Tuning a linear quadratic regulator for point absorber wave energy converters

A Wave Energy Converter deployed in Italy uses Proportional—Derivative control to optimise its Power Take-Off system. Different controllers were obtained for different sea states, but this cumbersome process takes a long time. This paper explores the alternative possibility of a time invariant control law (a Linear Quadratic Regulator) based upon optimal control theory, relying upon simulations of a simpler heaving point absorber