Artículos (Ingeniería de Sistemas y Automática)

URI permanente para esta colecciónhttps://hdl.handle.net/11441/11342

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Mostrando 1 - 20 de 546

Adaptive Virtual Inertia Provision for AC and MT HVDC Grids Based on Converters' Capabilities
(Wiley, 2025) Astereki, Amir Arsalan; Monadi, Mehdi; Seifossadat, Seyed Ghodratolah; Saffarian, Alireza; Rouzbehi, Kumars; Ingeniería de Sistemas y Automática
This paper presents a novel perspective on providing adaptive virtual inertia (AVI), aimed at improving DC voltage stabilityin Multi-Terminal High Voltage DC (MT-HVDC) grids while simultaneously enhancing frequency response in AC grids. Theproposed approach introduces an innovative Virtual Synchronous Generator (VSG) that supplies AVI for the AC systems.Additionally, a new control strategy for the Power Electronics Converters (PECs) that supply the MT-HVDC grid is presented,referred to as dcVSG, to provide AVI for this grid. Utilising both controllers concurrently enables adaptive and simultaneous virtualinertia provision on both DC and AC grids, while effectively leveraging the operational capabilities of the PECs. In this regard,the DC voltage and the AC grid frequency are considered as control parameters. The AVI is dynamically adjusted according to thePEC operating point. Specifically, the calculated maximum AVI is sensitive to the increase and reduction of the control parameter,demonstrating appropriate distinct values in response. This behaviour aims to utilise the PEC’s maximum power capacity. Thesmall-signal stability of the proposed system is analysed by focusing on the influence of virtual inertia on overall stability. Also,to assess the stability of the proposed controllers, Lyapunov stability theory, alongside a series of detailed simulation analyses, isconducted utilising the Cigre-DCS3 test grid. The simulation outcomes indicate that the proposed coordinated strategy yields a20% reduction in DC voltage deviation while also enhancing frequency nadir. Additionally, it achieves over a 60% decrease in therate of change of voltage (RoCoV) on the DC side and a 68% reduction in the rate of change of frequency (RoCoF), specificallywhen compared to methods that rely solely on the headroom power of the PEC to deliver maximum virtual inertia.
Partially cooperative robust distributed model predictive control for tracking
(Elsevier, 2025) Sánchez Amores, Ana; Ferramosca, Antonio; Maestre Torreblanca, José María; Camacho, Eduardo F.; Ingeniería de Sistemas y Automática; European Union (UE). H2020; Ministerio de Ciencia e Innovación (MICIN). España
This work investigates a partially-cooperative coalitional control setting for input-coupled multi-agent linear systems to robustly track changing setpoints. Within this framework, agents have the flexibility to share a public portion of their input, ceding control authority to neighbors, while keeping the rest private. Instead of coordinating the predicted control inputs, the bounds that define the public and private input constraint sets are negotiated in a distributed manner when the need arises, significantly reducing communicated data within the cooperation network. Coupling disturbances are considered through a tube-based approach, which steers the system to the desired target points while guaranteeing recursive feasibility and stability through tracking techniques. Finally, the approach is validated through simulations on an eight-input coupled tank benchmark.
Hybrid Powerplant Design and Energy Management for UAVs: Enhancing Autonomy and Reducing Operational Costs
(Multidisciplinary Digital Publishing Institute (MDPI), 2025) Quintana, Javier A.; Bordons Alba, Carlos; Esteban Roncero, Sergio; Delgado, Julián; Ingeniería de Sistemas y Automática; Ingeniería Aeroespacial y Mecánica de Fluidos; Ministerio de Ciencia e Innovación (MICIN). España
This study presents the design of a hybrid powerplant for unmanned aerial vehicles (UAVs), improving its autonomy compared to power systems based solely on batteries. The powerplant is designed for the Mugin EV-350 aircraft. Using experimental data from electric motors in a wind tunnel and fuel cells, a comparative analysis of different energy management strategies, such as fuzzy logic and passive, is conducted to reduce the operational and maintenance costs. A Python-based software program is developed and utilized for the real-time implementation and simulation of energy management strategies, with data collected in databases. This study integrates experimental data (wind tunnel and fuel cells) with real-time EMS strategies, and simulation-based predictions indicate practical improvements in endurance and cost reduction, as well as an increase in flight autonomy of 50%.
A new SG law for swinging the Furuta pendulum up
(Elsevier, 2003) Acosta Rodríguez, José Ángel; Gordillo Alvarez, Francisco; Aracil Santonja, Javier; Ingeniería de Sistemas y Automática; Ministerio de Ciencia y Tecnología (MCYT). España; TEP995: Multi-Robot and Control Systems; TEP102: Ingeniería Automática y Robótica
In this paper the swing-up problem for the Furuta pendulum is analyzed by comparing the results obtained by the conventional Astrom-Furuta strategy, based on a dimension 2 model, with a new strategy based on a dimension 3 control law using the symmetry of the configuration space of the system. The controller design is based on Fradkov's speed-gradient (SG) method (Andrievskii et al., 1996). A comparative analysis whereby the advantages and effectiveness of the new law for swinging the pendulum up are shown is included.
A new swing-up law for the Furuta pendulum
(2010-08) Gordillo Alvarez, Francisco; Acosta Rodríguez, José Ángel; Aracil Santonja, Javier; Ingeniería de Sistemas y Automática; Ministerio de Ciencia y Tecnología (MCYT). España; TEP995: Multi-Robot and Control Systems; TEP102: Ingeniería Automática y Robótica
In this paper the swing-up problem for the Furuta pendulum is solved applying Fradkov’s speed-gradient (SG) method to a dimension 4 modelof the system. The new law is compared with the conventionalA˚ stro¨m–Furuta strategy, based on a dimension 2 model. A comparative analysis, including simulations and experiments, whereby the advantages and effectiveness of the new law for swinging the pendulum up are shown, is included.
Finite-time port-controlled Hamiltonian design for second-order dynamical systems
(Elsevier, 2025) Nekoo, Saeed Rafee; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; European Commission (EC); TEP151: Robótica, Visión y Control
Finite-time design is not common in classical controllers, and the ones in the literature are not usually robust. The state-dependent differential Riccati equation (SDDRE) is an optimal nonlinear design in the company of a finite-horizon cost function that manipulates the terminal time using a weighting matrix of states. This method is sensitive to parametric model uncertainty, though its finite time characteristics can be augmented with other controllers. Port-controlled Hamiltonian (PCH) design can present a robust control law by defining the desired inertia matrix in the reference Hamiltonian function. The PCH is not finite-time; however, it can be modified using the suboptimal gain of the SDDRE controller. This paper combines the SDDRE and the PCH design to present a novel nonlinear controller with both finite-time and robust behavior toward parameter uncertainty in modeling. The finite-time behavior refers to the capability of controlling a system with different final times, as the input parameter to the system (or finishing a control task in a predefined time). The analytical stability proof of the proposed input law has been addressed using Lyapunov’s second method. The modified PCH is applied to second-order dynamical systems; as an illustrative example, a two-degree-of-freedom (DoF) inverted pendulum has been simulated and compared with a proportional–derivative (PD) control and a PCH with constant PD gains. A four-DoF robot arm was also simulated to highlight the application of the proposed method on complex systems. The introduced method outperformed the classical ones and showed finite-time regulation with different terminal times.
Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
(Institute of Electrical and Electronics Engineers, 2005-12) Acosta Rodríguez, José Ángel; Ortega, Romeo; Astolfi, Alessandro; Mahindrakar, A.D.; Ingeniería de Sistemas y Automática; TEP995: Multi-Robot and Control Systems
Interconnection and damping assignment passivity-based control is a new controller design methodology developed for (asymptotic) stabilization of nonlinear systems that does not rely on, sometimes unnatural and technique-driven, linearization or decoupling procedures but instead endows the closed-loop system with a Hamiltonian structure with a desired energy function - that qualifies as Lyapunov function for the desired equilibrium. The assignable energy functions are characterized by a set of partial differential equations that must be solved to determine the control law. We prove in this paper that for a class of mechanical systems with underactuation degree one the partial differential equations can he explicitly solved. Furthermore, we introduce a suitable parametrization of assignable energy functions that provides the designer with a handle to address transient performance and robustness issues. Finally, we develop a speed estimator that allows the implementation of position-feedback controllers. The new result is applied to obtain an (almost) globally stabilizing scheme for the vertical takeoff and landing aircraft with strong input coupling, and a controller for the pendulum in a cart that can swing-up the pendulum from any position in the upper half plane and stop the cart at any desired location. In both cases we obtain very simple and intuitive position-feedback solutions. © 2005 IEEE.
Linealizacion por realimentacion constructiva de sistemas mecanicos con grado de subactuacion 1 inestables con friccion
(2007-10) López-Martínez, M.; Acosta Rodríguez, José Ángel; Ingeniería de Sistemas y Automática; Comisión Interministerial de Ciencia y Tecnología (CICYT). España; Junta de Andalucía; TEP995: Multi-Robot and Control Systems
In the last years, several methods to control nonlinear underactuated mechanical systems have been developed. In fact, these nonlinear methods have solved interesting control problems. Nevertheless, the solutions of these methods relies on solving a set of partial differential equations, which is not always possible. This article presents a constructive methodology to control a class of unstable underactuated mechanical systems with underactuation degree one. The design is based on classical feedback linearization and Lyapunov redesign. The methodology is based on proposing a dummy output that allows its redesign in a constructive way to solve the problem, giving rise an explicit and compact control law that allows to take into account the friction even in the underactuated coordinates.
A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2025) González Morgado, Antonio; Soueidan, J.; Heredia Benot, Guillermo; Ollero Baturone, Aníbal; Fraisse, Philippe; Tognon, Marco; Cognetti, Marco; Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España; European Commission (EC); TEP151: Robótica, Visión y Control
Aerial robots are transitioning from traditional surveillance and monitoring roles to more advanced tasks involving physical interaction. Despite this progress, physical Human-Aerial Robot Interaction remains largely underexplored due to the complexity and stability-related issues of such platforms. This paper introduces a novel control framework that enables an aerial platform to cooperatively transport an object with a human operator. The control approach is built on a nonlinear model predictive control (NMPC), integrating the dynamic models of the human, the aerial robot, and the transported object. To ensure safe and robust physical interaction, the NMPC is combined with a compliant controller. Additionally, our controller prioritizes forward motion over lateral movements to accommodate the human's natural direction of motion. We validate this framework through indoor flight experiments, demonstrating how a human operator and a fully actuated hexarotor can effectively collaborate to transport a bar. The results highlight the aerial robot's ability to assist the human during physical transportation tasks, enhancing efficiency and comfort.
Implementation of a continuous assessment system through the creation of a problem book using DOCTUS in general chemistry subjects
(Elsevier, 2025) Leiva Fernández, Carlos; Arroyo Torralvo, Fátima; Luna Galiano, Yolanda; Ronda Gálvez, Alicia; Muñoz de la Peña Sequedo, David; Ingeniería Química y Ambiental; Ingeniería de Sistemas y Automática
A continuous evaluation system, integrating both formative and summative assessments has been implemented in a Chemistry subject with a high number of students. This system employs a personalized problem notebook developed through an application (DOCTUS), enabling the generation of individualized complex problem statements, easy correction, and multiple submission opportunities. This approach facilitates effective feedback, promotes autonomous and cooperative learning, accelerates the learning process, and enhances activity achievement levels. The experience has been carried out with a group of 91 students enrolled per year in the subject 'Chemistry' corresponding to the first academic year in degree of Chemical Engineering at the Higher Technical School of Engineering (University of Seville), although only 71 have participated in the activity. The platform used, which offers free access, was utilized to create personalized problem notebooks for each student. It assigns identical problems with personalized data and corrects submissions via Excel files in under 10 s. An improvement in the results has been observed; since the students have obtained a numerical grade for their work instantly after delivery of the problem, and they can redo it at a short time (hours), when the students still have the problem in their mind, where they want and with the material that they consider, and without a large increase in the amount of time spent by the teacher. The final qualification was on average 1.2 points higher than previous years. Compared to other subjects in the same academic year, Chemistry had a lower percentage of students who did not participated in the subject (22 % compared to 30–54 % in other subjects from the same course). The number of approved students has increased, reflected in the number of repeaters, which decreased in the next year from 42 % to 29 %.
A nonlinear strategy to control unstable underactuated mechanical systems with underactuation > 1. Applications to control augmentations
(Bentham Open Archives, 2009-04) Acosta Rodríguez, José Ángel; López-Martínez, M.; Ingeniería de Sistemas y Automática; TEP995: Multi-Robot and Control Systems
The essence of the complex dynamics originated by the interaction between the pilot-&-aircraft can be captured on labs, by means of unstable-underactuated mechanical systems. Thus, the unactuated links describe the autonomous aircraft dynamics (flight control system) and the actuated the manual one (pilot). It is well-known that, in some flight conditions, the pilot-&-aircraft interaction can render the system unstable. Thus, a standard solution of designing a decoupled dynamics between the flight control system and the pilot, either becomes useless or restrict the maneuverability unnecessarily. The nonlinear and compact strategy proposed here can pave the way to a less conservative (or even safety) solution in aircraft implementation. Successful experiments on the Furuta's pendulum are reported and to the best of authors' knowledge it has the largest attraction basin experimentally tested so far. © Acosta and López-Martínez; Licensee Bentham Open.
An energy management system for industrial manufacturing: A hybrid approach with demand response
(Elsevier, 2026-01) Gómez Jiménez, Javier; Framiñán Torres, José Manuel; Escaño González, Juan Manuel; Bordons Alba, Carlos; Organización Industrial y Gestión de Empresas I; Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España; Junta de Andalucía
This paper presents a novel matheuristic approach for a high-level energy management system (EMS) integrated with demand response, aiming to optimise energy costs and enhance renewable energy utilisation in industrial manufacturing. The primary research objective is to develop a scalable solution procedure capable of tackling the complex, NP-hard problem of energy-aware production scheduling. The system employs a hybrid approach, integrating a Mixed Integer Linear Program (MILP) within the Genetic Algorithm’s (GA) fitness function for job scheduling and minimising total energy costs while maximising renewable energy penetration and guaranteeing production constraints. The EMS is applied to a factory microgrid scenario, considering energy production from wind turbines, photovoltaic panels, and combined heat and power (CHP) plants, alongside battery energy storage systems (BESS). The manufacturing process possesses a number of realistic features, including several stages with parallel unrelated machines with different energy-consumption states, batching in some machines, or setup times, among others. The proposed solution for this case study achieves a 32% reduction in energy costs compared to baseline operation, which requires only seconds of computational effort, demonstrating its effectiveness and scalability for demand-responsive manufacturing environments. Methodology is validated using real production data, providing insights into the potential of this approach to improve both economic and environmental performance in the industrial sector.
Non-linear sliding mode surfaces for a class of underactuated mechanical systems
(Institution of Engineering and Technology (IET), 2010-10) López-Martínez, M.; Acosta Rodríguez, José Ángel; Cano, J.M.; Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España; TEP995: Multi-Robot and Control Systems
This study presents a new non-linear sliding surface to control a class of non-minimum phase underactuated mechanical systems, taking into account uncertainties in their physical parameters. The non-linear surface is designed through a fictitious output, which provides the minimum-phase property and allows to prove stability using Lyapunov theory. The non-linear surface is based on the fictitious output and augmented with a non-linear external controller designed using the Lyapunov theory. The present approach assures exponential stability of the equilibrium point and robust stability to parametric uncertainties, avoiding the appearance of non-desired phenomena, as limit cycles. Two pendulum-like examples inside the class are thoroughly analysed and solved, that is, the pendulum on a cart and the inertia wheel pendulum. Performance, time response and parametric robustness are shown through simulations. © 2010 The Institution of Engineering and Technology.
Furuta’s Pendulum: A Conservative NonlinearModel for Theory and Practise
(Wiley, 2010-03) Acosta Rodríguez, José Ángel; Ingeniería de Sistemas y Automática; TEP995: Multi-Robot and Control Systems
Furuta's pendulum has been an excellent benchmark for the automatic control community in the last years, providing, among others, a better understanding of model-based Nonlinear Control Techniques. Since most of these techniques are based on invariants and/or integrals of motion then, the dynamic model plays an important role. This paper describes, in detail, the successful dynamical model developed for the available laboratory pendulum. The success relies on a basic dynamical model derived from Classical Mechanics which has been augmented to compensate the non-conservative torques. Thus, the quasi-conservative practical model developed allows to design all the controllers as if the system was strictly conservative. A survey of all the nonlinear controllers designed and experimentally tested on the available laboratory pendulum is also reported. © 2010 J. Á. Acosta.
A review on flapping-wing robots: Recent progress and challenges
(Sage Publishing, 2025) Nekoo, Saeed Rafee; Rashad, Ramy; De Wagter, Christophe; Fuller, Sawyer B.; Croon, Guido de; Stramigioli, Stefano; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; European Union (UE)
This paper analyses the methods and technologies involved in flapping-wing flying robots (FWFRs), where the actuation of the flapping wing produces thrust and lift force that mimics birds’ and insects’ flight. The focus is on the evolution of the flapping-wing technology and the challenges in prototyping, modeling, navigation, and control. The mechanism for flapping production, frequency control of the flapping, and wing/tail control for positioning the robot are important topics for successful prototyping. The article includes the study of the dynamics and aerodynamics of the FWFR. Using the combination of flapping and gliding has led researchers to seek more energy savings through this hybrid-in-nature dynamic system, which benefits from the wind, a natural and free energy source. The paper reviews the dynamics, design, and categorization of flapping-wing systems; it also includes control and onboard intelligent functionalities, particularly environment perception for positioning and guidance, as well as obstacle detection and avoidance.
Model predictive control for tracking with implicit invariant sets
(Elsevier, 2025) Luque Martínez, Irene; Chanfreut Palacio, Paula; Limón Marruedo, Daniel; Maestre Torreblanca, José María; Ingeniería de Sistemas y Automática
This paper presents a model predictive control (MPC) technique for tracking with implicit terminal components. The controller formulation includes an artificial setpoint as decision variable, and the terminal constraint is defined implicitly for an augmented system that depends on the latter. In this respect, instead of computing an invariant terminal set, we consider an extended prediction horizon whose length can be bounded simply by solving LPs. This approach overcomes size-related limitations associated with the operations needed for computing invariant sets, also simplifying the offline MPC design. The proposed controller is able to drive large systems to admissible setpoints while guaranteeing recursive feasibility and convergence. Finally, the method is illustrated by an academic example, a mass–spring–damper system of variable-size and a more realistic case study of a drone.
Model design for photovoltaic facilities based on fuzzy neural network as core of its digital twin
(Elsevier, 2025-10) Chicaiza Salazar, William David; Topa, Alex O.; Sánchez, Adolfo J.; Escaño González, Juan Manuel; Álvarez, J. D.; Ingeniería de Sistemas y Automática; Junta de Andalucía; Ministerio de Ciencia e Innovación (MICIN). España; European Union (UE)
This study presents the development of the core of a digital twin for a photovoltaic (PV) facility located at CIESOL-Almería. Two modeling approaches are proposed: a physics-based model using an equivalent electrical circuit, and a data-driven neurofuzzy model based on an adaptive neuro-fuzzy inference system (ANFIS). The neurofuzzy model, designed as a gray-box system, offers high interpretability and adaptability, and stands out for its rapid synchronization capability with the physical asset, enabling real-time behavior modeling essential to the digital twin framework. The ANFIS-based model accurately captures the dynamic power output of the PV system and is suitable for integration into energy management strategies based on predictive modeling. The model exhibits strong predictive performance, with a worst-case mean absolute error of only 16.37 W, a standard deviation of 126.22 W, a standard error of 0.73 W, and a coefficient of determination of 0.99, indicating high consistency and accuracy. When compared to the equivalent electrical circuit model and a previously published artificial neural network applied to a lower-capacity PV system, the neurofuzzy model demonstrates superior accuracy. Specifically, the normalized mean absolute error and normalized root mean square error are 0.0036 and 0.0282 per watt, respectively, outperforming both the equivalent electrical circuit model (0.01982 and 0.0520 per watt) and the neural network approach. These differences represent relative improvements of 87.39 % and 61.55 % over the neural network benchmark. In addition, the neurofuzzy model requires significantly lower computational resources, making it suitable for real-time applications and implementation in industrial controllers. The results confirm the potential of gray-box neurofuzzy modeling as a core component of a digital twin, providing a reliable, efficient, and interpretable foundation for control, monitoring, and optimization of PV installations.
Predictive Current Control of a Five-Phase Drive Using a Lead-Pursuit Strategy and Virtual Voltage Vectors
(Multidisciplinary Digital Publishing Institute (MDPI), 2025) Barrero, Federico; Bermúdez Guzmán, Mario; Arahal, Manuel R.; González Prieto, Ignacio; Ingeniería Electrónica; Ingeniería Eléctrica; Ingeniería de Sistemas y Automática; Ministerio de Ciencia, Innovación y Universidades (MICIU). España; European Union (UE)
Modern electric machines are attracting the greatest interest from the research community due to their current increasing number of applications, including electric vehicles and wind power generators. Their use requires the development of complex regulators, where predictive controllers appear as interesting and viable alternatives in recent research works. Although these controllers have an easy formulation and high flexibility to incorporate different control objectives in multidimensional systems, they have limitations that require attention and limit their application: a high computational cost and current harmonic content. This work presents a novel controller that focuses on these limitations, where the additional degree of freedom introduced in the predictive controller through the lead-pursuit guidance law concept is combined with the use of virtual voltage vectors to reduce the harmonic content in a controlled drive. The effectiveness of the proposed controller is explored using a five-phase drive and several figures of merit, such as the root mean square error in current tracking, the total harmonic distortion in the stator currents, and the number of switching commutations per cycle. Different predictive controllers are compared with the proposal in terms of speed regulation, stator current control, and steady-state performance, where the results obtained are analyzed to show the interest, improvements, and limitations of the proposal.
Experimental implementation of state-dependent Riccatiequation control on quadrotors
(Canadian Science Publishing, 2025) Nekoo, Saeed Rafee; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; European Commission (EC)
Multirotor unmanned aerial vehicles are well-known and reliable platforms for ﬂight in indoor and outdoor environments.They perform stable ﬂights; standard autopilots have been developed with safety features based on laws and regulations.The safety regulations, which are extremely necessary for outdoor ﬂights, restrict modiﬁcation of the control structure of theautopilots. Despite the various valuable theory/simulation studies, surprisingly, the experimental implementation of the state-dependent Riccati equation (SDRE) is absent in the literature on ﬂight control, which is the main novelty of this work. Waypointregulation in an indoor testbed and trajectory tracking of the same waypoints (a square with 6 m edge and 10 cm allowableposition error) were practiced. They were compared to show the performance of the system design. The ﬂight experimentwas performed on 23 trials to show the reliability of the design and compared with the proportional-integral-derivative (PID),executed onboard without a traditional autopilot. The SDRE and PID were implemented on a customized quadrotor withRaspberry Pi3B+ and Python3 program for onboard implementation. Finding the mean tracking time of the SDRE for thementioned square 70.86 s, the delay of the PID tracking by 8.98 s conﬁrmed the better performance of the proposed controllerover a classical approach. The experimental implementation of nonlinear optimal control is presented for a quadrotor. Flightdata and repeatability tests are provided for waypoint control of the ﬂight. The experimental SDRE control implementation ispresented. The waypoint control is compared with SDRE trajectory tracking.
Asignación jerárquica de caudal en plantas termosolares de gran escala basada en subasta con inteligencia artificial
(Comité Español de Automática (CEA), 2025-06-21) Ruiz-Moreno, Sara; Gallego Len, Antonio Javier; Camacho, Eduardo F.; Ingeniería de Sistemas y Automática; Ministerio de Ciencia, Innovación y Universidades (MICIU). España; TEP116: Automática y Robótica Industrial
Este artículo presenta un método para optimizar el equilibrio térmico en plantas de colectores cilindro-parabólicos. Utiliza un sistema basado en una estrategia de mercado para distribuir el flujo entre los lazos, combinado con una red neuronal para reducir el coste computacional. Este enfoque consiste en subastar el caudal entre los diferentes lazos adaptándose a las variaciones en las pérdidas térmicas y la eficiencia de los colectores. Además, el método sigue una estructura jerárquica, dividiendo los diferentes lazos en grupos y repartiendo el caudal entre los distintos sectores de la planta. El método se ha validado en simulación bajo diferentes condiciones, consiguiendo mejoras en la potencia térmica y los factores de intercepción en comparación con un sistema sin asignación de flujo.

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