Efficiency-aware non-linear model-predictive control with real-time iteration scheme for wave energy converters

Several solutions have been proposed in the literature to maximise harvested ocean energy, but only a few consider overall efficiency of power take-off system. The fundamental problem incorporating system is that it leads nonlinear and non-convex optimal control problem. main disadvantage available none solve real-time. This paper presents model predictive (NMPC) approach based on real-time iteration (RTI) scheme incorporate system's when solving at each time step law aimed maximising energy extracted. second contribution this derivation condensing algorithm O(N2) for ‘output-only’ cost functions required improve computational efficiency. Finally, RTI-NMPC tested using scaled Wavestar design, demonstrating benefit new formulation.