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DOE OSTI2024

Wide Bandgap Generation (WBGen): Developing the Future Wide Bandgap Power Electronics Engineering Workforce

This Final Technical Report (FTR) summarizes the work conducted at the Center for Power Electronics Systems (CPES) under the Wide-Bandgap Generation (WBGen) fellowship and traineeship program established by the Advanced Manufacturing and Technologies Office (AMMTO) of the U.S. Department of Energy Office of Energy Efficiency and Renewable Energy (EERE) at Virginia Tech, which had as main objective to train the next generation of U.S. citizen power engineers with wide-bandgap (WBG) power semiconductor expertise, with the intent to aid in fulfilling the future workforce needs in this field. The latter was deemed of strategic importance given the fast-paced growth observed—and predicted—in the demand of this technical expertise, whose practitioners have become the enablers and executioners of the electrification transformation process that not just the U.S., but the whole world, is currently undergoing as it seeks for more effective and efficient ways to use energy. As such, the WBGen program set forth to achieve its educational goals, which in addition sought to broaden the range of WBG-based power electronics by conducting research and development on high-efficiency grid apparatus and high-efficiency electrical power systems, and to also enhance the power engineering curriculum by formalizing WBG-oriented design procedures replacing existent yet now obsolete design procedures developed for Silicon (Si) based power electronics. This effort led CPES to spearhead the development of a new major within The Bradley Electrical and Computer Engineering (ECE) Department at Virginia Tech, namely Electronic Power and Energy Systems (EPES), which coalesced power electronics and power systems courses to provide undergraduate students with a strong formation in the power engineering field, while creating a pipeline of graduate students that could pursue the WBG-based curriculum and conduct research at CPES. In all, in what is considered a true success, eight of the twenty WBGen fellows that graduated program were recruited from the ECE department undergraduate cohort. The traineeship emphasized as well, from its beginning, the partnership with industry and national laboratories, which took advantage of the successful industry consortium at CPES that has historically been formed by 80–90 power and energy companies working in close collaboration with the center. This gave WBGen fellows the accessibility and possibility to conduct internships at partner facilities during the summer months, focused solely on the evaluation, testing, and adoption of WBG devices, which were many times tightly related to their respective research work and plans. In addition, WBGen fellows conducted their main research work within the confines of research programs at CPES conducted with these industry partners, providing them with a unique opportunity to develop not just their technical expertise—while advancing their knowledge, but to also learn and practice a slew of skills needed for their professional growth. As such, the fellows tackled a variety of WBG-related research topics, from device reliability and capability aspects as well as packaging and integration, encompassing the use of advanced materials and new structures, current sharing challenges, and insulation systems, to advanced gate-drivers with integrated sensors and protection mechanisms and active current- and voltage-based control, to optimized layouts seeking to maximize the switching and power processing performance of these devices, to power processing solutions adopting Gallium-Nitride (GaN) and Silicon-Carbide (SiC) power semiconductors for a variety of applications; including radiation-hardened converters for space dc distribution systems, direct three-phase ac-to-ac power converters for aerospace systems, dc-ac inverters for automotive traction drives, high-frequency isolated dc-dc battery chargers also for heavy transportation systems, and medium-voltage dc-dc and dc-ac converters for distribution systems and future power grids. The WBGen program ultimately graduated a total of 20 power engineers, all experts on WBG-based power electronics, awarding 18 M.S. and 2 PhD degrees in the process. These fellows, all U.S. citizens, allowed CPES to increase the number of citizens students to 33 % at the peak of the program, as the traineeship made possible the recruitment of talent with more attractive graduate research assistantship (GRA) contracts. Unfortunately, the present U.S. citizen enrollment at CPES has declined back to historic levels—approximately 10 %, as the regular GRA rates are not competitive enough when compared with entry-level industry jobs. In all, WBGen fellows published a total of 7 peer-reviewed journal articles, 44 papers at international technical conferences, made 42 presentations at international technical conferences, and filed 4 invention disclosures and patent applications, which have since then been granted by the U.S. Patent and Trademark Office (USPTO). Their contribution to CPES, Virginia Tech, the United States, and the world, has been significant, and continues to yield results thanks to the exemplary career that the fellows have initiated at many of the partners of the program, which include Wolfspeed, Raytheon Technologies, Infineon, Lockheed Martin, Dominion Energy, Northrop Grumman, Rivian, Aerospace Corporation, Sandia National Laboratory, National Renewable Energy Laboratory, John Hopkins University, and Virginia Tech.

14 SOLAR ENERGY↗

DOE OSTI2021

Achieving 5,000-h and 8,000-h Low-PGM Electrode Durability on Automotive Drive Cycles

Whereas total Pt loading in anode and cathode catalysts below 0.125 mg cm −2 is required to meet the stringent cost target for automotive fuel cell systems (FCS) for light duty vehicles, low-loaded cathode catalysts are susceptible to unacceptable aging-related performance losses at high current densities. A framework model, validated by accelerated stress test data, has identified cell voltage, relative humidity (RH) and temperature as the key operating variables that affect degradation of a high-activity d-PtCo/C cathode catalyst with 0.1 mg cm −2 Pt loading. Drive cycle simulations indicate that these can be controlled by properly selecting the minimum FCS power, compressor-expander module (CEM) turndown, and stack coolant temperature. The optimum system parameters are 4-kW e minimum power for an 80-kW e FCS, CEM turndown of 12.5, and 66 °C average coolant exit temperature that combine to limit the maximum cell voltage to 850 mV and outlet RH to 90%–100%. Depending on Pt loading, the mismatch between actual and allowable degradation for 10% power loss over 5,000-h lifetime requires the stack to be oversized by 2.4%–5%, resulting in 8.4%–41% lower Pt utilization and 7.1%–20.5% penalty in stack cost. The corresponding results for 8,000-h lifetime are 10.3%-14% stack oversizing, 23%–51.8% lower Pt utilization, and 24.1%–35.4% stack cost penalty.

08 HYDROGEN↗

DOE OSTI2023

Transactive Energy System Deployment Over Insecure Communication Links

Here, in this paper, the privacy and security issues associated with the transactive energy system (TES) deployment over insecure communication links are addressed. In particular, it is ensured that 1) individual agents’ bidding information is kept private throughout hierarchical market-based interactions; and 2) any extraneous data injection attack can be quickly and easily detected. An implementation framework is proposed to enable the cryptography-based enhancement of privacy and security for the deployment of any general hierarchical systems including TESs. Under the proposed framework, a unified cryptography-based approach is developed to achieve both privacy and security simultaneously. Specifically, privacy preservation is realized by an enhanced Paillier encryption scheme, where a block design is proposed to significantly improve computational efficiency. Attack detection is further achieved by an enhanced Paillier digital signature scheme, where a stamp-concatenation mechanism is proposed to enable detection of data replace and reorder attacks. Simulation results verify the effectiveness of the proposed cyber-resilient design for transactive energy systems. Note to Practitioners—This paper is motivated by addressing the issues of cyber resiliency for practically deploying transactive energy system (TES) but it is also applicable to the problem of enhancing the privacy and security for any general hierarchical control systems. TES is an emerging control approach that engages energy suppliers and customers through market operations and uses the price to optimally allocate energy resources. While it has been shown to be promising for power system applications, the underlying market-based interactions raise significant concerns of privacy (data leakage) and security (data tampering). However, existing TES works only focus on the coordination mechanism instead of privacy and security issues. This paper proposes a new cryptography-based TES design for practical deployment. Specifically, to protect privacy, individual supply and demand amounts to be exchanged are all encrypted in a particular way such that the original amounts cannot be inferred from the encrypted amounts, while the desired computation for setting the market clearing price can be carried out over the encrypted amounts, thus generating an encrypted result which, when decrypted, matches that of the same computation over the original amounts. To achieve security, for each exchanged data, its sender generates a particular digital signature which is exchanged together with the data. This enables the receiver to automatically detect the integrity by checking whether a mathematical relationship holds for the pair of data and signature. In our future research, we will investigate more challenging scenarios where some suppliers and customers themselves could be corrupted and purposely submit distorted amounts.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2022

A Self-Organizing Nano Grid (SONG) for Energy Access Clusters

In this paper, a bottom-up dc Self-Organizing Nano Grid (SONG) for rural electrification at ultra-low-cost through a flexible and scalable topology is presented. The proposed nano grid requires no communication and uses dc-bus signaling to convey excess energy in the system through the bus voltage, allowing independent agents to conduct energy transactions based on their needs in a decentralized manner. Moreover, this article proposes a concept that uses a novel multi-source, multi-segment droop control strategy with demand coordination, allowing for dynamic self-balancing of the system under fluctuating operating conditions. The unique use of a surplus photovoltaic (PV) power droop mode precisely estimates energy availability to minimize load chattering that helps in stabilizing the dc-bus. In addition, this architecture uses standard dc/dc converters for a low-cost, modular, Plug and Play ( PnP ) solution with highly automated operation, enabling local assembly, operation, and maintenance by non-technical personnel. The proposed SONG concept was validated in simulation and with a 700W, laboratory-scale, custom made nano grid system. The simulation and experimental test cases show the feasibility of the SONG system by demonstrating the proposed multi-source, multi-segment droop control strategy without load chattering under varying operating conditions.

dc-dc converter↗

DOE OSTI2024

Wideband Impedance Passivation of MMCs for Suppressing Harmonic Oscillations

Harmonic instability and associated oscillation events have become one of the main concerns in MMC-based HVdc systems. These oscillations can appear in the range from a few hundred hertz to several kilohertz, and the root cause is identified as delay-induced negative damping of MMC impedance appearing at the system resonance frequency. Here, this paper introduces a wideband impedance reshaping method through MMC control to eliminate such negative damping for both grid-following (GFL) and grid-forming (GFM) MMCs, which makes the MMC impedance completely passive from the second harmonic frequency upward, thus preventing all harmonic oscillations. First, simplified impedance models of MMCs are derived for the harmonic stability analysis and the impedance reshaping control design. Next, a passivity-based impedance reshaping method is presented, as well as practical considerations for its implementation. In addition, to maintain the MMC's disturbance ride-through capability, an adaptive activation scheme is developed, which enables the wideband impedance reshaping control only in the presence of harmonic oscillation events. The effectiveness of the proposed method is validated by frequency domain analysis and by electromagnetic transient (EMT) simulations of two typical MMC-based power systems.

17 WIND ENERGY↗

DOE OSTI2022

Pulsed power to control growth of silicon nanoparticles in low temperature flowing plasmas

Low-temperature plasmas have seen increasing use for synthesizing high-quality, mono-disperse nanoparticles (NPs). Recent work has highlighted that an important process in NP growth in plasmas is particle trapping—small, negatively charged nanoparticles become trapped by the positive electrostatic potential in the plasma, even if only momentarily charged. In this article, results are discussed from a computational investigation into how pulsing the power applied to an inductively coupled plasma (ICP) reactor may be used for controlling the size of NPs synthesized in the plasma. The model system is an ICP at 1 Torr to grow silicon NPs from an Ar/SiH 4 gas mixture. This system was simulated using a two-dimensional plasma hydrodynamics model coupled to a three-dimensional kinetic NP growth and trajectory tracking model. The effects of pulse frequency and pulse duty cycle are discussed. We identified separate regimes of pulsing where particles become trapped for one pulsed cycle, a few cycles, and many cycles—each having noticeable effects on particle size distributions. For the same average power, pulsing can produce a stronger trapping potential for particles when compared to continuous wave power, potentially increasing particle mono-dispersity. Pulsing may also offer a larger degree of control over particle size for the same average power. Experimental confirmation of predicted trends is discussed.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2020

Optimal charging scheduling and management for a fast-charging battery electric bus system

Herein we discuss how battery electric buses (BEBs) are rapidly being embraced by public transit agencies because of their environmental and economic benefits. To address the problems of limited driving range and time-consuming charging for BEBs, manufacturers have developed rapid on-route charging technology that utilizes typical layovers at terminals to charge buses in operation using high power. With on-route fast-charging, BEBs are as capable as their diesel counterparts in terms of range and operating time. However, on-route fast-charging makes it more challenging to schedule and manage charging events for a BEB system. First, on-route fast-charging may lead to high electricity power demand charges. Second, it may increase electricity energy charges because of charging that occurs during on-peak hours. Without careful charging scheduling and management, on-route fast-charging may significantly increase fuel costs and reduce the economic attractiveness of BEBs. The present study proposes a network modeling framework to optimize the charging scheduling and management for a fast-charging BEB system, effectively minimizing total charging costs. The charging schedule determines when to charge a BEB, while the charging management strategically controls the actual charging power. Charging costs include both electricity demand charges and energy charges. The charging scheduling and management problem is first formulated as a nonlinear nonconvex program with time-continuous variables. A discretizing method and a linear reformulation technique are then adopted to reformulate the model as a linear program, which can be easily solved using off-the-shelf solvers, even for large-scale problems. Finally, the model is demonstrated with extensive numerical studies based on two real-world bus networks. The results demonstrate that the proposed model can effectively determine the optimal charging scheduling and management for a fast-charging BEB system, which carries the potential for use in large-scale real-world bus networks.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

DOE OSTI2022

A reinforcement learning approach to long-horizon operations, health, and maintenance supervisory control of advanced energy systems

In this work, we develop a Reinforcement Learning (RL) approach to the supervisory control problem for advanced energy systems, such as novel nuclear reactors and other demand-driven, mission-critical, and component-health-sensitive energy plants. The inclusive problem landscape considered captures the stochastic confluence of plant performance, component health evolution, power demand from the grid, diverse maintenance actions, and operator-defined goals and constraints, all considered over meaningfully long-enough reasoning horizons. Key aspects of the proposed approach are a receding horizon control-inspired technique dictating time- or event-triggered supervisory policy (re-)constructions, as well as additional capability-enabling contributions such as timescale compression, to handle long reasoning horizons and uncertainty in parts of the problem, and practical yet demonstrably-effective handling of hybrid action spaces with continuous and discrete decision variables. The resulting algorithm consists of a simulation-based RL agent constructing stochastic supervisory control policies over nontrivial action spaces and for long horizons, applying the learned policy to the system for a much shorter interval, and perpetually repeating, to construct the next long-horizon policy. That next policy will only be applied, again, for a short interval, yet originally far-in-time events move progressively closer, their associated uncertainty decreases, and new events and aspects enter the reasoning horizon. The proposed methodology bridges fundamental receding horizon concepts with the unequivocally stronger and more scalable reasoning of contemporary RL. Numerical examples using Soft Actor–Critic Deep RL illustrate the operation and efficacy of the proposed technique for a power plant tasked with health-aware load following missions in a dynamic electricity market landscape.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2024

Cybersecurity Considerations and Research Pathways for Grid-Interactive Efficient Buildings

Federal facilities serve critical missions and functions that require safe, reliable, and efficient operations. Digitization of several facility operations has increased the cost-effectiveness of energy usage and optimization of energy system performance. As the building controls landscape shifts to become more connected and smarter, building operators now face unique opportunities and challenges to adopt smart enabled devices that can lower energy usage while also optimizing building system performance. The grid-interactive efficient buildings (GEB) initiative aims to make buildings cleaner and more flexible through these smart devices. Smart enabled devices allow greater connectivity and control through remote operations and provide crucial data for analytics and increased efficiency. GEBs enable demand flexibility that has the potential to reduce electrical costs and transform the grid edge where buildings connect to power grids. This operation of interconnected systems, if not designed with cybersecurity practices, causes security gaps and introduces potential attack paths by adversarial and non-adversarial entities leading to disruption of operations.

building controls↗

DOE OSTI2020

Energy Paths for the Yurok People

This Yurok Tribe energy strategic planning study examined electricity usage, costs and infrastructure, as well as electricity needs on the Reservation. It also assessed the Tribe’s energy resources. Equipped with this information, the project team conducted an energy options analysis that examined different project opportunities and identified key projects that are both feasible to implement and will help the Tribe reach its stated Energy Vision. A key finding of the energy needs assessment is that there are still numerous households that are without grid electric power, and it is likely that most of them will remain disconnected from the grid because of their remoteness. To provide these community members with reliable, affordable, modern energy services their homes will need to be electrified via a robust off-grid energy services program that installs and maintains off-grid energy systems. This is the key need that is explored and addressed in this plan. The approach taken is to establish a new business entity, a Tribal Energy Authority or Utility, that will operate a Tribal Energy Program. The Energy Strategic Plan identifies a number of potential funding sources that could be used to support both the On-grid and Off-grid Energy Programs. This plan also promotes continued efforts to reduce electricity consumption through the implementation of energy efficiency measures in existing facilities and the enforcement of a strong energy-efficient building code for all new construction on the Reservation. Finally, the plan promotes added resilience at critical Tribal facilities on the Reservation by recommending that battery energy storage systems and microgrid controls be coupled with rooftop solar PV systems to create cutting edge microgrid facilities that can provide critical power services to Tribal facilities when the main electric grid is shutdown.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

DOE OSTI2025

Facets of hydro power and future trends in a Nordic Context

Hydropower technologies bolster high penetration of variable renewable energies (VREs) in the net zero emissions scenarios. Nevertheless, there are various challenges to meeting the ambitious goal, such as stability, reliability, resiliency, security, lack of reactive power, voltage support and inertia, large-scale storage deployment and coordination, interconnectedness, demand-side response, higher thermal cycles with increased start/stops, and inadequate Levelized Cost of Energy (LCOE) for system-wise VRE integration and profitability. This survey conducts a bottom-up analysis to unveil the opportunities to utilize hydropower facilities and disentangle the nested problem for intertwining design features, control algorithms, operation, optimization approaches, incentives, services, and market mechanisms using a three-pillar framework perspective: grid owners, power producers, and machine designers. The survey identified emerging trends in real-time and capacity markets, flexible power systems, and enhanced grid capabilities, including advanced voltage support and updated grid codes. These developments present significant opportunities for hydropower, such as achieving super-flexibility through hybridization, expanded reactive power capabilities, and advanced operational modes like a synchronous condenser and power adequator functionalities. These opportunities require novel design philosophies — including new winding, stator, and rotor configurations, optimized ventilation, and active cooling systems — to enhance performance under stressed grid and climate conditions. Finally, integrating climate and energy models for multi-basin optimization with finer spatial and temporal granularity enhances the planning accuracy for water management of hydropower while addressing environmental challenges. The review delivers helpful prospective suggestions and tools that would serve researchers, power engineers, and stakeholders in making decisions about hydropower technologies and services in 2050 and beyond.

13 HYDRO ENERGY↗

DOE OSTI2022

Cooperative fault management for resilient integration of renewable energy

Cooperative fault management (CFM) is designed herein to control different types of renewable energy resources cooperatively during electrical faults. This paper studies systems with a high penetration of photovoltaic (PV) energy and wind energy. First, CFM leverages power converters of PV farms to boost the ride-through capability of nearby doubly-fed induction generators (DFIGs). By controlling PV farms’ output voltages to change smoothly during both fault initiation and fault clearance, the widely used crowbar in DFIGs is less likely to be activated. Crowbar activation adversely makes DFIGs lose controllability and absorb reactive power. The second contribution is the development of a software-defined CFM controller and a controller in-the-loop demonstration of the real-time performance of this optimization-based CFM. CFM capitalizes on distributed optimization formulation to enable flexibility, plug-and-play, and privacy-preserving. Computation time, however, is a major concern for optimization-based dynamics control. Here, real-time controller-in-the-loop simulation results show optimization-based CFM can output reference values around 60 ms and is quick enough for dynamic control.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

DOE OSTI2021

On Distributed Model-Free Reinforcement Learning Control with Stability Guarantee

Distributed learning can enable scalable and effective decision making in numerous complex cyber-physical systems such as smart transportation, robotics swarm, power systems, etc. However, the stability of the system is usually not guaranteed in most existing learning paradigms; and this limitation can hinder the wide deployment of machine learning in decision making of safety-critical systems. This paper presents a stability guaranteed distributed reinforcement learning (SGDRL) framework for interconnected linear subsystems, without knowing the subsystem models. While the learning process requires data from a peer-to-peer (p2p) communication architecture, the control implementation of each subsystem is only based on its local state. The stability of the interconnected subsystems will be ensured by a diagonally dominant eigenvalue condition, which will then be used in a model-free RL algorithm to learn the feedback control gains. The RL algorithm structure follows an off-policy iterative framework, with interleaved policy evaluation and policy update steps. We numerically validate our theoretical results by performing simulations on four interconnected sub-systems.

Mukherjee, Sayak↗

DOE OSTI2025

TEAMER Technical Support for Optimal Control of an Oscillating Surge Wave Energy Converter (CRADA Final Report)

This project will focus on running experiments that evaluate the benefits of using model predictive control (MPC) to optimize power absorbed by a laboratory-scale oscillating surge wave energy converter (OSWEC). MPC is a promising technique to optimize wave energy converter (WEC) behavior while applying system constraints that can help promote structural integrity and device survivability, but there are few studies that experimentally test this control scheme on WECs. Therefore, the Participant is proposing a series of tests that will assess the benefits of MPC experimentally in response to a variety of sea states. For these tests, the Participant will provide the OSWEC device and Data Acquisition (DAQ) system, and request support from the Contractor to use and operate the wave tank for experiments.

16 TIDAL AND WAVE POWER↗

DOE OSTI2023

Evaluation of Communication Issues in Primal-Dual-Based Distributed Energy Resource Management Systems (DERMS)

With the increasing adoption of distributed energy resources (DERs) in distribution networks, DERMS is becoming an attractive option to coordinate the control of DERs, especially primal-dual-based DERMS which is a well-developed class of them. In order to help lower the uncertainty in commercializing them, we evaluate and find the upper limits of severity for some common issues that can occur within the communication systems on which a primal-dual-based DERMS relies on; these include packet losses, link failures, and delays. This information can help a DERMS operator decide on the specifications for the communication infrastructure it will invest in for the DERMS. Our evaluation is based on numerical simulations of a real-world feeder with around 2,000 nodes and a DERMS that controls 163 PV generators and 140 energy storage batteries. In general, we found that the DERMS becomes less resistant to communication issues as the information flows closer to the DERs implementing the controllable power injections.

communication delay↗

DOE OSTI2023

Evaluation of Communication Issues in Primal-Dual-Based Distributed Energy Resource Management Systems (DERMS): Preprint

communication delay↗

DOE OSTI2023

Design of a Two-Body Wave Energy Converter Featuring Controllable Geometry

While the field of wave energy has been the subject of numerical simulation, scale model testing, and precommercial project testing for decades, wave energy technologies remain in the early stages of development and must continue to prove themselves as a promising modern renewable energy field. A wave energy converter (WEC) concept currently being explored is the variable-geometry WEC (VGWEC), which aims to add an extra control option to WEC design. VGWECs attempt to incorporate controllable geometric features to adjust the floating body hydrodynamics to favor either power absorption, load shedding, or other operational goals. These variable geometry components have been proposed to be controlled on a sea-state-to-sea-state or wave-to-wave time scale depending on the force (or torque) and bandwidth limitations of the actuators required to manipulate just the controllable geometric hull features. Having control over both the WEC geometry components and the power takeoff (PTO) offers the potential to improve overall system performance and reliability if a cost-effective solution can be found for a given WEC architecture. This paper will present the recent developments and results of a VGWEC concept that incorporates variable-geometry modules into a two-body WEC. In the proposed VGWEC concept, the variable-geometry modules consist of air-inflatable bags in the surface float and a water inflatable ring in the subsurface body. The surface float is tethered directly to the subsurface body through tether lines, each connected to a separate PTO. Adjusting the geometry of both the surface and subsurface bodies along with the PTO coefficients can maximize power in design sea states while reducing motion response and PTO forces when transitioning to sea states where rated power is reached and load shedding is prioritized. The ability to transition between operating condition is expected to increase the sea state operational map and power capacity.

geometry control↗

DOE OSTI2022

Load Mitigating Feedback Control of WECs

This report outlines the development of load-mitigating feedback control for wave energy converters. A simple, self-tuning multi-objective controller is demonstrated in simulation for a 3-DOF (surge, heave, pitch) point absorber. In previous work, the proposed control architecture has been shown to be effective in experiment for a variety of device archetypes for the single objective of the maximization of electrical power capture: here this architecture is extended to reduce device loading as well. In particular, PTO actuation forces and the minimization of fatigue damage (determined from the sum of wave-exerted and PTO forces) are considered as additional objectives for the self-tuning controller. This controller is demonstrated for two similar, but distinct systems: one described by the identified linear models from physical testing of the WaveBot device, and another based upon a WEC-Sim simulation that expands upon boundary element method data from the WaveBot device. In both cases, because the power surface is consistently fairly flat in the vicinity of control parameters that maximize power capture in contrasting sea-states, it is found to be generally possible to mitigate either fatigue damage or PTO load. However, PTO load is found to conflict with fatigue damage in some sea-states, limiting the efficacy of control objectives that attempt to mitigate both simultaneously. Additionally, coupling between the surge and pitch DOFs also limits the extent to which fatigue damage can be mitigated for both DOFs in some sea-states. Because control objectives can be considered a function of the sea-state (e.g., load mitigation may not be a concern until the sea is sufficiently large) a simple transition strategy is proposed and demonstrated. This transition strategy is found to be effective with some caveats: firstly, it cannot circumvent the aforementioned objective contradictions. Secondly, this objective transition is too slow to act as a system constraint, and objective thresholds must thus be considered quite conservatively. Improvement of the adjustment strategy is demonstrated through the addition of an integral term. Selection of well-performing transition parameters can be a function of sea-state. While a simple selection procedure is proposed, it is non-optimal, and a more robust selection procedure is suggested for future work.

16 TIDAL AND WAVE POWER↗