Stabilising Speed for Hydro Turbines by Technical Robust H∞ Controllers

Stabilising speed for hydro turbines is an important task of a governor system. Nowadays, PID controllers have been used commonly in hydro power governor systems. However, with hydro power plants having daily regulation lake such as Serepok 3, the change of water level during the day will have an impact on time response and also on overshoot of adjusting speed in the starting process. Due to this impact, the regulation of PID controller is quite difficult, because values of parameters KP, KI, KD have been fixed in the starting process. Therefore, robust controller solutions are necessary for hydro power governor systems. This paper includes 3 parts: Modelling governor systems of hydro power plants; Determining PID controller parameters for hydro turbines by Ziegler – Nichols method; Designing Robust H_∞controller for hydro turbine governor systems and evaluating simulation results compared with PID controller