implement, accurate learning and fast processing speed.
In neuro fuzzy systems the logic rules and membership functions are tuned using the
following methods
• Error back propagation method
• And generation of rules from data if available
3.3 Adaptive Neuro Fuzzy control

Input to the ANF control is the difference between the reference air flow rate and the air

re f
flow rate from the plant Wcmp −Wcmp . The output of the ANF control is f j provides
the voltage signal that is further added into the voltage signal of the feedforward open
loop control, providing a signal that regulates the oxygen excess ratio to its optimum
reference value. The Adaptation mechanism adjusts the controller parameters such that

re f
e = Wcmp −Wcmp is minimized. The ANF control uses Gaussian membership at its
antecedent part and weights are adjusted at its consequent part.
The Jth rule for ANF control is given as

RJ : IF x1 is A1 j and x2 is A2 j ......and xn is An j T HEN y j = f x|Wi j
Here xi are input variables. Ai j are the membership functions for the jth rule and ith
input. The Gaussian membership function is given by
x −p 2
− is ij
Ai j = e ij (3.1)
Where i = 1, 2, 3, ....., n and j = 1, 2, 3, ...., m. pi j is mean and si j is the spread or stan-

dard deviation of the Gaussian membership function. The 8-layer structure for ANF
control is given in Figure 3.2. Where inputs are defined in layer 1. In layer 2 fuzzifica-
tion of the input layer variable are done. In layer 3 the degree of truth for each rule is
30
computed using the T-norm operation as defined below
m
µ j = ∏ Ai j
j=1
In layer 4 the weights of the each neuron input is computed for ANF control. In layer 5
the output of the control is calculated using center of gravity method for defuzzification
given below:
∑mj=1 µ j y j
f=
∑mj=1 µ j
Where f = [ ft fw ], ft is the output of ANFTSKC and fw is the output of the ANFWC.

y j = f x|Ci j
In case the consequent parts weights y j are updated using linear polynomial functions
such as
n,m
y j = f x|Wi j = ∑ Ci j xi
i=0, j=1
Here x0 = 1and x1 and x2 are inputs to the ANF control. Such Neuro Fuzzy systems
are called Adaptive Neuro Fuzzy Takage Sugeno Kang Control (ANFTSKC) system.
ANFTSKC has linear polynomials at its consequent part while the PEMFC system
is highly non linear and dynamic in nature. Therefore, a control scheme based on
the combination of neuro fuzzy systems and WNN is adopted. This scheme not only
improve approximation but also improve the convergence of the control system. In this
case the weights
n,m
y j = f x|Wi j = ∑ ωi j Ψi j
i=0, j=1
are updated using WNN at consequent part. Here Ψi j is the wavelet function and defined
by equation
n,m
1 z2i j
Ψi j (z) = ∑ |ai j |− 2 1 − z2i j e− 2
i, j=1
Where
xi − ai j
zi j =
bi j
Where ai j is the dilation and bi j is the translation of the wavelet function. The pa-
rameters of consequent and antecedent part of ANF control are updated using gradient
31
decent based error back propagation algorithm is given below.
∂T
φ (n + 1) = φ (n) − α (3.2)
∂φ
Where φ is the row vector [pi j si j Ci j ωi j ai j bi j ]. The cost function is
1 1
T = e2 + h̄ f 2
2 2
Here f is the controller output. The antecedent part for ANTSKC and ANFWC is same
while both have different consequent part. Update equation based on back propagation
algorithm are given below
Update equations for antecedent part

µj 2 xi − pi j
pi j (n + 1) = pi j (n) − α (−e + h̄ f ) m y j − f (3.3)
∑ j=1 µ j s2i j
2
µj 2 xi − pi j
si j (n + 1) = si j (n) − α (−e + h̄ f ) m yj − f (3.4)
∑ j=1 µ j s3i j
Update equations for consequent part
In case ANFTSKC the update equation for linear polynomials will be
µ j xi
Ci j (n + 1) = Ci j (n) − Γ (−e + h̄ f ) m
∑ j=1 µ j
while in case of ANFWC the update equations are given as
µj
ωi j (n + 1) = ω j (n) − Γ (−e + h̄ f ) m Ψ j (z) (3.5)
∑ j=1 µ j
z2
3.5z 2 − z4 − 0.5 e− 2i j
µj ij ij
ai j (n + 1) = ai j (n) − Γ (−e + h̄ f ) m ωi j q (3.6)
∑ j=1 µ j a3i j
z2i j
µj 3zi j − zi j e− 2
2
bi j (n + 1) = bi j (n) − Γ (−e + h̄ f ) m ωi j q (3.7)
∑ j=1 µ j a3i j
32
Where α is the learning rate of antecedent part while Γ is the learning rate of consequent
part. Total number of update parameters at antecedent and consequent part of ANFT-
SKC are 8 and 6 respectively while in case of ANFWC the total number antecedent
parameters will remain same as both ANFTSKC and ANFWC has same antecedent
part but different consequent part. The total number of update parameters at ANFWC
consequent part is equal to the number of update parameters of WNN. There are two
WNN in ANFWC and each has 6 update parameters therefore, total update parameters
at consequent part is equal to 12. Therefore the total number of update parameters for
ANFWC is 20. Hence, the total number of update parameters are 14 for ANFTSKC.
Figure 3.2: ANF control structure
The derivation for update equations are given in C, adaptation mechanism 1 and
adaptation mechanism 2.
3.4 Conclusion
In this chapter the features of adaptive neuro fuzzy control are presented. It is proposed
that by combining WNN with ANFIS, the system computational abilities enhances.
The gradient decent based error back propagation algorithm is used to derive the update
laws for update parameters.
33
Chapter 4
Simulation Results and Discussion
34
4.1 Introduction
In this chapter the close loop dynamics of PEMFC plant is studied under various auxil-
iary control schemes. The simplified close loop structure of PEMFC is shown in Figure
(4.1). The plant control input is the compressor motor voltage Vcmp while the desire
control variable of the plant is λO2 the oxygen excess ratio. The desired variable oxygen
excess ratio is not directly measurable, hence the Wcmp the air flow rate is taken feed-
re f
back to controller. The reference air flow rate is Wcmp is the function of stack current
Ist the plant measurable disturbance. The error signal fed to the auxiliary control is given
below:
re f
e = Wcmp −Wcmp
The compressor voltage is the sum of both static feedforward and auxiliary control
output.
ff AC
Vcmp = Vcm +Vcm (4.1)
Figure 4.1: Close Loop structure of PEMFC
4.2 Simulation of PEMFC

Simulation of PEMFC Pukrushpan nine state 75 kW with 14 kW compressor dynamic
plant[? ]with auxilliary control are carried out in MATLAB/SIMULINK environment.
Non-linear simulation of PEMFC are carried out with variable time step solver (ode23s)
with step size 0.01s and relative time tolerance 1e−5 for simulation time period of 30s.
35
Figure 4.2: OER result w.r.t. step current
4.3 Simulation Results

The input step current (disturbance To plant) Ist is applied. At 5 seconds of the simula-
tion time a step current of 80 A is added to the constant current 100 A. The results for
OER and applied current are shown in Figure 4.2. The results depicts the improvement
of OER in steady state region and transient region. The auxiliary control is implemented
in such a way that it improve the performance of open loop control as shown in Figure
4.1. This type of control is implemented in [? ]. In Figure 4.3 the simulation results
for key variables like compressor voltage, stack voltage, net power and OER are shown.
The compressor voltage is the sum of feedforward and auxiliary control output voltages
as shown in equation (4.1).
36
Figure 4.3: Simulation results of key variables for step current: (a) Compressor Voltage
(b) Stack Voltage (c) Net Power (d) OER
Input disturbance to the plant Ist is varied from one hundred to three hundred ampere
at different time step as given in Figure 4.4. The simulation results against the input
disturbance are given in Figure 4.5. Although the static feedforward control is designed
to keep the oxygen excess ratio at reference value 2 at steady state but it will not be
equal to 2 if the DC gain of the PEMFC plant is not accurate as reported in [? ]. As said
earlier that is computed using equation (4.1), in Figure (4.5-a) it can be seen that change
in compressor voltage is very minimum and cannot be visualize, it is because of voltage
injected by the auxiliary controller is very small as compared to feedforward control.
Similar pattern is repeated for both stack voltage, net power and OER. The voltage in-
jected or control effort for ANFTSK and ANFWC is shown in Figure 4.7. In Figure4.6
it can be observed by zooming in that auxiliary control scheme has shown improve-
ment in OER with respect feedforward control in steady state region. ANFTSKC has
shown improvement with respect to feedforward control, on other hand the proposed
control strategy ANFWC has shown improvement with respect to feedforward control
and ANFTSKC.
37
300
250
I st (A) 200
150
100
0 5 10 15 20 25 30
time(s)
Figure 4.4: Plant disturbance (Stack Current)
Figure 4.5: Simulation results of key variables for changing current: (a) Compressor
Voltage (b) Stack Voltage (c) Net Power (d) OER
38
Figure 4.6: OER (Oxygen Excess Ratio)
Figure 4.7: Control effort, PEMFC with varying current
4.4 Performance Indices

Some time it is difficult to visualize the performance of any controller, so it is necessary
to use performance indexes (PIs). In order to test the performance of the proposed con-
trol techniques, the following indices are used. These performance indices are Mean
Relative Error (MRE), Integral Absolute Error (IAE), Integral Square Error (ISE), Inte-
gral Time Absolute Error (ITAE), Integral Time Square Error (ITSE). The error fed to
the PIs is given below:
re f
e(t) = λO2 − λO2
39
The equation for PIs are given below:
Ztsm
IAE = |e(t)|dt
t=0
Ztsm
ITAE = t|e(t)|dt
t=0
Ztsm
ISE = e2 (t)dx
t=0
Ztsm
IT SE = te2 (t)dx
t=0
1 tsm e(t)
MRE = ∑
T t=0 λO2
In Figure 4.8 the plot for PIs is given for step changing current. The results of PIs
confirms that at steady state the error is not equal to zero, for all three control schemes.
But it can be seen that the proposed control scheme ANFWC has shown improvement
in reducing the error. Similar results are repeated for PIs when the PEMFC is under
highly load changing condition. The results are given in Figure 4.9.
Figure 4.8: Performance indices for step current
40
fforward TSK NWC
1
0.16
0.14
IAE
ISE
0.5
0.12
0.1
0
0 10 20 30 0 10 20 30
time (s) time (s)
10 0.6
0.4
ITAE
ITSE
5
0.2
0 0
0 10 20 30 0 10 20 30
time (s) time (s)
Figure 4.9: Performance indices for various controllers
4.5 Quantitative Analysis

Performance improvement of the proposed control scheme is computed with respect to
feedforward open loop control. The purpose of quantitative analysis is to justify the
effectiveness of the auxiliary control with respect to traditional control schemes. The
percentage performance improvement for ANFTSK control with respect to feedforward
open loop control is given by:
PI f f − PI j
PI f or T SK w.r.t. f f rorward = × 100 % (4.2)
PI f f
where j = [ANFT SK ANFWC].

The quantitative results are computed using equation (4.2) are given in table 4.1.
For step change in load current the ANFTSKC has 14.35% improvement for IAE in
OER w.r.t. feedforward control, while the ANFWC has 22.63% improvement for IAE
in OER w.r.t. feedforward control. Similarly for highly load changing conditions the
ANFTSKC has 10.56% improvement for IAE w.r.t. feedforward control,while the AN-
FWC has 12.08% improvement for IAE in OER w.r.t. feedforward control. It is clear
41
from the percentage improvement that under highly changing load conditions the per-
formance of PEMFC plant is deteriorated.
Table 4.1: Performance improvement of PEMFC plant w.r.t. feedforward open loop
structure
Performance Improvement (%)

Sr. No. Test Case Control Algorithm
IAE ISE ITAE ITSE MRE
ANFTSKC 14.35 5.307 19.21 20.51 21.07
1 Step Current
ANFWC 22.63 7.931 35.31 34.22 39.48
ANFTSKC 10.56 4.561 10.32 11.49 10.18
2 Varying Current
ANFWC 12.08 5.701 14.63 16.95 19.32
4.6 Conclusion
In this chapter the proposed controller is applied to the PEMFC plant. The performance
of the proposed controller is tested under different load changing conditions and results
are presented. The results shows the effectiveness of the proposed control scheme. At
the end quantitative analysis is done with the help of performance indices.
42
Chapter 5
Conclusion and Future Framework
43
5.1 Conclusion
In this research, the hybrid neuro fuzzy control scheme ANFWC is presented based on
the combination of traditional ANFTSKC and WNNs. The proposed control scheme is
applied on PEMFC 40 kW power plant, to examine the performance of PEMFC plant
the time changing stack current (disturbance to the plant) is applied. PEMFC plant
with static feedforward map to keep the oxygen excess ratio at desired point during the
transient change in load. ANFTSK and ANFWC are applied as auxiliary control to
improve the performance of the open loop control and bring robustness to the system.
For performance improvement comparison between different control schemes, PIs
are calculated. At the end quantitative analysis is done with respect to feedforward
control are calculated in terms of percentages. The results of quantitative analysis from
percentage improvement shows that the proposed control strategy ANFWC has signifi-
cant improvement with respect to ANFTSK control.
5.2 Future Framework

PEMFC is highly non linear and complex system and has many control problems, from
which some are listed below:
• In this research temperature is kept constant, which can also be taken as control
problem because in practical scenario keeping temperature at constant level is
difficult.
• Membrane humidity can also be taken as control problem because the perfor-
mance of PEMFC is highly dependent on membrane humidification level.
• In this research some components like air cooler and humidifier as static models,
the dynamics of these components can also be included.
• It is also assumed in the model that no liquid water can leave the stack, which
affects the voltage of fuel cell, therefore, accumulation of water can also be in-
cluded in model.
• The reference for OER changes with changing load, in this research a constant
value is taken. A better approach will be to use a variable OER.
44
Appendix A
PEMFC State Space equations
A.1 Mass flow dynamic Equations

The mass flow dynamic equations given below are taken from [? ].
dmO2
ẋ1 = = WO2 ,cath,in −WO2 ,cath,out −WO2 reacted (A.1)
dt
Where WO2 ,cath,in andWO2 ,cath,out are the mass flow rates of oxygen at inlet and outlet
cathode channel. Whereas WO2 reacted is the amount of oxygen reacted at cathode.
dmH2 ,an
ẋ2 = = WH2 ,anod,in −WH2 ,anod,out −WH2 reacted (A.2)
dt
Where WH2 ,anod,in and WH2 ,anod,out are the mass flow rates of hydrogen at inlet and outlet
of the anode channel. Whereas WH2 reacted is the amount of hydrogen reacted at anode.
dmN2
ẋ3 = = WN2 ,cath,in −WN2 ,cath,out (A.3)
dt
Where WN2 ,cath,in and WN2 ,cath,out are the mass flow rates of nitrogen at inlet and outlet of
the cathode channel.
dωcmp 1
ẋ4 = = (τcm − τcp ) (A.4)
dt Jcp
Where τcm is the combined torque of motor and compressor andτcp is the required
torque for compressor. Jcp is the combined inertia of compressor and motor.
45
dPim γRa
ẋ5 = = (Wcmp To,cmp −Wo,sm Tim ) (A.5)
dt Vim
Where Vim is volume of inlet manifold, Wcmp is the air flow rate from compressor,
To,cmp is the temperature of air leaving the compressor, Wo,sm is the mass flow rate of
the air leaving the inlet manifold and Tim is the temperature of the air leaving the inlet
manifold.
dmim
ẋ6 = = Wcmp −Wo,sm (A.6)
dt
dmωanod
ẋ7 = = Wv,anod,in −Wv,anod,out −Wv,membr −Wl,anod,out (A.7)
dt
Where Wv,anod,in and Wv,anod,out are the mass flow rate of vapor at the inlet and outlet
of the anode, Wv,membr is the mass flow rate of vapor across the membrane and Wl,anod,out
is the mass flow rate of liquid leaving the anode.
dPom Ra Tom
ẋ8 = = Wcath,out −Wo,rm (A.8)
dt Vom
Where Vom is the volume of outlet manifold, Wo,cath is the mass flow rate of air entering
the outlet manifold, Wo,rm is the mass flow rate of air exiting the outlet manifold and
Tom is the temperature of the air at the outlet manifold.
dmω,cath
ẋ9 = = Wv,cath,in −Wv,cath,out −Wv,membr +Wv,cath,gen (A.9)
dt
Where Wv,cath,in and Wv,cath,out are the mass flow rate of vapor at the inlet and outlet of the
cathode and Wv,cath,gen is the mass flow rate at which the vapor is generated at cathode.
A.1.1 Solving mass flow equation (A.1)

nIst
WO2 reacted = MO2 × (A.10)
4F
n
B32 = MO2 ×
4F
WO2 reacted = B32 × Ist (A.11)
W = xO2 ,cath,in ×Wa,cath,in (A.12)
46
yO2 ,cath,in × MO2
xO2 ,cath,in =
yO2 ,cath,in × MO2 + 1 − yO2 ,cath,in × MN2
yO2 ,cath,in × MO2
WO2 ,cath,in = ×Wa,cath,in (A.13)
1
Wa,cath,in = ×Wcath,in (A.14)
1 + ωcath,in
Mv Pv,cath,in
ωcath,in = × (A.15)
yO2 ,cath,in × MO2 + 1 − yO2 ,cath,in × MN2 Pa,cath,in
Pv,cath,in = φcath,in Psat (Tcl )
Pa,cath,in = Pcath,in − φcath,in Psat (Tcl )

Mv × φcath,in Psat (Tcl ) 1
ωcath,in = ×
yO2 ,cath,in × MO2 + 1 − yO2 ,cath,in × MN2 Pcath,in − φcath,in Psat (Tcl )
Mv × φcath,in Psat (Tcl )
B22 =
1
ωcath,in = B22 × (A.16)
Pcath,in − φcath,in Psat (Tcl )
Pcath,in = Pa,cl + φdes Psat (Tcl ) (A.17)
Pa,cl = Pcl − Pv,cl
Pv,cl = φcl Psat (Tcl )
Here Pcl = Pim

Pa,cl = Pim − φcl Psat (Tcl )
Pim Φatm Psat (Tatm )
φcl =
Patm Psat (Tcl )
Pim Φatm Psat (Tatm )
Pa,cl = Pim −
Patm
Φatm Psat (Tatm )
B21 =
Patm
and Pim = x5 so Pa,cl becomes
Pa,cl = x5 − B21 x5 (A.18)
47
using (A.18) in (A.17) then using the result in (A.16):
1
ωcath,in = B22 ×
x5 − B21 x5 + φdes Psat (Tcl ) − φcath,in Psat (Tcl )
B23 = φdes Psat (Tcl ) − φcath,in Psat (Tcl )

B22
ωcath,in = (A.19)
[x5 − B21 x5 + B23 ]
using (A.19) in (A.14):
1
Wa,cath,in = B22
×Wcath,in
1 + [x
5 −B21 x5 +B23 ]
−1
B22
k(x) = 1 +
[x5 − B21 x5 + B23 ]
Wa,cath,in = k(x) ×Wcath,in (A.20)
Wcath,in = Wa,cl +Wv,cl +Wv,in jec (A.21)

Mv φdes Psat (Tcl )
Wv,in jec = × ×Wa,cl −Wv,cl
Ma Pa,cl
Wcath,in = Wa,cl +Wv,cl + × ×Wa,cl −Wv,cl
Ma Pa,cl

Wcath,in = 1 + × Wa,cl (A.22)
Ma x5 − B21 x5
1
Wa,cl = Wcl (A.23)
1 + ωcl
here Wcl = Wo,sm
Mv Pv,cl
ωcl = ×
Ma Pa,cl
Mv φcl Psat (Tcl )
ωcl = ×
Ma x5 − B21 x5
using φcl
Mv Pim Φatm Psat (Tatm ) 1
ωcl = × ×
Ma Patm x5 − B21 x5
48
Mv Φatm Psat (Tatm )
B20 = ×
Ma Patm
B20 x5
ωcl = (A.24)
x5 − B21 x5
Wcl = Wo,sm = ko,sm (Psm − Pca )
Wo,sm = ko,sm (x5 − Pca ) (A.25)
Pca = PO2 + PN2 + Pv,cath (A.26)

RO2 Tst
PO2 = mO2 ,cath × (A.27)
Vcath
RN2 Tst
PN2 = mN2 ,cath × (A.28)
Vcath
RO2 Tst RN Tst
Pca = mO2 ,cath × + mN2 ,cath × 2 + Pv,cath
Vcath Vcath
here mO2 ,cath = x1 and mN2 ,cath = x3
RO2 Tst RN Tst

Pca = x1 × + x3 × 2 + Pv,cath (A.29)
Vcath Vcath

RO2 Tst RN2 Tst
Wo,sm = ko,sm x5 − x1 × − x3 × − Pv,cath
Vcath Vcath
RO2 Tst RN Tst
Wo,sm = ko,sm x5 − x1 × ko,sm − x3 × ko,sm 2 − ko,sm Pv,cath
Vcath Vcath
B12 = ko,sm B13 = ko,sm Pv,cath

RN2 Tst RO2 Tst
B14 = ko,sm B15 = ko,sm
Vcath Vcath
Wo,sm = B12 x5 − B15 x1 − B14 x3 − B13 (A.30)

1
Wa,cl = h i (B12 x5 − B15 x1 − B14 x3 − B13 )
B20 x5
1 + x5 −B21 x5

Mv φdes Psat (Tcl ) 1
Wcath,in = 1 + × h i (B12 x5 − B15 x1 − B14 x3 − B13 )
Ma x5 − B21 x5 1+ B20 x5
x5 −B21 x5
−1
B20 x5
e(x) = 1 +
x5 − B21 x5
49
h
Wcath,in = (B12 x5 − B15 x1 − B14 x3 − B13 )
Mv i
+ × φdes Psat (Tcl ) (B12 x5 − B15 x1 − B14 x3 − B13 ) (x5 − B21 x5 )−1 e(x)
Ma
Mv Mv
B16 = × φdes Psat (Tcl ) × B12 ;B17 = × φdes Psat (Tcl ) × B13
Ma Ma
Mv Mv
B18 = × φdes Psat (Tcl ) × B14 ;B19 = × φdes Psat (Tcl ) × B15
Ma Ma
h
Wcath,in = (B12 x5 − B15 x1 − B14 x3 − B13 )
i
+ (B16 x5 − B17 − B18 x1 − B19 x3 ) (x5 − B21 x5 )−1 e(x) (A.31)
using (A.31)in (A.20)
h
Wa,cath,in = (B12 x5 − B15 x1 − B14 x3 − B13 )
i
−1
+ (B16 x5 − B17 − B18 x1 − B19 x3 ) (x5 − B21 x5 ) e(x)k(x) (A.32)
h
WO2 ,cath,in = xO2 ,cath,in × (B12 x5 − B15 x1 − B14 x3 − B13 )
i
+ (B16 x5 − B17 − B18 x1 − B19 x3 ) (x5 − B21 x5 )−1 e(x)k(x)
B59 = xO2 ,cath,in × B16 ;B60 = xO2 ,cath,in × B17
h
WO2 ,cath,in = (B63 x5 − B66 x1 − B65 x3 − B64 )
i
+ (B59 x5 − B60 − B61 x1 − B62 x3 ) (x5 − B21 x5 )−1 e(x)k(x) (A.33)
50
WO2 ,cath,out = xO2 ,cath ×Wa,cath,out (A.34)
1
Wa,cath,out = ×Wcath,out (A.35)
1 + ωcath,out
Wcath,out = Kcath,out (Pca − Pom )
here Pom = x8 and substituting Pca from (A.29)
RO2 Tst RN Tst

Wcath,out = Kcath,out x1 × + Kcath,out x3 × 2 + Kcath,out Pv,cath − Kcath,out x8
Vcath Vcath
(A.36)
Mv Pv,cath
ωcath,out = × (A.37)
Ma,cath Pa,cath

Ma,cath = yO2 ,cath × MO2 + 1 − yO2 ,cath × MN2
using Ma,cath in (A.37)we get
Mv Pv,cath
ωcath,out = × (A.38)
yO2 ,cath × MO2 + 1 − yO2 ,cath × MN2 Pa,cath
PO2 ,cath
yO2 ,cath =
Pa,cath
using yO2 ,cath in (A.38)
Mv Pv,cath
ωcath,out = PO2 ,cath
PO2 ,cath
×
Pa,cath
Pa,cath × MO2 + 1 − Pa,cath × MN2
Or
Mv Pv,cath
ωcath,out =
PO2 ,cath × MO2 + Pa,cath − PO2 ,cath × MN2
B58 = Mv Pv,cath ; Pa,cath = PO2 ,cath + PN2 ,cath
B58
ωcath,out =
PO2 ,cath × MO2 + PO2 ,cath + PN2 ,cath − PO2 ,cath × MN2
using (A.27)and (A.28)in above equation
B58
ωcath,out = RO2 Tst
RO2 Tst R 2 Tst R 2 Tst

x1 × Vcath × MO2 + x1 × Vcath + x3 × VNcath − x1 × VOcath × MN2
51
B58
ωcath,out = RO2 Tst RO2 Tst
RO2 Tst RN2 Tst

x1 × Vcath × MO2 − x1 × Vcath × MN2 + x1 × Vcath + x3 × Vcath × MN2
RN2 Tst RO Tst

B28 = ;B29 = 2
Vcath Vcath
RO2 Tst
B31 = × MN2
Vcath
B58
ωcath,out =
x1 × B29 × MO2 − x1 × B31 + (x1 × B29 + x3 × B28 ) × MN2
B58
ωcath,out = h i
x1
(x1 ×B29 +x3 ×B28 ) (B29 × MO2 − B31 ) + MN2 (x1 × B29 + x3 × B28 )
x1
J(x) = ;B68 = B29 × MO2 − B31
(x1 × B29 + x3 × B28 )
B58
ωcath,out = x1
x1 (J(x)B68 + MN2 ) (x
1 ×B29 +x3 ×B28 )
B58
ωcath,out = (A.39)
x1 (J(x)B68 + MN2 ) J(x)
using (A.36)and (A.39)in (A.35)
1
Wa,cath,out = ×
B58
1 + x J(x)B +M J(x)
1( 68 N2 )

RO2 Tst RN2 Tst
Kcath,out x1 × + Kcath,out x3 × + Kcath,out Pv,cath − Kcath,out x8 (A.40)
Vcath Vcath
−1
B58
m(x) = 1 +
x1 (J(x)B68 + MN2 ) J(x)

RO2 Tst RN2 Tst
Wa,cath,out = m(x) Kcath,out x1 × + Kcath,out x3 × + Kcath,out Pv,cath − Kcath,out x8
Vcath Vcath
(A.41)
yO2 ,cath × MO2
xO2 ,cath = (A.42)
yO2 ,cath × MO2 + 1 − yO2 ,cath × MN2
using yO2 ,cath in (A.42)
PO2 ,cath
× MO2
Pa,cath
xO2 ,cath = PO2 ,cath
PO2 ,cath

Pa,cath × MO 2
+ 1 − Pa,cath × MN2
52
PO2 ,cath × MO2
xO2 ,cath =
PO2 ,cath × MO2 + Pa,cath − PO2 ,cath × MN2
PO2 ,cath × MO2
xO2 ,cath =
PO2 ,cath × MO2 + PO2 ,cath + PN2 ,cath − PO2 ,cath × MN2
using (A.27)and (A.28)in above equation
RO2 Tst
x1 × Vcath × MO2
xO2 ,cath = RO2 Tst
RO2 Tst RN2 Tst RO2 Tst

x1 × Vcath × MO2 + x1 × Vcath + x3 × Vcath − x1 × Vcath × MN2
RO2 Tst
x1 × Vcath × MO2
xO2 ,cath = RO Tst Kcath,out
2 ×MO2
Vcath RO2 Tst
x1 × Kcath,out − x1 × Vcath × MN2 + (x1 × B29 + x3 × B28 ) × MN2
RO2 Tst Kcath,out

B24 = × MO2
Vcath
R Tst
x1 × VOcath
2
× MO2
xO2 ,cath =
B24
x1 Kcath,out − B31 + (x1 × B29 + x3 × B28 ) × MN2
B24
B30 = ;B67 = B30 − B31
Kcath,out
RO2 Tst
x1 × Vcath × MO2
xO2 ,cath =
x1 B67 + (x1 × B29 + x3 × B28 ) × MN2
RO2 Tst
x1 × × MO2
Vcath
xO2 ,cath = h i
x1
(x1 ×B29 +x3 ×B28 ) B67 + MN2 (x1 × B29 + x3 × B28 )
RO2 Tst
J(x) × Vcath × MO2
xO2 ,cath = (A.43)
[J(x)B67 + MN2 ]
RO2 Tst
J(x) × × MO2
Vcath
WO2 ,cath,out = ×
[J(x)B67 + MN2 ]

RO2 Tst RN2 Tst
m(x) Kcath,out x1 × + Kcath,out x3 × + Kcath,out Pv,cath − Kcath,out x8
Vcath Vcath
53
J(x)
WO2 ,cath,out = ×
[J(x)B67 + MN2 ]
h RO Tst RO Tst RN Tst RO Tst
m(x) Kcath,out x1 × 2 × 2 × MO2 + x3 × Kcath,out × 2 × 2 × MO2
Vcath Vcath Vcath Vcath
RO2 Tst RO2 Tst i
+ Kcath,out × × MO2 Pv,cath − Kcath,out × × MO2 x8
Vcath Vcath
RN2 Tst
B25 = B24 Pv,cath ;B26 = B24
Vcath
RO2 Tst
B27 = B24
Vcath
h i
WO2 ,cath,out = B27 x1 + B26 x3 + B25 − B24 x8 m(x)J(x) (J(x)B67 + MN2 )−1 (A.44)
using (A.11), (A.41)and (A.44)in (A.1)we get the final result for ẋ1
h i
−1
ẋ1 = (B63 x5 − B66 x1 − B65 x3 − B64 )+(B59 x5 − B60 − B61 x1 − B62 x3 ) (x5 − B21 x5 ) e(x)k(x)
h i
− B27 x1 + B26 x3 + B25 − B24 x8 m(x)J(x) (J(x)B67 + MN2 )−1
− B32 × Ist
A.1.2 Solving mass flow equation(A.2)
it is assumed that hydrogen leaving the stack is zero, such that
WH2 ,anod,out = 0 (A.45)
Hydrogen reacted at anode is given by
nIst
WH2 reacted = MH2 ×
2F
n
B72 = MH2 ×
2F
WH2 reacted = B72 × Ist (A.46)
The total hydrogen entering the anode
1
WH2 ,anod,in = ×Wanod,in (A.47)
1 + ωanod,in
54
Mv Pv,anod,in
ωanod,in = ×
MH2 Panod,in
Pv,anod,in = φanod,in Psat (Tst )
Panod,in = PH2 anod + Pv,anode (A.48)

RH2 Tst
PH2 anod = mH2
Vanode
Mv φanod,in Psat (Tst )
ωanod,in = ×
MH2 mH RH2 Tst + Pv,anode
2 Vanode
Here mH2 = x2
RH2 Tst
B73 = Mv φanod,in Psat (Tst ) ;B74 = × MH2
Vanode
B75 = MH2 × Pv,anode
B73
ωanod,in = (A.49)
B74 x2 + B75
Wanod,in = K1 (K2 Pim − Panod )
Wanod,in = K1 (K2 x5 − Panod )
using (A.48)in above equation
RH2 Tst
Wanod,in = K1 K2 x5 − x2 K1 + K1 Pv,anode
Vanode
RH2 Tst
B76 = K1 K2 ;B77 = K1
Vanode
B78 = K1 Pv,anode
Wanod,in = B76 x5 − B77 x2 + B78 (A.50)
1
WH2 ,anod,in = h i × [B76 x5 − B77 x2 + B78 ]
B73
1 + B74 x2 +B75
−1
B73
z(x) = 1 +
B74 x2 + B75
55
WH2 ,anod,in = [B76 x5 − B77 x2 + B78 ] z(x) (A.51)
using (A.45),(A.46)and (A.51)in (A.2)
ẋ2 = [B76 x5 − B77 x2 + B78 ] z(x) − B72 × Ist
A.1.3 Solving mass flow equation (A.3)

WN2 ,cath,in = 1 − xO2 ,cath,in Wa,cath,in (A.52)

B33 = 1 − xO2 ,cath,in
h
WN2 ,cath,in = B33 × (B12 x5 − B15 x1 − B14 x3 − B13 )
i
+ (B16 x5 − B17 − B18 x1 − B19 x3 ) (x5 − B21 x5 )−1 e(x)k(x)
h
WN2 ,cath,in = (B12 B33 x5 − B15 B33 x1 − B14 B33 x3 − B13 B33 )
i
+ (B16 B33 x5 − B17 B33 − B18 B33 x1 − B19 B33 x3 ) (x5 − B21 x5 )−1 e(x)k(x)
B50 = B16 B33 ;B51 = B17 B33
B52 = B19 B33 ;B53 = B18 B33
B54 = B12 B33 ;B55 = B13 B33
B56 = B14 B33 ;B57 = B15 B33
h
WN2 ,cath,in = (B54 x5 − B57 x1 − B56 x3 − B55 )
i
−1
+ (B50 x5 − B51 − B53 x1 − B52 x3 ) (x5 − B21 x5 ) e(x)k(x) (A.53)

WN2 ,cath,out = 1 − xO2 ,cath Wa,cath,out (A.54)
56
using xO2 ,cath from (A.43)
RO2 Tst
J(x) × Vcath × MO2
1 − xO2 ,cath = 1 −
[J(x)B67 + MN2 ]
J(x) × B30
1 − xO2 ,cath = 1 −
[J(x)B67 + MN2 ]
h i
1 − xO2 ,cath = 1 − J(x)B30 (J(x)B67 + MN2 )−1 (A.55)
Wa,cath,out from (A.41)

RO2 Tst RN2 Tst
Wa,cath,out = m(x) x1 × Kcath,out + x3 × Kcath,out + Kcath,out Pv,cath − Kcath,out x8
Vcath Vcath
B34 = Kcath,out ;B35 = Kcath,out Pv,cath

RN2 Tst RO Tst
B36 = Kcath,out ;B37 = 2 Kcath,out
Vcath Vcath
Wa,cath,out = [B37 x1 + B36 x3 + B35 − B34 x8 ] m(x) (A.56)
h i
WN2 ,cath,out = [B37 x1 + B36 x3 + B35 − B34 x8 ] 1 − J(x)B30 (J(x)B67 + MN2 )−1 m(x)
(A.57)
h
ẋ3 = (B54 x5 − B57 x1 − B56 x3 − B55 )
i
+ (B50 x5 − B51 − B53 x1 − B52 x3 ) (x5 − B21 x5 )−1 e(x)k(x)
h i
− [B37 x1 + B36 x3 + B35 − B34 x8 ] 1 − J(x)B30 (J(x)B67 + MN2 )−1 m(x)
A.1.4 Solving compressor dynamic equation (A.4)

ηcm Kt
τcm = (Vcmp − Kv ωcmp ) (A.58)
Rcm
" γ−1 #
CP Tatm x5 γ
τcp = × − 1 Wcp
ωcmp ηcp Patm
57
hereωcmp = x4
γ−1
x5 γ
n(x) = −1
Patm
CP Tatm
τcp = × n(x)Wcp (A.59)
ωcmp ηcp
inserting (A.58)and (A.59)in (A.4)

1 ηcm Kt CP Tatm
ẋ4 = (Vcmp − Kv x4 ) − × n(x)Wcp
Jcp Rcm x4 ηcp
ηcm Kt ηcm Kt CP Tatm

ẋ4 = Vcmp − Kv x4 − × n(x)Wcp
Jcp Rcm Jcp Rcm x4 Jcp ηcp
ηcm Kt
B1 = ;B2 = B1 Kv
Jcp Rcm
CP Tatm
ẋ4 = B1Vcmp − B2 x4 − × n(x)Wcp (A.60)
x4 Jcp ηcp
Wcr × δ
Wcmp = √ (A.61)
θ
here Wcr is the corrected mass flow, δ is the corrected pressure and θ is the corrected
temperature.
π
Wcr = Φρa dc2Uc (A.62)
4
Ψ

Φ = Φmax 1 − eβ ( Ψmax −1) (A.63)
" #
γ−1
x5 γ
2C p Tatm Patm −1
Ψ=
Uc2
using Ψin (A.63)
2C U −2 Tatm n(x)

β ( p cΨmax −1)
Φ = Φmax 1 − e (A.64)
Uc here is in (rpm), and needed to be inrad/s
π x4
Uc (rpm) = dc √
60 θ
π x4 60
Uc (rad/s) = dc √ ×
60 θ 2π
58
simplifying Uc and using it in (A.64)
 
2C pUc−2 Tatm n(x)
β( −1)
x42 Ψmax
Φ = Φmax 1 − e 
B5 = 2C pUc−2 Tatm ;B69 = β B5 Ψ−1

max
B69 n(x)x4−2 −β )

Φ = Φmax 1 − e(
−2
d(x) = e(B69 n(x)x4 −β )
Φ = Φmax (1 − d(x)) (A.65)

π
Wcr = Φmax (1 − d(x)) ρa dc2Uc
4
here Uc is also in (rpm) and needed to be converted in rad/s
π
Wcr = Φmax (1 − d(x)) ρa dc2Uc x4 (A.66)
4
Φmax (1 − d(x)) ρa πdc2Uc δ x4

Wcmp = √ (A.67)
4 θ
CP Tatm Φmax (1 − d(x)) ρa πdc2Uc δ

ẋ4 = B1Vcmp − B2 x4 − n(x) √
Jcp ηcp 4 θ
CP Tatm Φmax ρa πdc2Uc δ

B3 = √
Jcp ηcp 4 θ
ẋ4 = B1Vcmp − B2 x4 − B3 n(x) (1 − d(x))
A.1.5 Solving inlet pressure dynamic equation A.5

γRa
ẋ5 = (Wcmp To,cmp −Wo,sm Tim ) (A.68)
Vim
59
Tatm
To,cmp = Tatm + n(x)
ηcp
−1

To,cmp = Tatm 1 + n(x)ηcp (A.69)
x5Vim
Tim = (A.70)
Ra x6
using (A.30),(A.67),(A.69)and (A.70)in (A.68)
γRa Φmax (1 − d(x)) ρa πdc2Uc δ x4 −1

ẋ5 = √ Tatm 1 + n(x)ηcp
Vim 4 θ
x5Vim
− [B12 x5 − B15 x1 − B14 x3 − B13 ]
Ra x6
Φmax Tatm ρa πdc2Uc δ x4 γRa −1

ẋ5 = √ (1 − d(x)) 1 + n(x)ηcp
4Vim θ
x5Vim γRa
− [B12 x5 − B15 x1 − B14 x3 − B13 ]
Ra x6 Vim
Φmax Tatm ρa πdc2Uc δ x4 γRa

B6 = √
4Vim θ
−1
x5
ẋ5 = B6 (1 − d(x)) 1 + n(x)ηcp − [γB12 x5 − γB15 x1 − γB14 x3 − γB13 ]
x6
B7 = γB12 ;B8 = γB13
B9 = γB14 ;B10 = γB15
−1
− B7 x5 − B10 x5 x1 − B9 x5 x3 − γB8 x5 x6−1
2
ẋ5 = B6 (1 − d(x)) 1 + n(x)ηcp
A.1.6 Solving inlet mass flow equation A.6
using (A.30)and A.67in A.6
Φmax (1 − d(x)) ρa πdc2Uc δ x4

ẋ6 = √ − B12 x5 − B15 x1 − B14 x3 − B13
4 θ
Φmax ρa πdc2Uc δ
ẋ6 = √ (1 − d(x)) x4 − B12 x5 − B15 x1 − B14 x3 − B13
4 θ
Φmax ρa πdc2Uc δ
B11 = √
4 θ
60
ẋ6 = B11 (1 − d(x)) x4 − B12 x5 − B15 x1 − B14 x3 − B13
A.1.7 solving anode water mass flow equation (A.7)
it is assumed that vapor mass leaving the anode and liquid mass leaving the anode is
zero. i.eWv,anod,out = 0and Wl,anod,out = 0
Wv,anod,in = Wanod,in −WH2 ,anod,in (A.71)
1
Wv,anod,in = Wanod,in − ×Wanod,in
1 + ωanod,in

!
1
Wv,anod,in = 1− ×Wanod,in
1 + B74 xB273+B75
using (A.50)we get
Wv,anod,in = (1 − z(x)) × B76 x5 − B77 x2 + B78 (A.72)
ẋ7 = (1 − z(x)) × B76 x5 − B77 x2 + B78 −Wv,membr
A.1.8 Solving outlet manifold pressure equation (A.8)
Ra Tom RO Tst RN Tst

ẋ8 = Kcath,out x1 × 2 + Kcath,out x3 × 2 + Kcath,out Pv,cath
Vom Vcath Vcath

− Kcath,out x8 −Wo,rm
61
B34 = Kcath,out ;B35 = Kcath,out Pv,cath
RN2 Tst RO Tst
B36 = Kcath,out × ;B37 = Kcath,out × 2
Vcath Vcath
Ra Tom
B38 =
Vom

ẋ8 = B38 B37 x1 + B36 x3 + B35 − B34 x8 −Wo,rm
ẋ8 = B38 B37 x1 + B38 B36 x3 + B38 B35 − B38 B34 x8 − B38Wo,rm
B46 = B38 B34 ;B47 = B38 B35
B48 = B38 B36 ;B49 = B38 B37
B70 = B38Wo,rm
ẋ8 = B49 x1 + Bx3 + B47 − B46 x8 − B70
A.1.9 Solving cathode water mass flow equation (A.9)
Wv,cath,in = Wcath,in −Wa,cath,in

1
Wv,cath,in = Wcath,in − Wcath,in
1 + ωca,in

1
Wv,cath,in = 1 − Wcath,in
1 + ωca,in
h
Wcath,in = (B12 x5 − B15 x1 − B14 x3 − B13 )
i
+ (B16 x5 − B17 − B18 x1 − B19 x3 ) (x5 − B21 x5 )−1 (1 − k(x)) e(x) (A.73)
Wv,cath,in = Wcath,out −Wa,cath,out

1
Wv,cath,in = Wcath,out − Wcath,out
1 + ωca,out

1
Wv,cath,in = 1 − Wcath,out
1 + ωca,out
Wv,cath,in = (B37 x1 + B36 x3 + B35 − B34 x8 ) (1 − m(x)) (A.74)
62
nIst
Wv,cath,gen = Mv ×
2F
n
B71 = Mv ×
2F
Wv,cath,gen = B71 × Ist (A.75)
using (A.73),(A.74)and (A.75)in (A.9)
h
ẋ9 = (B12 x5 − B15 x1 − B14 x3 − B13 )
i
+ (B16 x5 − B17 − B18 x1 − B19 x3 ) (x5 − B21 x5 )−1 (1 − k(x)) e(x)
− (B37 x1 + B36 x3 + B35 − B34 x8 ) (1 − m(x))
+ B71 × Ist −Wv,membr
63
Appendix B
PEMFC Plant System Data
Table B.1: Thermodynamic Constants
Symbol Representation Value

Patm atmospheric pressure 101325Pa
Tatm atmospheric temperature 298.15 K
γ ratio of specific heat of air 1.4
CP specific heat of air at constant pressure 1004J/(mol.K)
ρa air density 1.23 kg/m3
R universal gas constant 8.3145 J/(kg.K)
Ra air gas constant 286.9 J/(kg.K)
RO2 Oxygen gas constant 259.8 J/(kg.K)
RN2 nitrogen gas constant 296.8 J/(kg.K)
Rv vapor gas constant 461.5 J/(kg.K)
RH2 hydrogen gas constant 4124.3 J/(kg.K)
MO2 oxygen molar mass 32 × 10−3 kg/mol
MN2 nitrogen molar mass 28 × 10−3 kg/mol
Mv vapor molar mass 18.02 × 10−3 kg/mol
MH2 hydrogen molar mass 2.016 × 10−3 kg/mol
F Faraday constant 96485 Coulumbs
64
Table B.2: Parameters for Simulations
Symbol Representations Values

ρm,dry dry membrane density 0.002 kg/cm3
Mm,dry dry membrane weight 1.1 kg/mol
tm membrane thickness 0.01275 cm
n number of cells 381
Afc Area of fuel cell 280 cm2
dc diameter of compressor 0.2286 m
Jcp motor and compressor inertia 5 × 10−5 kg.m2
Van anode volume 0.005 m3
Vca cathode volume 0.01 m3
Vsm supply manifold volume 0.02 m3
Vrm return manifold volume 0.005 m3
CD,rm return manifold throttle discharge coefficient 0.0124
AT,rm return manifold throttle area 0.002 m2
Ksm,out supply manifold outlet constant 0.3629 × 10−5 kg/(s.Pa)
Kca,out cathode outlet constant 0.2177 × 10−5 kg/(s.Pa)
65
Appendix C
Parameters Update mechanism
C.1 Adaptation Mechanism 1

The general update rule for ANFTSKC parameters based on error back propagation
with gradient decent method is stated below
∂T
φ (n + 1) = φ (n) − α (C.1)
∂φ

where φ is the vector for update parameters pi j si j Ci j .Where pi j and si j are the update
parameters for Gaussian membership function at antecedent part, whereas Ci j is the up-
date for linear polynomials at consequent part. The cost function for ANFTSKC is
given as
1 1
T = e2 + h̄ ft2 (C.2)
2 2
re f
Where ft is the output of the ANFTSKC and e = Wcmp − Wcmp or difference between
desired and present output of the plant. h̄is a gain factor. For simplification the e =
yd − y p , yd is the desired output of the plant while y p is the present output of the plant.
The output of the ANFTSKC is
∑mj=1 µ j q j
ft = m
∑ j=1 µ j
66
Parameters update equations for antecedent part
At antecedent part the parameters are updated for Gaussian membership function. In
order to update the mean pi j the update law C.1 can be redefined as
∂T
pi j (n + 1) = pi j (n) − α (C.3)
∂ pi j
∂T
The gradient ∂ pi j is calculated using chain rule
∂T ∂ T ∂ y p ∂ ft ∂ µ j
= (C.4)
∂ pi j ∂ y p ∂ f t ∂ µ j ∂ pi j
∂ yp
Here, ∂ ft is the plant sensitivity measure and is assumed 1.

∂T ∂ 1 2 1 2
= (yd − y p ) + h̄ ft
∂ yp ∂ yp 2 2
∂T ∂ yp
= − (yd − y p ) + h̄ ft
∂ yp ∂ ft
or
∂T
= −e + h̄ ft (C.5)
∂ yp
" m #
∂ ft ∂ ∑ j=1 µ j q j
=
∂ µ j ∂ µ j ∑mj=1 µ j
∂ ft ∑mj=1 µ j ∂∂µ j ∑mj=1 µ j q j − ∑mj=1 µ j q j ∂∂µ j ∑mj=1 µ j

= 2
∂ µj m
∑ j=1 j µ

∂ ft
m
∑ j=1 j q j − ∑mj=1 µ j q j
µ
= 2
∂ µj
∑mj=1 µ j

m
∂ ft ∑ j=1 j q j
µ ∑mj=1 µ j q j
= 2 − 2
∂ µj
∑mj=1 µ j ∑mj=1 µ j
∂ ft qj ft
= m − m
∂ µ j ∑ j=1 µ j ∑ j=1 µ j

∂ ft q j − ft
= m (C.6)
∂ µj ∑ j=1 µ j
67
∂ µj m
∂
= ∏ Ai j
∂ pi j ∂ pi j j=1
x −p 2
m
∂ µj ∂ − is ij
= ∏e ij
∂ pi j ∂ pi j j=1
x −p 2 " 2 !#
m i ij

xi − pi j
∂ µj − si j ∂
= ∏e −
∂ pi j j=1 ∂ pi j si j
!
∂ µj m xi − pi j
= ∏ Ai j 2 2
∂ pi j j=1 si j

∂ µj 2 xi − pi j
= µj (C.7)
∂ pi j s2i j
Using (C.5),(C.6),(C.7)in (C.4)

∂T q j − ft 2 xi − pi j
= (−e + h̄ ft ) m µj (C.8)
∂ pi j ∑ j=1 µ j s2i j
now using (C.8)in (C.3)

2 xi − pi j µj
pi j (n + 1) = pi j (n) − α (−e + h̄ ft ) q j − ft m (C.9)
∑ j=1 µ j s2i j
In order to update the spread or variance si j the update law C.1 can be redefined as
∂T
si j (n + 1) = si j (n) − α (C.10)
∂ si j
∂T
The gradient ∂ si j is calculated using chain rule
∂T ∂ T ∂ y p ∂ ft ∂ µ j
= (C.11)
∂ si j ∂ y p ∂ ft ∂ µ j ∂ si j
∂y ∂ ft
Again the plant sensitivity measure is assumed ∂ fpt = 1. ∂∂yTp and ∂ µ j are calculated already
in (C.5)and (C.6) !
∂ µj m
∂
= ∏ Ai j
∂ si j ∂ si j j=1
x −p 2 " 2 !#
m
xi − pi j
∂ µj − is ij ∂
= e ij −
∂ si j ∏j=1 ∂ si j si j
68
m
2
= ∏ Ai j
∂ si j j=1 s2i j
2
= µj (C.12)
∂ si j s3i j
Using (C.5),(C.6),(C.12)in (C.11)
2
∂T q j − ft 2 xi − pi j
= (−e + h̄ ft ) m µj (C.13)
∂ si j ∑ j=1 µ j s3i j
using (C.13)in (C.10)
2
2 xi − pi j
µj
si j (n + 1) = si j (n) − α (−e + h̄ ft ) q j − ft m (C.14)
∑ j=1 µ j s3i j
Parameters update equations for consequent part
In order to update the parameters of the consequent Ci j the coefficient of linear polyno-
mial update law C.1 can be redefined as
∂T
Ci j (n + 1) = Ci j (n) − α (C.15)
∂Ci j
∂T
The gradient ∂Ci j is calculated using chain rule
∂T ∂ T ∂ y p ∂ ft
= (C.16)
∂Ci j ∂ y p ∂ ft ∂Ci j
∂y
Again the plant sensitivity measure is assumed ∂ fpt = 1. ∂∂yTp is calculated already in (C.5).
" m #
∂ ft ∂ ∑ j=1 µ j q j
=
∂Ci j ∂Ci j ∑mj=1 µ j
n,m
qj = ∑ Ci j xi
i=0, j=1
n,m
∂ ft µj ∂
= m ∑ Ci j xi
∂Ci j ∑ j=1 µ j ∂Ci j i=0, j=1
∂ ft µ j xi
= m (C.17)
∂Ci j ∑ j=1 µ j
69
Using (C.5)and (C.17)in (C.16)
∂T µ j xi
= (−e + h̄ ft ) m (C.18)
∂Ci j ∑ j=1 µ j
using (C.18)in (C.15)
µ j xi
Ci j (n + 1) = Ci j (n) − α (−e + h̄ ft ) m (C.19)
∑ j=1 µ j
C.2 Adaptation Mechanism 2

The general update rule for ANFWC parameters based on error back propagation with
gradient decent method is stated below
∂E
ρ (n + 1) = ρ(n) − Γ (C.20)
∂ρ
where φ is the vector for update parameters [hi j σi j ω j ai j bi j ].Where hi j and σi j are the up-
date parameters for Gaussian membership function at antecedent part, whereas ai j ,bi j and
ω j is the update parameters for maxican hat at consequent part. The cost function for
ANFTWC is given as
1 1
E = e2 + h̄ fw2 (C.21)
2 2
re f
Where fw is the output of the ANFWC and e = Wcmp − Wcmp or difference between de-
sired and present of the plant. h̄is a gain factor. For simplification the e = yd − y p , yd is
the desired output of the plant while y p is the present output of the plant. The output of
the ANFWC is
∑mj=1 υ j y j
fw = m
∑ j=1 υ j
y j = ω j Ψ j (z) (C.22)
k − z2il
− 12 2
Ψ j (z) = ∑ |a il | 1 − zil e
2
j=1
xi − bi j
zi j =
ai j
70
Parameters update equations for antecedent part
As the antecedent part for ANFTSKC and ANFWC has the same antecedent structure,
so the update equation will remain the same as of equations (C.9)and (C.14).
Parameters update equations for consequent part
In order to update the parameters of the consequent ω j the weight of the WNN the
update law (C.20) can be redefined as
∂E
ω j (n + 1) = ω j (n) − Γ (C.23)
∂ωj
The gradient ∂∂ωEj can be calculated using the chain rule
∂E ∂ E ∂ fw ∂ y j
= (C.24)
∂ ω j ∂ fw ∂ y j ∂ ω j
∂E
= (−e + h̄ fw ) (C.25)
∂ fwp
" m #
∂ fw ∂ ∑ j=1 υ j y j
=
∂yj ∂ y j ∑mj=1 υ j
∂ fw υj
= m (C.26)
∂yj ∑ j=1 υ j
∂yj ∂
= ω j Ψ j (z)
∂ωj ∂ωj
∂yj
= Ψ j (z) (C.27)
∂ωj
Using (C.25) ,(C.26) and (C.27)in (C.24)
∂E υj
= (−e + h̄ fw ) m Ψ j (z) (C.28)
∂ωj ∑ j=1 υ j
Using (C.28)in (C.23)we have
υj
ω j (n + 1) = ω j (n) − Γ (−e + h̄ fw ) m Ψ j (z) (C.29)
∑ j=1 υ j
71
In order to update the translation parameterbi j of the wavelet of the WNN of the conse-
quent part the update law (C.20) can be redefined as
∂E
bi j (n + 1) = bI j (n) − Γ (C.30)
∂ bi j
The gradient ∂∂bEi j can be calculated using the chain rule
∂E ∂ E ∂ fw ∂ y j ∂ Ψ j ∂ zi j
= (C.31)
∂ bi j ∂ fw ∂ y j ∂ Ψ j ∂ zi j ∂ bi j
∂E ∂ fw
∂ fw and ∂ y j are already calculated in (C.25)and (C.26)
∂yj ∂
= ω j Ψ j (z)
∂Ψj ∂Ψj
∂yj
= ωj (C.32)
∂Ψj
− z2il

∂Ψj ∂ − 12 2
= |ail | 1 − zil e 2
∂ zi j ∂ zi j
∂ − z2il ∂ 2 − z2il

∂Ψj − 12
= |ail | e 2 − z e 2
∂ zi j ∂ zi j ∂ zi j il
z2 z2 z2

∂Ψj − 12 − 2il 3 − 2il − 2il
= |ail | −zi j e + zil e − 2zi j e
∂ zi j
∂Ψj − 21
3
− z2il
= |ail | −zi j + zil − 2zi j e 2
∂ zi j
∂Ψj 1 z2il
= |ail |− 2 −3zi j + z3il e− 2 (C.33)
∂ zi j

∂ zil ∂ xi − bi j
=
∂ bi j ∂ bi j ai j
∂ zil 1
=− (C.34)
∂ bi j ai j
Using (C.25),(C.26),(C.32),(C.33),(C.34)in (C.31)
z2

∂E υj − 12
3 − 2il 1
= (−e + h̄ fw ) m ω j |ail | −3zi j + zil e −
∂ bi j ∑ j=1 υ j ai j
72
z2il
3zi j − z3il e− 2

∂E υj
= (−e + h̄ fw ) m ωj q (C.35)
∂ bi j ∑ j=1 υ j a3i j
Using (C.35)in (C.30)
z2il
3zi j − z3il e− 2

υj
bi j (n + 1) = bI j (n) − Γ (−e + h̄ fw ) m ωj q (C.36)
∑ j=1 υ j a3i j
In order to update the dilation parameterai j of the wavelet of the WNN of the consequent
part the update law (C.20) can be redefined as
∂E
ai j (n + 1) = aI j (n) − Γ (C.37)
∂ ai j
The gradient ∂∂aEi j can be calculated using the chain rule

∂E ∂ E ∂ f w ∂ y j ∂ Ψ j ∂ Ψ j ∂ zi j
= + (C.38)
∂ ai j ∂ fw ∂ y j ∂ Ψ j ∂ zi j ∂ ai j ∂ ai j
∂ E ∂ fw ∂ y j ∂Ψj
∂ fw , ∂ y j , ∂ Ψ j and ∂ zi j are already calculated in (C.25)(C.26),(C.32)and (C.33)
− z2il

∂Ψj ∂ − 12 2
= |ail | 1 − zil e 2
∂ ai j ∂ ai j
∂Ψj 1 3 z2il
= − |ail |− 2 1 − z2il e− 2
∂ ai j 2
∂Ψj 3 z2il
= −|ail |− 2 0.5 − 0.5z2il e− 2 (C.39)
∂ ai j

∂ zi j ∂ xi − bi j
=
∂ ai j ∂ ai j ai j
∂ zi j xi − bi j
=− 2 (C.40)
∂ ai j ai j
Using (C.25)(C.26),(C.32),(C.33)(C.39)and (C.40)in (C.39)

!
z2il z2il

∂E υj 1 3 xi − b ij
ω j |ail |− 2 −3zi j + z3il e− 2 − |ail |− 2 0.5 − 0.5z2il e− 2

= (−e + h̄ fw ) m − 2
∂ ai j υ
∑ j=1 j a ij
73
i − z2il

∂E υj h
− 12
3
− 32 2 1
= (−e + h̄ fw ) m ω j |ail | −3zi j + zil − |ail | 0.5 − 0.5zil e 2 −zi j
∂ ai j ∑ j=1 υ j ai j
h i z2
il
∂E υj 3.5zi j − zi j − 0.5 e− 2
2 4
= (−e + h̄ fw ) m ωj q (C.41)
∂ ai j ∑ j=1 υ j a3i j
Using (C.41)in (C.37)
h i z2
3.5z 2 − z4 − 0.5 e− 2il
υj ij ij
ai j (n + 1) = aI j (n) − Γ (−e + h̄ fw ) m ωj q (C.42)
∑ j=1 υ j a3i j
74
Appendix D
Update parameters
D.1 ANFTSKC update parameters
0.1 p 11
p 12
p 21
Antecedent Parameters
0.08
p 22
s11
0.06 s12
s21
s22
0.04
0.02
0 5 10 15 20 25 30
time (s)
Figure D.1: Antecedent part parameters ANFTSKC
For antecedent part there are 8 update parameters for 4 membership functions. There are
two rules and each rules has 2 membership functions with 4 update parameters. In Fig-
ure D.1 the update parameters [p11 s11 p12 s12 ] corresponds to rule 1 while [p21 s21 p22 s22 ]
corresponds to rule 2.
75
C01
0.08
C11
C21
Consequent Parameters
0.06
C02
C12
0.04
C22
0.02
-0.02
0 5 10 15 20 25 30
time (s)
Figure D.2: Consequent part parameters ANFTSKC
For consequent part there are 6 update parameters for linear polynomial. In Figure
D.2 the parameters [C01 C11 C21 ]corresponds to weight of rule 1, and [C02 C12 C22 ]corresponds
to weight of rule 2.
D.2 ANFWC update parameters

The update parameters for antecedent part of ANFWC is same as the ANFTSKC. The
only change is that in update parameters is the change of variable names. The update
parameters are given in Figure D.3.
76
0.1015
h 11
h 12
0.101
h 21
Antecedent parameters h 22
0.1005
11
12
0.1
21
22
0.0995
0.099
0.0985
0 5 10 15 20 25 30
time (s)
Figure D.3: Antecedent part parameters ANFWC
For consequent part the weights are updated using WNN, where Mexican hat is used
as wavelet function. Each WNN has two wavelet functions for two inputs and every
wavelet function has two update parameters. The parameters [a11 b11 a12 b12 ] are the
update parameters for WNN of rule 1, while [a21 b21 a22 b22 ] are the update parameters
for WNN of rule 2. w1and w2 are the weights of WNN of rule 1 and 2 respectively.
a 11
0.1
a 12
0.09 a 21
Consequent Parameters
0.08 a 22
b 11
0.07
b 12
0.06 b 21
0.05 b 22
w1
0.04 w2
0.03
0.02
0 5 10 15 20 25 30
time (s)
Figure D.4: Consequent part parameters ANFWC
77
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83

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Intelligent Adaptive Control for PEMFC

COMSATS Institute of Information Technology

COMSATS Institute of Information Technology, Islamabad

A Graduate Thesis submitted to Department of Electrical Engineering as

Name Registration Number

Zafar Iqbal CIIT/FA15-REE-026/ISB

Dr. Rabiah Badar,

Intelligent Adaptive Control for PEMFC

Mr. Zafar Iqbal

has been approved

for the COMSATS Institute of Information Technology, Islamabad

External Examiner: __________________________________

Dr. Tahir Mahmood

Dr. Rabiah Badar

Head of Department: ________________________________

Dr. M. Junaid Mughal

I Zafar Iqbal, CIIT/FA15-REE 026/ISB hereby declare that I have produced

Signature of the Student

Their prayers and support have helped me to

Intelligent Adaptive Control for PEMFC

Keywords: Fuel cell, PEMFC, OER, ANFIS, ANFTSKC, ANFWC,

1.1 Introduction ........................................................................................... 2

1.2 Fuel Cell Technology ........................................................................... 2

1.2.1 Alkaline fuel cell ...................................................................... 2

1.2.2 Molten Carbonate Fuel Cell ..................................................... 3

1.2.3 Direct Methanol Fuel Cell ........................................................ 3

1.2.4 Phosphoric Acid Fuel Cells ...................................................... 4

1.2.5 Solid Oxide Fuel Cell ............................................................... 4

1.2.6 Proton Exchange Membrane Fuel Cell ..................................... 4

1.3 Working Principle of PEMFC ............................................................ 5

1.4 Soft Computing .................................................................................. 6

1.4.1 Fuzzy Logic ........................................................................... 6

1.4.2 Artificial Neural Networks .................................................... 8

1.4.3 Wavelet Neural Network ....................................................... 8

1.4.4 Error Back Propagation ........................................................ 9

1.5 Literature Review ............................................................................. 10

1.6 Problem Statement ........................................................................... 12

1.7 Thesis Outline .................................................................................. 12

2 Mathematical Modeling of PEMFC ......................................................... 13

2.1 Modeling of PEM Fuel Cell: Auxiliary Components ...................... 14

2.1.1 Compressor Model ............................................................. 14

2.1.2 Lumped Model for Supply manifold ................................. 15

2.1.3 Lumped Model for Return manifold ................................. 15

2.2 Modeling of PEM Fuel Cell: Fuel Cell Stack .................................. 16

2.2.2 Modeling of Anode Channel ............................................. 17

2.3 Calculating the W v,memb .................................................................... 17

2.3.1 Stack Voltage Model ......................................................... 19

2.4 Defining the State Space Variables .................................................. 22

2.5 Dynamic Analysis ............................................................................ 24

2.6 Conclusion ....................................................................................... 27

3.1 Close Loop structure ........................................................................ 29

3.2 Adaptive Neuro Fuzzy System ........................................................ 29

3.3 Adaptive Neuro Fuzzy control ......................................................... 30

3.5 Conclusion ....................................................................................... 33

4 Simulation Results and Discussion ........................................................... 34

4.1 Introduction ...................................................................................... 35

4.2 Simulation of PEMFC ...................................................................... 35

4.3 Simulation Results ........................................................................... 36

4.4 Performance Indices ......................................................................... 39

4.5 Quantitative Analysis ....................................................................... 41

4.6 Conclusion ....................................................................................... 42

5 Conclusion and Future Framework ......................................................... 43

5.1 Conclusion ....................................................................................... 44