@MASTERSTHESIS\{IMM2012-06379,
    author       = "S. R. Griful",
    title        = "Modelling and Control of an Inverted Pendulum Turbine",
    year         = "2012",
    school       = "Technical University of Denmark, {DTU} Informatics, {E-}mail: reception@imm.dtu.dk",
    address      = "Asmussens Alle, Building 305, {DK-}2800 Kgs. Lyngby, Denmark",
    type         = "",
    note         = "This project was proposed by the engineer Keld Hammerum from Vestas Wind Systems A/S and have been supervised by the control engineer Fabio Caponetti from Vestas Turbines R\&{D,} by the PhD student Mahmood Mirzaei from {DTU} Informatics, by the Associate Professor Hans Henrik Niemann from {DTU} Electrical Engineering and by the Associate Professor Niels Kj{\o}lstad Poulsen, nkp@imm.dtu.dk from {DTU} Informatics.",
    url          = "http://www.imm.dtu.dk/English.aspx",
    abstract     = "The current energy situation is untenable in a long term. A change in the energy sector is required and the wind energy is postulated as a good candidate for this evolution.
There are many ways of improving the wind energy, either building bigger structures able to generate large amounts of electricity either investigating new improvements to make wind energy more profitable. In this project the feasibility of a new kind of wind turbine is studied.
This thesis deals with the achievement of getting a proper mathematical model of a new kind of wind turbine, called the inverted pendulum turbine, but also designing a controller able to command this great structure.
The inverted pendulum turbine is inherently unstable system. In order to control this wind turbine an optimal control has been investigated: the linear quadratic regulator.
This project studies the feasibility of this uncommon wind turbine system design but also promotes sustainable energy and opens a wide range of new possible implementations in the world of wind turbines."
}