Nonlinear Modeling and Control of a Hydropower Plant: A Comparative Study of Classical and LQR-Based Governors

Abstract

This paper introduces an elastic nonlinear model for the San Jacinto Hydro-power Plant (Bolivia), developed to optimize its operational performance. The model’s parameters and constants were calculated using technical reports, manuals, and civil plans of the plant. Validation was conducted by comparing simulated responses with actual plant responses. The validated model was then linearized to facilitate the application of classic controllers. A Linear Quadratic Regulator (LQR) based Proportional Integral Derivative Controller (PID) was employed for Load Frequency Control (LFC), and its performance was compared to a Governor with Transient Droop Compensation and a Classical PID.