In comparison of the conventional bulk power plants, in which the synchronous machines dominate, the distributed generator (DG) units have either very small or no rotating mass and damping property. With growing the penetration level of DGs, the impact of low inertia and damping effect on the grid stability and dynamic performance increases. A solution towards stability improvement of such a gr...

The thought of the virtual synchronous generator (VSG) for controlling the grid-connected inverters and providing virtual inertia to the microgrid is emerging as a wide extension of the droop control, power coupling that always exists in the low-voltage microgrid, which may deteriorate the dynamic response and the stability of the system. In this paper, the principle of VSG control is introduce...

Postural control during free stance has been frequently interpreted in terms of balancing an inverted pendulum. This even holds, if subjects do not balance their own, but an external body weight. We introduce here a virtual balancing apparatus, which produces torque in the ankle joint as a function of ankle angle resembling the gravity and inertial effects of free standing. As a first aim of th...

When an islanding condition caused by unintentional single-line to ground fault occurs in active distribution network with distributed generation, the frequency stability and protection issues remain challenging. Therefore, this paper presents under enhancement of using a virtual inertia-controlled-battery energy storage system improve faults. The inertia control is designed based on direct qua...

Virtual synchronous generators (VSG) are considered a new generation of grid-friendly inverters with the same inertial support characteristics as (SG). However, inertia comes side effects power and frequency response deterioration. The existing VSG oscillation suppression methods have limitations such complex controller parameter tuning, altering characteristics, quality degradation. To address...

Holding an object and manipulating it in 6D is a key application for multifingered robot hands. In the past many algorithms were proposed based on a weighted pseudoinverse of the grasp map combined with an internal force control. The majority of these algorithms require robust contact detection/tracking and switching controllers. Employing the virtual object introduced by Stramigioli we present...