364 IEEE/CAA JOURNAL OF AUTOMATICA SINICA, VOL. 6, NO.
2, MARCH 2019
Adaptive and Predictive Control Strategies for
Wind Turbine Systems: A Survey
Magdi S. Mahmoud and Mojeed O. Oyedeji
Abstract—The wind turbine (WT) is a renewable energy
conversion device for transformation of kinetic energy from the
wind to mechanical energy for subsequent use in different forms.
This paper focuses on wind turbine control design strategies.
The content is divided into the following parts: 1) An overview
of the recent advances that have been made in the application
of adaptive and model predictive control strategies for wind
turbines. 2) Summarizes some important aspects of modeling of
wind turbines for control studies. 3) Provides an outlook on the
application of adaptive model predictive control for uncertain
systems to stimulate new research interests for wind turbine
systems. We provide an overall picture of the research results
with evaluation of the merits/demerits.
Index Terms—Adaptive control, model predictive control, wind
turbine (WT).
I. I NTRODUCTION
R ENEWABLE energy is a term used to classify en-
ergy sourced from nature and replenished on a natu-
ral timescale without human intervention. Renewable energy
sources include wind, solar, waves, hydro, and geothermal.
Current research interests are focused on diversifying away
from fossil sources of energy due to increasing concerns about
global warming, pollution and depletion of fossil fuel reserves.
The wind turbine (WT) is a renewable energy conversion
device for transformation of kinetic energy from the wind into
mechanical energy for use in different forms. Wind turbines
can exist as stand-alone or grid-connected installation or in
a collective system consisting of many turbines on a large
area of land called a wind farm. More energy is being derived
from wind sources every year, the capacity of wind power at
the end of 2014 is estimated at 370 GW and is expected to
reach 670 GW by 2019 [1]. According to [2], wind power is
the fastest growing renewable energy source with an estimated
average growth of 26 % and penetration of about 12 % by
2020.
The control objective in wind energy conversion systems
include maximum power extraction, power regulation and load
Manuscript received September 11, 2018; revised November 18, 2018;
accepted January 13, 2019. This work was supported by the Deanship of
Scientific Research (DSR) at KFUPM Through Distinguished Professorship
Research (IN161065). Recommended by Associate Editor Dianwei Qian.
(Corresponding author: Magdi S. Mahmoud).
Citation: M. S. Mahmoud and M. O. Oyedeji, “Adaptive and predictive
control strategies for wind turbine systems: a survey,” IEEE/CAA J. Autom.
Sinica, vol. 6, no. 2, pp. 364−378, Mar. 2019.
M. S. Mahmoud and M. O. Oyedeji are with the Systems Engineering
Department, King Fahd University of Petroleum and Minerals (KFUPM), P. O.
Box 5067, Dhahran 31261, Saudi Arabia (e-mail: msmahmoud@kfupm.edu.
sa; mojeed.oyedeji@kfupm.edu.sa).
Digital Object Identifier 10.1109/JAS.2019.1911375
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mitigation. The rated generation capacity of a wind turbine
unit states how much power can be obtained from the wind
considering physical and economic constraints. In order to
meet this rated generation capacity and operate the turbine
within safe limits, it is desired to operate the turbine within two
distinct ranges of operational wind speeds, which are the cut-
in and the cut-out wind speeds. When operating at below cut-
in wind speed, the turbine is unable to satisfy the demands of
connected loads and the available energy does not compensate
for operational costs and transmission losses. At above cut-out
wind speeds the turbine is subjected to high mechanical loads
that may cause stress to the mechanical parts of the turbine
which may lead to wear of these parts and thereby increase
maintenance costs. Based on control design, a wind turbine
can be classified as [3]:
1) Fixed-speed fixed pitch (FSFP);
2) Fixed-speed variable-pitch (FSVP);
3) Variable-speed fixed-pitch (VSFP);
4) Variable-speed variable-pitch (VSVP).
For decades, the FSFP configuration has been favored
due to its reduced complexity in terms of controls. In this
configuration, the generator is directly coupled to the grid
thereby eliminating the means to control the torque charac-
teristics of the generator [3]. In recent times, the demand for
turbines based on this configuration have dropped because of
maintainability and reliability issues as a result of lack of
control strategies to mitigate against mechanical loads and
improve the quality of power.
In the FSVP configuration, the turbine is designed to operate
at a particular wind speed (rated wind speed). Below, this
speed, the power output of the turbine cannot be optimized by
controlling the pitch angle of the blades. At above rated wind
speed, the power output is limited by varying the pitch angle.
Two methods of power regulation by pitch angle control are
pitch-to-stall and pitch-to-feather control [3]. The pitch-to-stall
method regulates the generator output power better because the
strategy used is to reduce the pitch angle, thereby increasing
the incidence angle as wind speed increases. In the pitch-to-
feather, the blades are feathered as the wind speed rises and
this requires considerable efforts as large-pitch changes are
required to compensate for fluctuations in wind power [3].
In VSFP configurations, the turbine is programmed to
operate at a fixed pitch but the speed of the turbine is allowed
to vary linearly with the generator speed. At speeds above
rated generator speed, the turbine is controlled to operate in
FSFP configuration. In VSVP, the turbine is programmed to
run at variable speed, fixed pitch when the wind speed is less
than the rated generator speed. At above rated generator speed,
 MAHMOUD AND OYEDEJI: ADAPTIVE AND PREDICTIVE CONTROL STRATEGIES FOR WIND TURBINE SYSTEMS: A SURVEY 365

the pitch angle is varied to mitigate against load fluctuations adaptive and model predictive control techniques. At first,
and regulate generator output power. a survey of modeling equations for different components of
Numerous control design approach covering both linear and a wind turbine system was carried out. Also, we discussed
non-linear techniques have been applied to the problem of briefly the control objectives in wind turbine control systems.
WT control. Common control approaches include: Feedback Secondly, we discussed in brief the concept of model pre-
control, proportional-integral, backstepping control, sliding dictive control and solution of model predictive control prob-
mode control and model predictive control. L1 adaptive based lems. Subsequently, an extensive review of different model
maximum power tracking (MPT) algorithm was designed in predictive and adaptive control techniques in application to
[4] for a small wind turbine system. The authors considered a wind turbines was carried out. Finally, existing adaptive model
simplified model of the wind turbine based on a transfer func- predictive control strategies were discussed to open up new
tion with generator torque as control input and generator speed research interests in this area for wind turbine systems.
as measured output. They reported good tracking performance
and with fast adaptation to disturbances. In [5], the authors II. M ODELING OF W IND T URBINES
presented a gain-scheduled L1 optimal control of a VSVP
wind turbine. Using a non-convex optimization approach, an In modeling a wind energy conversion system (WECS),
optimal output feedback controller was designed based on the major subsystems considered include the following; drive
the linearized model of the WT at numerous operating points train, generators, aerodynamics, and the grid (for grid-
using genetic algorithm. In [6], a nonlinear robust control was connected systems). Other components that may be included
designed for maximization of output power of VSWT was are; storage, tower-bending dynamics, wake, wind shear and
presented. A robust LMI-based controller was presented in tower shadow effects. The following subsections describe each
[7], for a VSWT across all operating regimes. of the subsystems.
Due to the stochastic nature of the wind input, the wind
turbine system is subject to parameter uncertainties. To address A. Aerodynamics
this problem, authors in [8] proposed a robust predictive con- The governing equations for the aerodynamic power, aero-
troller. The wind speed was modeled using an autoregressive dynamic torque and thrust force of the turbine are given in
model. The controller design featured a self-tuning regulator (1). Tr defines the torque produced as a result of wind flowing
(STR) to ensure smooth generator output power under fluc- through the turbine and Pr is the resulting aerodynamic power.
tuating wind speeds. In [9], the authors used a linear matrix Ft is responsible for tower displacements and blade flapping
inequalities (LMI) approach to design a robust controller for and bending.
damping the tower oscillations in a WT consisting of an
hydrostatic drive train and a permanent magnet synchronous 1
Pr = ρπRb2 Vw3 Cp (λ, β)
generator. 2
Authors in [10] designed an integral sliding mode control 1
(SMC) without reaching phase for a VSWT towards capturing Tr = ρπRb3 Vw2 Cq (λ, β)
2
maximum energy at below rated wind speeds. Reaching phase
1
was eliminated via an exponential function that minimizes Ft = ρπRb2 Vw2 Ct (λ, β) (1)
output error. The performance of fuzzy-PI and SMC con- 2
trollers were compared in [11]. According to the authors, it ρ is the density of air; Rb is radius of turbine blades; Vw is
was deduced that settling time was reduced with fuzzy-PI the incoming wind speed; Cp , Cq , Ct , are the power, torque
controllers, also maximum overshoot is significantly reduced and thrust coefficient respectively. In [15]−[18], the power
and oscillations are canceled out faster. It was concluded that coefficient is defined as
the overall transient response of the system was improved with µ ¶ − c7
c2
the fuzzy-PI controller. Cp (λ, β) = c1 − c3 β − c4 β − c6 e λi
c5
(2)
Authors in [12], applied second-order sliding mode con- λi
trollers for control of grid-side and rotor-side converters in where
[12]. They reported some chattering problems in the closed- 1
loop performance of the system although the system demon- λi = .
1 c9
strated a good steady-state performance. In [13], the authors −
λ − c8 β λ − β3
compared the performance of a back-stepping sliding mode
controller with the conventional sliding mode controller and Another mathematical definition of Cp is given by [15],
recorded good tracking performance. In [14], an adaptive [19], [20]
sliding mode back-stepping controller was designed for a pitch µ ¶
π(λ + c3 )
regulated wind turbine system using a variable-displacement Cp (λ, β) = (c1 − c2 β) sin − c6 (λ − 3)β. (3)
c4 + c5 β
pump. Compared with a valve-based pitch regulated system,
the authors reported minimal generator output power fluctua- The torque coefficient is mathematically expressed as [3]
tions and flap-wise mechanical load on the turbine.
Cq (λ, β) = c0 + c1 β + c2 β 2 + c3 β 3 + c4 λβ
In this paper, we provide a detailed survey of existing
control strategies in wind turbine control literature covering + c5 λβ 2 + c6 λβ 3 . (4)

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 366
The relationship between power and torque coefficient is
given by the following expression:
Cp (λ, β)
Cq (λ, β) = (5)
λ turbine rotational speed, DBH is the damping coefficient of the
the torque coefficient for fixed-speed wind turbine system
according to [21] is defined by
Cq (λ) = a0 + a1 λ + a2 λ2 + a3 λ3 + a4 λ4
+ a5 λ5 + a6 λ6 .
The tip speed ratio, blade radius, rotor speed and wind
velocity are related by
ωr R
λ= . (7)
V 2HGBG ω̇GBG =
B. Drive Train
The mechanical energy from the wind is transmitted through
the drive train to the electrical generator. Several models exist
for the drive train and may be characterized as six-mass,
three-mass, two-mass and one-mass models. For the sake of
simplicity, only the two-mass and one mass model are common
in wind turbine literature.
The dynamic model of the four mass drive train model is
described by (8) [22]
2HB ω̇B = TW − (KBH θBH + DBH (ωB − ωH ))
− DB ωB
2HH ω̇H = (KBH θBH + DBH (ωB − ωH ))
− (KLS θLS + DLS (ωH − ωGBG )) − DH ωH
2HGB ω̇GB = (KLS θLS + DLS (ωH − ωGB ))
− (KHS θHS + DHS (ωGB − ωG ))DGB ωGB
2HG ω̇G = (KHS θHS + DHS (ωGB − ωG ))
− DG ωG − TG
θ̇BH = ωo (ωB − ωH )
θ̇LS = ωo (ωH − ωGB )
θ̇HS = ωo (ωGB − ωG ).
HB , HG , HH , and HGB represent blade, generator, hub
and gearbox inertia respectively, KBH , KLS , and KHS are
blade stiffness constant, low speed shaft spring constant and
high speed shaft spring constant. θBH , is the angle between
the flexible blade disk and the hub, θLS is the angle between
the hub and gearbox, θHS is the angle between gearbox and
generator rotor. ωB , ωH , ωGB , and ωG , are flexible blade disk,
hub, gearbox and generator rotor rotational speed. ω0 is the
electrical system synchronous speed. TW , TG are aerodynamic
and generator torques. The dynamic model of the three mass
drive train model is described by (9) [22]
2HB ω̇B = TW − (KBH θBH + DBH (ωB − ωH ))
− DB ωB
2HH ω̇H = (KBH θBH + DBH (ωB − ωH ))
−(KLS θLS + DLS (ωH − ωGBG ))− DH ωH
2HGBG ω̇GBG = (KLS θLS + DLS (ωH − ωGBG ))
− DGBG ωGBG − TG
θ̇BH = ωo (ωB − ωBH )
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IEEE/CAA JOURNAL OF AUTOMATICA SINICA, VOL. 6, NO. 2, MARCH 2019
θ̇LS = ωo (ωH − ωGBG ). (9)
HBH is the sum of the blade and hub inertia, HGBG
is the sum of gearbox and generator inertia, ωBH is the
turbine, DGBG is the damping coefficient of the gearbox and
generator, ωGBG is the sum of gearbox and gearbox rotational
speeds. The dynamic model of the two mass drive train model
(6) is described by (10) [22]
2HBH ω̇BH =
TW − (KHLS θHLS + DHLS (ωBH − ωGBG ))
− DBH ωBH
(KHLS θHLS + DHLS (ωBH − ωGBG ))
− DGBG ωGBG − TG
θ̇HLS = ωo (ωBH − ωGBG ). (10)
θHLS is the angle between the masses HBH and HGBG ,
KHLS is the parallel shaft stiffness, defined as
à !−1
2
NGB 1
KHLS = + .
KHS KLS
NGB is the gearbox ratio, The dynamic model of the one
mass drive train model is described by (11) [22]
2HW T ω̇W T = TW − TG − DW T ωW T . (11)
In this model, one mass HW T accounts for all the mass of
rotating components, ωW T represent the rotational speed and
DW T represent damping coefficient of the single mass.
C. Generators
The generator is used to convert the mechanical energy
into electrical energy. The three common types of generators
(8) used in WECS are the squirrel cage induction generator
(SCIG), permanent magnet synchronous generator (PMSG),
and doubly-fed induction generator (DFIG), shown in Fig. 1.
The SCIG is used in fixed speed architectures while the PMSG
and DFIG are suited to the variable speed architectures.
Fig. 1. Grid-connected DFIG wind turbine [23].
1) Doubly-fed Induction Generator: The nonlinear equa-
tions defining the dynamics of the dq-components of the stator
and rotor fluxes of the doubly-fed induction generator are
given in (12) [24]
 MAHMOUD AND OYEDEJI: ADAPTIVE AND PREDICTIVE CONTROL STRATEGIES FOR WIND TURBINE SYSTEMS: A SURVEY 367

φ̇ds = −Rs ids + ωs φqs + Vds

φ̇qs = −Rs iqs − ωs φds + Vqs
φ̇dr = −Rr idr + ωr φqr + Vdr
φ̇qr = −Rs iqr − ωr φdr + Vqr . (12)
The relationship between dq-components of stator and rotor
fluxes and currents are defined as
φds = Ls ids + Lm idr
Fig. 2. Grid connected PMSG-based wind turbine [25].
φqs = Ls iqs + Lm iqr
φdr = Lr idr + Lm ids Fig. 2 displays a schematic of grid-connected PMSG-based
φqr = Lr iqr + Lm iqs . (13) wind turbine system. Simulation studies are usually conducted
with high fidelity numerical simulation models such as FAST
The generator output torque is expressed as
[26], HAWC2 [27] and Cp-lambda [28] to test controller
Lm performance to some reliable degree of certainty about how
Te = 1.5p (iqr φds − idr φqs ). (14)
Ls the controller will behave in a real scenario. FAST (Fatigue,
The active and reactive power of the stator and rotor (ne- aero-dynamics, structure, and turbulence) is an aero-elastic
glecting power losses associated with the rotor) are expressed simulation tool developed by the National Renewable Energy
as Laboratory (NREL) based on numerical models obtained from
actual wind turbine systems. HAWC2 and Cp-lambda were
Ps = −Vds ids − Vqs iqs developed at the Riso National Laboratory, Denmark and
Qs = −Vqs ids + Vds iqs Polytechnic University of Milan respectively.
Pr = −Vdr idr − Vqr iqr
III. C ONTROL O BJECTIVES IN W IND T URBINE
Qr = −Vqr idr + Vdr iqr . (15)
In this section, the control objectives for a wind turbine
Hence, the total active and reactive power of the turbine are system are categorized into: turbine-level and supervisory-
P = Ps + Pr level. Turbine-level control objectives are concerned with the
control of a wind turbine as an individual system while
Q = Qs + Qr . (16)
participatory-level control objectives are concerned with the
The positive and negative values of P and Q mean that control of a turbine with respect to some system-wide (grid)
the turbine injects power into and draws power from the grid requirements. Based on the operating region, the turbine-
respectively. level control objectives include; maximum power extraction,
2) Squirrel Cage Induction Generator: The dynamic model power regulation, minimization of mechanical loads. At the
of the SCIG can be obtained from the DFIG by setting vdr = participatory-level, the objectives are inertial response, active
vqr = 0. The dynamic equations representing the system are and reactive power and low-voltage ride through control.
thus defined as follows:
A. Turbine-Level Control
φ̇ds = −Rs ids + ωs φqs + Vds
1) Maximum Power Point Tracking Control: In wind tur-
φ̇qs = −Rs iqs − ωs φds + Vqs bine control theory, the ability of the turbine control systems
φ̇dr = −Rr idr + ωr φqr to track optimum rotor speed for maximum power extraction
φ̇qr = −Rs iqr − ωr φdr . (17) in the low speed region is commonly referred to as max-
imum power point tracking (MPPT). Three most common
3) Permanent Magnet Synchronous Generator: The nonlin- types of MPPT strategies in wind turbine control literature
ear equations describing the dynamics of a permanent magnet are: tip-speed ratio (TSR) [29]−[31], power signal feedback
synchronous generator are defined as [32]−[35], perturb and observe (P & O) [29], [32], [36]−[49].
Rs Lqs 1 In the TSR method, the wind and rotor speed measurements
i̇ds = − ids + ωe iqs + Vds
Lds Lds Lds are used to track the best tip-speed ratio where maximum
Rs Lqs 1 1 power extraction is possible.
i̇qs =− iqs − ωe ids + ωe φ + Vds . In the P & O approach, the rotor speed ωr is perturbed
Lqs Lds Lqs Lds
in small increments and the ratio ∆Pr /∆ωr is measured.
(18) This technique does not require prior knowledge of the wind
The output electrical torque is defined as turbine characteristics. This technique is however applicable
for systems with small inertial response, in large wind turbines,
Te = 1.5p(φm iq − (Ld − Lq )id iq ). (19) the turbine speed does not respond fast to changing wind
If Ld = Lq , then speeds.
The power signal feedback (PSF) method requires the
Te = 1.5pφm iq . (20) knowledge of the wind turbine power characteristics to track

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 368
the maximum power point. At different wind speeds, maxi-
mum power curves at different wind speeds are obtained based
on the aerodynamic power equation of the turbine and are
stored in a lookup table along with corresponding rotor speeds.
The rotor speed references are obtained from the look-up table
based on the desired power reference.
2) Mitigation of Mechanical Loads: Mechanical loads act-
ing on the wind turbine can be grouped into two main classes;
dynamic and static loads. Dynamic loads are induced due to
aerodynamic torque that transmits down the drive train and
the variation of aerodynamic loads that affect the mechanical
structure of the turbine. The interaction of the wind turbine
with average wind velocity results in static loads on the
wind turbine system [3]. Furthermore, the dynamic loads can
be classified into transient and cyclic loads. Transient loads
also known as low frequency loads are commonly caused by
wind gusts. The transition between Region II and Region III
has significant effect on transient loads [3], therefore, control
designs must ensure smooth transition between Region II and
Region III. The subject of most control designs [50]−[59] are
minimization of mechanical loads.
B. Participatory-Level Control
1) Enhancement of Fault Ride Through Capability: The
ability of a wind turbine generator to remain connected to a
grid during short period of voltage dips is commonly referred
to as fault-ride through. National grid codes make it mandatory
that wind turbines ride exhibit some measure of fault-ride
through capability. This is commonly achieved in wind turbine
systems by limiting the stator and rotor currents. The reader
can visit [60]−[69] for detailed discussion on low voltage ride
through capabilities.
2) Inertial Control: The control of a WT to changes in
frequency is commonly referred to as inertial control. In large
power systems network, it is imperative that the generation
satisfies the load demand to a high degree of precision. Failure
to meet this requirement can result in significant oscillations
in grid frequency which is not desirable for the power system
operator. Some inertial control techniques can be found in
[70]−[74].
3) Active and Reactive Power Control: The control of
active and reactive power of a wind turbine is another im-
portant control objective for grid-connected systems. Active
and reactive power control strategies allows the grid-operator
to maintain some required voltage levels. Active and reactive
power control strategies are discussed in [75]−[78].
The scope of this survey will be limited to the review
of adaptive and predictive control strategies for turbine-level
control objectives.
IV. M ODEL P REDICTIVE C ONTROL
In this section, a detailed review of existing control strate-
gies for wind turbine systems using model predictive control
(MPC) is carried out. A general overview of MPC and
formulation of MPC is discussed first, then we proceed to
analyze different MPC strategies for wind turbines. Model
predictive control also known as receding horizon control is
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IEEE/CAA JOURNAL OF AUTOMATICA SINICA, VOL. 6, NO. 2, MARCH 2019
an optimal control scheme that performs on-line optimization
to compute a set of control moves over a prediction and
control horizon. Model predictive control has evolved since
the late seventies [79] and has since taken different forms such
as model algorithmic control (MAC), generalized predictive
control (GPC), predictive functional control (PFC), extended
horizon adaptive control (EHAC) and robust MPC, to mention
a few. The inherent characteristics of the aforementioned pre-
dictive control strategies include; the use of an explicit model
to predict process performance over a prediction horizon,
formulation of an objective function using the present and
future control moves as design variables, and implementation
of a receding strategy in which only the first control signal
of the optimized control sequence is applied at the current
time instant. Although the computation of the control law is
easy to implement, its derivation is inherently complex [79].
In a situation where the parameters of the system do not
change and there are no constraints on the control inputs, the
control law can easily be computed off-line. Consequently,
for systems with continually varying process variables, the
control inputs have to be estimated on-line hence resulting
in huge computational burden which may lead to performance
degradation of the controller.
Model predictive control algorithms can be formulated for
both linear and nonlinear models. Given a nonlinear system
described by (21)
ẋ = f (x, u). (21)
The basic nonlinear model predictive control (NMPC) al-
gorithm is formulated as follows [80].
Algorithm 1. Basic NMPC algorithm
1: for t = 1 to N do
2: Obtain the current state information, x(n)
3: Set x0 := x(n) and solve the optimization problem
N
X −1
J(x0 , u(·)) = `(xu (k, x0 ), u(k))
k=0
N
wrt. u(·) ∈ U (x0 )
s.t. xu (0, x0 ) = x0
xu (k + 1, x0 ) = f (xu (k, x0 ), u(k)). (22)
4: Apply the first control signal u∗ (·) ∈ U N (x0 ) in the
next sampling interval
5: end for
The cost function defined in (22) penalizes the deviation of
the state x from a predefined equilibrium x∗ . Therefore, the
objective of the optimization problem defined by (22) is to find
a control law u∗ that drives the state of the system from any
point in state space, x to equilibrium x∗ , if the equilibrium of
the system is at the origin, the simplest form of the stage cost
` is given as
2
l(x, u) = kxk + γ kuk
2
where γ is a weighting factor penalizing the input u. Com-
mon methods for solving such optimization problems include;
 MAHMOUD AND OYEDEJI: ADAPTIVE AND PREDICTIVE CONTROL STRATEGIES FOR WIND TURBINE SYSTEMS: A SURVEY
direct optimization methods involving nonlinear programming
algorithms, Euler-Lagrange and Hamilton-Jacobi-Bellman ap-
proaches [81].
Authors in [82] studied direct power control of a wind
turbine system using model predictive control theory. In their
study, their main control objectives were power regulation and
minimization of torque oscillations. Mechanical loads can be
induced on the blades of the turbine due to the rotation effect
of wind turbine blades. The frequency components induced
by these mechanical loads can be classified into 1P, 2P, 3P
and so on. In [52], a frequency-weighted model predictive
controller was designed for minimization of mechanical loads
on the trailing edge flaps of the wind turbine blades. Four
MPC controllers were designed for a wind turbine system
in [54] to cover all the operating regions of the turbine
Primary objectives of these controllers were maximum power
extraction below rated wind speed and load minimization
above rated wind speed.
A. Fuzzy MPC
Using a convex optimization approach, authors in [50] pro-
posed a fuzzy model-based multi-variable predictive control
law for a wind turbine system. The nonlinear system was
approximated using a Takagi-Sugeno fuzzy inference system.
According to the authors, they achieved an error of 6.5 % of
the desired reference value.
B. Robust MPC
Authors in [83] designed a robust nonlinear model predic-
tive controller for a PMSG (permanent magnet based syn-
chronous generator) based WTS. A robust MPC controller was
designed for minimization of tower damping oscillations in
[51]. Using system identification based methods, the model
used in developing the robust MPC controller was derived. It
was gathered that the robust MPC performed better than the
nominal MPC controller.
C. LiDAR-enabled MPC
In reality, the classical control systems are late to respond
to fast changing wind disturbances. More recently, researchers
are beginning to consider the application of LiDAR (light
detection and ranging) sensory devices which are capable of
estimating wind conditions at about few meters away from
the position of the turbine. Authors in [53] discussed LiDAR-
enabled model predictive control design for wind turbines.
D. State-constrained MPC
Authors in [84] studied state constrained MPC incorporating
both feedback and feedforward control. The MPC control law
was designed to enforce some state constraints to prevent
unnecessary shutdown of the wind turbine system when some
states violate their rated values. The authors studied different
scenarios including; normal operation, wind gust and grid loss.
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369
E. Sliding-Mode MPC
Authors in [85] applied receding horizon adaptive second-
order SMC to achieve two objectives for a wind turbine
system. One of the objectives was to guarantee maximum
power extraction in Zones II and III. The other objective was
to use the power factor to track a reactive power reference.
Optimum energy conversion was achieved in Zone II by
tracking a time varying optimum torque reference.
F. Nonlinear MPC
Authors in [86] designed a nonlinear model predictive
controller for a DFIG-based wind generation system. The
nonlinear model of the DFIG-based turbine takes into account
unbalanced grid conditions. Using a input-output feedback
linearization scheme, an objective function was formulated to
consider both economic and reference tracking objectives.
G. Multi-objective MPC
Control systems design for wind turbine systems must
consider different objectives. Hence the MPC control design
problem can be formulated for wind turbines systems using a
multi-objective optimization approach to take into considera-
tion the different objectives and different operating conditions.
Authors in [87] studied the tuning of a linear multi-objective
MPC controller using the principle of Pareto optimality to
achieve a trade-off between mean generated power and tower
fore-aft vibration damping.
Considerable amount of research efforts have been made in
the design of linear MPC controllers for wind turbine systems.
However, due to the highly nonlinear nature of WTS and
the presence of multiple operating points, the performance of
these controllers are somewhat limited and do not guarantee
satisfactory performance over the operating regimes. The
aspect of development of NMPC control schemes for WTS
systems still remain open. Although some papers have been
published in this area, the models employed in these papers are
over-simplified and do not describe accurately the operation of
the turbine. Simplified models are employed when designing
NMPC controllers because of heavy computational burden
that may result from employing high fidelity models due to
inherent nonlinear characteristics. One possible research area
that needs to be explored is the design of NMPC controllers
that use high fidelity models and guarantee the computation
of the control law within the sampling time constraints of the
system.
Furthermore, the wind turbine system is composed of
multiple subsystems including drive-train, generators, storage,
grid (for grid-integrated systems) and load. Research has
yet to be made into considering the WECS as a distributed
system with each subsystem having diverse control objectives
and also contributing to the overall control objective
of the entire system. In the past few years, numerous
research publications have been made in the distributed
model predictive control. It is encouraged that a detailed
model for the entire WECS be developed and distributed
MPC scheme should be designed for the wind turbine system.
 370
TABLE I
S UMMARY OF M ODEL P REDICTIVE C ONTROL T ECHNIQUES FOR W IND T URBINE C ONTROL
Reference/Year Model description
[50]/2012 Nonlinear, variable speed wind turbine,
mechanical dynamics, two mass drive
drain, first order pitch actuation system
[83]/2016 Nonlinear model, PMSG-driven WTS
with pulse width modulation rectifier and
a load
[87]/2016 Data driven model, Vestas high fidelity
wind turbine
[82]/2014 DFIG based WTS
[51]/2014 Rigid drive-train, negligible generator dy-
namics, pitch system dynamics
[86]/2014 DFIG-based WTS, single-mass drive train
[52]/2013 Data-driven models obtained from time
domain simulation
[84]/2013 Simplified wind turbine model consisting
of linear structural dynamics and actuator
models
[53]/2014 LiDAR-enabled model, linear parameter
varying wind scheduled model
[54]/2013 Mechanical dynamic model obtained from
FAST
Stochastic MPC algorithms which include estimation tech-
niques may be more suited to the control of wind turbine
systems. In Table I, the main features of MPC for wind turbine
systems are described.
V. A DAPTIVE C ONTROL
A summary of recent papers on adaptive control of wind
turbine systems is presented in this section and summarized
in Table II. We categorize the papers into the following
sub-categories; model reference adaptive control, disturbance
accommodating control, feedback linearization-based, back-
stepping, sliding mode and intelligent control.
Authors in [88] proposed an adaptive control strategy for
a variable speed wind turbine connected to a weak grid.
According to the authors, the control objective was to mini-
mize significant voltage oscillations and to improve the power
quality of the wind generation systems when connected to a
weak network.
Adaptive torque control of a variable speed wind turbine
using gain adaptation law derived based on fractional average
power between two time instants was discussed in [89]. The
asymptotic stability of the closed loop system was examined
for the case of zero and constant rotor speed with positive wind
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Control technique Objectives
Fuzzy multivariable predictive control, Maintain quality of power, reduction of
convex optimization subject to LMI con- mechanical loads in Region III
ditions
Robust nonlinear MPC Track a desired reference in the presence
of unknown disturbance
Multi-objective MPC Tuning the linear multi-objective MPC for
Pareto optimality
Nonlinear model predictive control Control of active and reactive power under
unbalanced grid conditions
Robust MPC, system identification using Minimization of tower damping oscilla-
step response and regression identification tions
was used to obtain the model for the
controller
Nonlinear model predictive control, input- Control of wind generation system under
output feedback linearization unbalanced grid conditions
Frequency-weighted MPC, state estima- Minimization of mechanical loads
tion using Kalman Filter
State constrained MPC Examine the effect of state constraint in
wind turbine control
Model predictive control Minimization of structural loads and out-
put power fluctuations
Constrained model predictive control Minimization of structural loads in Re-
gions II and III, switching between Re-
gions II and III
input. Also, the prove of convergence of the gain adaptation
algorithm was demonstrated under different assumptions.
Authors in [90] designed an L1 adaptive controller for the
pitching of the wind turbine blades. Using an affine model, the
nonlinear dynamics of the system was described considering
wind speed and aerodynamic torque as uncertain parameters.
The authors concluded that with the L1 adaptive controller,
the generator speed can be kept within a specified bound of
rated speed which is an indication of steady operation of the
turbine.
A. Model Reference Adaptive Control
In [91], a model reference adaptive controller (MRAC)
was designed for controlling a variable-pitch wind turbine in
region III to regulate the power output and reject disturbance.
The performance of the controller was evaluated using the
controls advanced research turbine (CART), a utility-scale
wind turbine. Authors in [92] designed an MRAC controller to
deal with the parameter variations in the drive-train inertia and
damping, electrical resistance and inductance of the generator.
Using Lyapunov analysis, the authors guarantee the stability of
the proposed controller. Also, the performance of the MRAC
controller was proven to outperform the PI controller.
 MAHMOUD AND OYEDEJI: ADAPTIVE AND PREDICTIVE CONTROL STRATEGIES FOR WIND TURBINE SYSTEMS: A SURVEY 371

TABLE II
S UMMARY OF A DAPTIVE C ONTROL T ECHNIQUES FOR W IND T URBINE C ONTROL

Reference/Year Model description Control technique Objectives

[92]/2016 PMSG-based WTS Model reference adaptive control, param- Maximum power point tracking control
eter variations were considered in drive-
train inertia and damping
[93]/2016 DFIG-based WTS Adaptive sliding mode control using high Maximum power point tracking control
order sliding mode theory under wind speed variations and system
uncertainties
[94]/2016 DFIG-based WTS Nonlinear adaptive control, feedback lin- Power control under unbalanced network
earization conditions
[95]/2016 Mechanical dynamics, two-mass model Sliding mode control, extreme learning Maximum power tracking control and
machine and particle swarm optimization minimization of structural loads in Region
II
[96]/2015 Switched reluctance generator based WTS Adaptive neuro-fuzzy control Speed control, MPPT
[85]/2016 DFIG-based WTS Receding horizon adaptive second order MPPT control, tracking time varying op-
SMC timum torque reference,
[88]/2015 DFIG-based WTS Nonlinear adaptive vector control Minimization of voltage oscillations in a
weak grid
[97]/2016 DFIG-based WTS Discrete time high-order sliding mode Disturbance rejection, MPPT control
controller
[98]/2015 Simplified wind turbine model with single Adaptive sliding mode controller and ob- MPPT control under parameter uncertain-
mass drive train server ties
[90]/2014 Mechanical system with two-mass drive- Pitch angle, L1 adaptive control Output power regulation
train
[55]/2015 Mechanical system with two-mass drive- Nonlinear adaptive backstepping control Minimization of tower vibrations
train
[99]/2015 Mechanical system with two-mass drive- Adaptive nonsingular terminal sliding Maximum power extraction
train mode control
[56]/2015 Simplified wind turbine model with tower Adaptive H∞ control, LMIs Reduction of tower vibrations
dynamics
[57]/2009 Mechanical system with two-mass drive- Adaptive H∞ control with wind estimator Minimization of mechanical loads
train
[100]/2014 Grid connected PMSG-based WTS Nonlinear adaptive control Enhancement of fault ride through capa-
bility
[101]/2013 Mechanical system with two-mass drive- Adaptive control based on neural net- Power reference tracking when subjected
train and tower bending dynamics, hy- works, adaptive neurocontroller to parameter uncertainties in the pitch
draulic pitch system system
[59]/2013 Simplified wind turbine system, with Adaptive radial basis neural networks Maximum power point tracking and out-
tower bending dynamics put power regulation
[102]/2016 Simplified wind turbine system, with un- Adaptive robust control Maximum power point tracking and power
modeled dynamics regulation
[103]/2016 DFIG-based WTS with single mass drive Nonlinear adaptive control Maximum power point tracking
train
[104]/2016 Mechanical system with two-mass drive- Adaptive pitch control, self-tuning regula- Power regulation in turbulent winds
train tor, PID
[105]/2015 Mechanical system with two-mass drive- RBF neural network, gravitational search Power regulation
train algorithm
[58]/2007 DFIG-based WTS Adaptive fuzzy sliding mode control Output power regulation and minimization
of chattering problem in sliding mode
control
[59]/2013 Simplified wind turbine model with tower Adaptive radial basis neural networks Output power regulation and minimization
bending dynamics of tower dynamic loads

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 372
B. Disturbance Accommodating Control
Disturbance accommodating control was designed in [106]
for a variable-pitch turbine operating in Region III. According
to the author, combined pitch and generator control in Region
III reduces the demand on the collective pitch control system
and enhances the 1st drive-train torsion mode damping.
C. Feedback Linearization Based Control
Authors in [94] proposed a nonlinear adaptive power con-
troller for a DFIG-based wind turbine experiencing unbalanced
network conditions. The control law was derived using a
feedback linearization that takes into consideration system
nonlinearities, uncertainties and external disturbances. The
performance of the controller was evaluated for robustness
against parameter variations and operation in unbalanced grid
scenarios. Compared with conventional vector control, the
adaptive controller demonstrated least tracking error.
D. Backstepping Control
The full load operation of a lightweight tower wind turbine
with a nonlinear adaptive backstepping controller was studied
in [55]. Using a fourth-order low pass filter, the reference
trajectory for the adaptive pitch control system. According
to the authors, the controller stabilizes the tower deflections
without overloading the pitch actuating system.
E. H∞ Control
In [57], an adaptive H∞ controller was combined with a
wind estimator for robust rejection of L2 bounded perturba-
tion. According to the authors, the designed estimator use the
plant dynamics to track the average change of the wind profile.
Authors in [56] used LMI based design and linear parameter
varying theory to design a multivariable adaptive controller for
large wind turbines towards reduction of tower vibrations and
rotational speed control for large wind turbines.
F. Sliding Mode Control
Authors in [99] proposed an adaptive nonsingular terminal
sliding mode controller for a variable speed wind turbine for
robust performance against parameter uncertainties and input
disturbances.
In [58], the chattering problem of the sliding-mode con-
troller was solved for a variable speed wind turbine using
a gradient-descent based adaptive fuzzy scheme. Adaptive
sliding mode control of a DFIG-based wind energy system was
studied in [98]. The controller design featured a robust control
scheme incorporating an Higher-order sliding mode controller
(HOSM). The proposed technique guarantees maximum power
extraction under strong winds and system uncertainties.
Authors in [97] proposed an adaptive disturbance rejection
controller for DFIG-based wind generation system. Using
a discrete-time high-order sliding mode controller a novel
observer was designed to compute a time-varying reference
values based on the operating conditions. Adaptive sliding
mode controller and observer was constructed in [98] for
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IEEE/CAA JOURNAL OF AUTOMATICA SINICA, VOL. 6, NO. 2, MARCH 2019
a wind turbine system. The authors handled the chattering
problem by smoothing out the controller output within a thin
boundary layer neighboring the switching surface.
Neural network based adaptive control for a wind turbine
system was presented in [101]. A nonlinear autoregressive
network was used to identify the nonlinear system. Further-
more an indirect model reference adaptive neuro controller
was developed based on the NARX model. According to the
authors, the controller exhibited excellent load disturbance
attenuation, robustness and tracking performance when sub-
jected to parameter variations.
Authors in [102] proposed a novel adaptive neural network
controller based on radial-basis functions for a VSVP WT.
The radial basis neural network was employed to estimate
the non-parametric uncertainties in the system. Stability of the
controller was guaranteed based on Lyapunov analysis.
Radial basis neural networks, gravitational search algorithm
and a PI controller was used to design an adaptive system for
MPPT control in [105]. According to the authors, the GSA
algorithm was employed to determine the optimal values of the
PI controller gains at different wind speeds and these optimal
values were used to train the RBF neural network.
Authors in [103] describe an adaptive maximum power
tracking controller for a DFIG-based wind generation system
that does not rely on the exact parameters of the WTS or wind
speed measurements. In [104], the authors describe an self
tuning regulator (STR) based adaptive pitch control scheme.
The control scheme is composed of a PID controller with
adjustable gains and a recursive least squares estimator.
Adaptive particle swarm and extreme learning machine were
combined in [95] for optimal control of a variable speed wind
turbine to maximize energy capture below rated wind speed
and minimize mechanical load and on the drive train shaft.
An adaptive neuro-fuzzy speed control scheme was discussed
in [96] for a switched reluctance generator. Compared with
a conventional PI controller, the authors reported excellent
dynamic performance.
Research advancements have been made in the development
of computational intelligence (CI) techniques for approximat-
ing the behavior of nonlinear systems. Notable amongst these
CI techniques include neural networks, functional networks,
support vector machines, and deep learning. These techniques
rely on input-output relationships alone without the need for
explicit system models. Although some neural-network based
applications have been studied for wind turbine systems, there
is still the need for more research to be done in application
of CI techniques for system identification and control of wind
turbine systems.
VI. FAULT T OLERANT C ONTROL
This section features some significant contributions from
researchers who have studied the problem of fault detection,
identification and diagnosis for wind turbines. The control
approaches summarized here centers around sliding mode,
adaptive, and fuzzy-based control techniques.
In [107], the authors propose a benchmark model for
simulation of fault detection and fault accommodation in wind
 MAHMOUD AND OYEDEJI: ADAPTIVE AND PREDICTIVE CONTROL STRATEGIES FOR WIND TURBINE SYSTEMS: A SURVEY
turbines. The faults considered include actuator, sensor and
system faults in the converter system, pitch actuators and
mechanical drive train.
Fault tolerant unknown input observer based scheme was
proposed in [108], [109] to provide an estimation of generator
speed measurements in a wind turbine system. According to
the authors, to keep the generator speed below the maximal
value, an offset parameter was added to the generator speed
estimate to mitigate against the case where the estimate has
an increased noise level.
Optimization of generator output power in a wind turbine
requires correct information about the wind power coefficient
which is sometimes considered time-varying and uncertain.
An observed based-scheme was proposed for estimating the
wind speed and power coefficient using the torque balanced
model of the wind turbine. Further, the estimates obtained were
employed in computing new operating points for the turbine
system.
In [110], a novel MPC controller that incorporates a repet-
itive wind disturbance model was proposed. The individual
pitch control action takes into consideration the effect of future
wind disturbance. In comparison with an industry standard PID
controller, the authors reported that their controller performs
better with respect to mitigation against mechanical loads.
Authors in [111], [112] proposed a Takagi-Sugeno sliding
mode observer for wind turbines with hydrostatic transmission.
the authors show that with this observer scheme several faults
in the drive train subsystem can be simultaneously recon-
structed with a single observer and can be directly applied
for fault compensation.
An optimal fault-tolerant control (FTC) scheme was pro-
posed for a wind turbine system featuring distributed high-
speed generators. Specifically, the FTC scheme was developed
to keep the turbine in operation for up to four simultaneous
generator faults. The controller structure consists of two layers;
the upper layer which is the baseline controller and the lower
layer which is responsible for fault diagnosis and FTC.
In [113], a proportional multi-integral observer scheme was
proposed to reconstruct actuator and sensor faults in large-
scale wind turbines. The authors proposed both Lyapunov-
based and a modified LQR approach for the observer design.
Their controller was tested using the aeroelastic simulator by
NREL.
In [114], nonlinear controller was designed for a wind
turbine system using Tagaki-Sugeno techniques. In the con-
troller design, the authors assumed the generator torque is a
varying parameter adjusted by an external operator. According
to the authors, the fuzzy model approach allowed for controller
design using parallel-distributed compensation.
In [115], the authors propose a novel approach to ac-
tive sensor fault tolerant tracking control for offshore wind
turbines using multiple Tagaki-Sugeno Models. By inserting
proportional state estimators augmented with proportional and
integral feedbacks, the authors claim that their FTTC strategy
maintain nominal controller behavior without changes in both
fault and fault free cases.
Authors in [116], [117] proposed an FTC scheme based on
adaptive sliding mode control for wind power maximization
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373
in low wind speed regimes. According to the authors, the
proposed FTC scheme can tolerate generator speed sensor
faults and generator torque bias faults. Also, the authors state
that the robustness property of SMC removes the need for a
state observer.
Authors in [118], presented a novel approach in designing a
fault detection and diagnosis (FDD) and fault-tolerant control
(FTC) scheme for a wind turbine using fuzzy-based ap-
proaches. To accommodate sensor faults, the authors designed
an active fault-tolerant control system as an extension of a
gain-scheduled PI control system.
An active fault tolerant co-operative control scheme was
designed for an offshore wind farm using model free and
model-based fault detection and diagnosis approaches in [119].
The proposed control scheme employs a fault detection and
diagnosis system to provide timely and precise information to
be used in appropriate automatic signal correction algorithm.
VII. A DAPTIVE M ODEL P REDICTIVE C ONTROL
In adaptive model predictive control, the MPC controller
features an adaptation algorithm for an uncertain parameter
in the system. The combination of adaptation and prediction,
although increases the complexity of the controller, improves
overall performance of the system, especially for systems
riddled with high degree of uncertainties like the wind turbine.
Adaptive MPC is currently considered an open research
area with enormous prospects for systems subjected to un-
certainties. Wind turbine systems also can be considered as
systems with inherent parametric uncertainties due to reliance
on stochastic behavior of the wind. As extensive as this survey
was carried out, we have found no application of adaptive
MPC for wind turbine control. In the following paragraphs
and Table III, we summarize existing literature on control
schemes based on adaptive MPC where the parameters of the
system used in the computation of the control law are now
being estimated online towards stimulating new applications
for wind turbine control.
Adaptive model predictive control based on neural networks
was studied in [120]. An adaptive recursive least squares for
nonlinear model identification was proposed for online training
of a neural network based on series-parallel identification
method. At first the neural network was trained offline to
estimate appropriate network parameters. After obtaining the
desired NN parameters, the identification scheme was then
carried out online at each sampling instant. The parameters
used in the computation of the predictive control law was
based on the identified nonlinear autoregressive moving av-
erage model. The NAMPC scheme developed was compared
with a generalized predictive control scheme based on neural
networks. Adaptive model predictive control for unconstrained
discrete-time linear system with uncertainties was studied in
[121]. The control objective was to track a desired reference.
The parameters of the system used in computing the control
law were estimated online using an adaptive updating law.
A. Intelligent Control
In [122], fuzzy-based predictive control for regulation of
the output variables in a coagulation chemical dosing unit
 374
TABLE III
S UMMARY OF A DAPTIVE M ODEL P REDICTIVE C ONTROL T ECHNIQUES
Reference/Year Title
[120]/2011 Adaptive model predictive control based on
neural networks
[121]/2016 Adaptive model predictive control for un-
constrained discrete-time linear system with
uncertainties
[123]/2008 An adaptive receding horizon predictive
control strategy for constrained discrete-
time linear systems with parametric uncer-
tainties
[124]/2009 Nonlinear regression model-based predic-
tive control algorithm for SISO and MIMO
systems
[125]/2007 Adaptive model predictive control for a
class of constrained linear systems based on
a comparison model
[126]/2015 Adaptive fuzzy predictive control for non-
linear systems with uncertainties and known
bounded input delay
[127]/2009 Adaptive model predictive control for con-
strained nonlinear systems
[128]/2013 Adaptive predictive control of linear sys-
tems with time-delay
[129]/2010 Adaptive neuro-fuzzy inference system for
design of generalized predictive controller
was presented. A multi-input multi-output (MIMO) process
model was derived using a linearized Takagi-Sugeno (TS)
fuzzy model. The TS-fuzzy model derived was used in the
prediction model of the NMPC controller. The authors reported
better set-point tracking and disturbance rejection capabilities
as compared with the nonlinear MPC controller. An adaptive
receding horizon predictive control strategy for constrained
discrete-time linear systems with parametric uncertainties was
proposed in [123]. The developed scheme allows for the
prediction of a monotonically decreasing estimation error. It
was also demonstrated how the discrete-time adaptive state
feedback MPC controller is constructed by combining online
parameter estimation with a robust MPC scheme. A nonlinear
regression model-based predictive control algorithm for single-
input single output and multi-input multi-output systems was
proposed in [124]. According to the authors, the controller
structure permits open-loop modeling while closed loop con-
trol is executed at each time instant.
In [125], adaptive model predictive control for a class
of constrained linear systems based on a reference model
was discussed. The authors proposed an adaptive parameter
update method based on moving horizon estimation which
allows for prediction of an estimation error bound over the
prediction horizon. The adaptive MPC algorithm was de-
veloped by combining online parameter estimation with an
MPC technique based on a reference model. According to
the authors, the feasibility and stability of the closed loop
system was guaranteed. An adaptive fuzzy predictive sliding
control for nonlinear systems with uncertainties and known
bounded input delay was presented in [126]. The proposed
controller consist of three main components including, an
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Brief description
Nonlinear identification using neural networks using adaptive recursive least squares,
generalized predictive control
Adaptive law was obtained by combining an adaptive updating law and constrained
MPC for an estimated system
Identification using ARX model, combination of parameter estimation and robust MPC
for derivation of the control law
Controller structure allows for nonlinear open loop modeling while closed loop control
is executed at each time instant
Combination of robust MPC with an adaptive parameter estimation method, continuous
time system
Fuzzy inference system to approximate ideal linearization control, adaptive fuzzy
predictor to estimate the future states,
Combination of parameter adjustment mechanism with robust MPC
ARX model for system identification, recursive least squares estimation with forgetting
factor
Controller consists of linear and robust GPC, nonlinear generalized predictive adaptive
controller based on ANFIS and a switching mechanism
adaptive fuzzy predictor for estimation of future states and
compensation of the input delay, an adaptive fuzzy sliding
mode controller for approximating the ideal control input
of the conventional SMC, and finally an adaptive switching
controller for preservation of the stability and robustness of
the controlled system.
An ant colony optimization (ACO)-based fuzzy predictive
control for a nonlinear process was presented in [130], the
uncertain parameters were identified using an online adaptive
fuzzy identification scheme. The estimated parameters are
used to evaluate the objective function based on a predic-
tive approach and RST controller structure. The optimization
problem was then solved using ACO. The approach was
proven to show better results as compared to proportional
integral-ACO controller and adaptive fuzzy MPC. Adaptive
model predictive control for constrained nonlinear systems was
proposed in [127]. The proposed method account for transient
effect of parametric estimation error by combining parameter
estimation mechanism with robust MPC algorithms.
In [128], adaptive predictive control of linear systems with
time-delay was studied. Both offline (least squares) and online
(recursive least squares) estimation methods were discussed.
The estimated system parameters were used in the computation
of the predictive control law. Adaptive neuro-fuzzy inference
system was used in the design of generalized predictive
controller for a class of uncertain discrete-time nonlinear
systems with unstable dynamics in [129]. The control scheme
consists of a linear and robust generalized predictive controller,
a nonlinear generalized predictive adaptive controller based
on adaptive neuro-fuzzy inference system and a switching
mechanism. According to the authors, the ANFIS was adopted
 MAHMOUD AND OYEDEJI: ADAPTIVE AND PREDICTIVE CONTROL STRATEGIES FOR WIND TURBINE SYSTEMS: A SURVEY
to estimate and compensate the unmodeled dynamics in the
system and also it avoids some of the possible flaws of back-
propagation neural networks.
In summary, the techniques and approach presented in this
research papers, provides promising applications for wind
turbine control system as adaptation to varying wind behavior
is an important element that must be factored in the design of
any form of controller for the wind turbine system in order to
cover operation across all operating regions.
VIII. C ONCLUSION
This survey has provided an extensive overview of the state-
of-the-art adaptive and predictive control strategies for wind
turbine systems. Based on the papers surveyed in this study,
most of the research efforts on either adaptive or predictive
control strategies are concentrated on variable-speed or vari-
able pitch wind turbines. Recent wind turbines are developed
to operate in variable-speed variable-pitch mode. Hence, more
research studies need to be carried out in the development
of variable-speed variable-pitch controllers and appropriate
switch mechanisms are required for changing between these
control modes based on average wind speed. Furthermore, the
application of adaptive MPC algorithms still remain an open
area of research for control of wind turbines. This opens a new
question of how to combine adaptation in the computation
of the control law with computational and sampling time
constraints on the wind turbine system.
Finally, the application of computational intelligence (CI)-
based techniques for estimation and control still remain very
much limited in the development of controllers for wind
turbine system. CI-based algorithms have been used exten-
sively in many short and long term forecasting applications. A
possible research area may be to combine CI-based algorithms
with MPC to counter the problem of non-deterministic wind
behaviour by coupling high fidelity wind estimation algorithms
with MPC algorithms.
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Magdi S. Mahmoud obtained the B.Sc. (Honors)
in communication engineering, the M.Sc. in elec-
tronic engineering and the Ph.D. in systems engi-
neering, all from Cairo University in 1968, 1972
and 1974, respectively. He has been a Professor of
engineering since 1984. He is now a Distinguished
Professor at King Fahd University of Petroleum and
Minerals (KFUPM), Saudi Arabia. He was on the
faculty at different universities worldwide including
Egypt (CU, AUC), Kuwait (KU), UAE (UAEU),
UK (UMIST), USA (Pitt, Case Western), Singapore
(Nanyang) and Australia (Adelaide). He lectured in Venezuela (Caracas),
Germany (Hanover), UK ((Kent), USA (UoSA), Canada (Montreal) and China
(BIT, Yanshan). He is the principal author of thirty-seven books, inclusive
book-chapters and the author/co-author of more than 600 peer-reviewed
papers. He is a fellow of the IEE, a senior member of the IEEE, the CEI (UK),
and a registered consultant engineer of information engineering and systems
(Egypt). He received the Science State Incentive Prize for outstanding research
in engineering, (1978, 1986), the State Medal for Science and Art, First
Class, (1978), and the State Distinction Award, (1986), Egypt. He awarded
the Abdulhamed Showman Prize for Young Arab Scientists in the field of
Engineering Sciences, (1986), Jordan. In 1992, he received the Distinguished
Engineering Research Award, College of Engineering and Petroleum, Kuwait
University, (1992), Kuwait. He is co-winner of the Most Cited Paper Award
2009, “Signal Processing” vol. 86, no. 1, 2006, pp. 140−152. His papers were
selected among the 40 best papers in Electrical & Electronic Engineering
by the Web of Science ISI in July 2012. He interviewed for “People in
Control” IEEE Control Systems Magazine, August 2010. He served as Guest
Editor for the special issue “Neural Networks and Intelligence Systems in
Neurocomputing” and Guest Editor for the 2015 International Symposium
on Web of Things and Big Data (WoTBD 2015) 18−20 October 2015,
Manama, Bahrain. He is a Regional Editor (Middle East and Africa) of
International Journal of Systems, Control and Communications (JSCC),
INDERSCIENCE Publishers since 2007, member of the Editorial Board
of the Journal of Numerical Algebra, Control and Optimization (NACO),
Australia since 2010, an Associate Editor of the International Journal of
Systems Dynamics Applications (IJSDA), since 2011, member of the Editorial
Board of the Journal of Engineering Management, USA since 2012 and an
Academic Member of Athens Institute for Education and Research, Greece
since 2015. Since 2016, He is an Editor of the Journal Mathematical Problems
in Engineering, Hindawi Publishing Company, USA. He is currently actively
engaged in teaching and research in the development of modern methodologies
to distributed control and filtering, networked control systems, fault-tolerant
systems, cyber-physical systems, and information technology.
Mojeed O. Oyedeji obtained the B.Sc. (Honors) in
electrical and electronics engineering degree from
Osun State University, Nigeria in 2012. He obtained
the M.S. degree from King Fahd University of
Petroleum and Minerals (KFUPM), Saudi Arabia in
2017. He is currently a Ph.D. candidate at KFUPM.
His research interests include multi-agent systems,
control systems, renewable energy, energy markets,
model predictive control, artificial intelligence, and
evolutionary systems.