Efforts by various researchers in recent years to design simple causal control laws that can be applied to WEC devices suggest that these controllers can yield similar levels of energy output as those of more complex non-causal controllers. However, most studies were established without adequately considering device and power conversion system constraints which are relevant design drivers from a cost and economic point of view. It is therefore imperative to understand the benefits of MPC compared to causal control from a performance and constraint handling perspective. In this paper, we compare linear MPC to a casual controller that incorporates constraint handling to benchmark its performance on a one DoF heaving point absorber in a range of wave conditions. Our analysis demonstrates that MPC provides significant performance advantages compared to an optimized causal controller, particularly if significant constraints on device motion and/or forces are imposed. We further demonstrate that distinct control performance regions can be established that correlate well with classical point absorber and volumetric limits of the wave energy conversion device.

Marine radars have proven to be useful for measuring ocean waves, but the accuracy of the measurements is limited by several factors including the look-angle dependence of the radar signals as well as noise in the radar data. The look-angle dependence introduces a systematic error or bias in the measurements, and noise causes a random error. This paper describes a method of combining data from multiple radar frames that is optimal in the sense of minimizing the error for a set of biased measurements with random additive noise. The results are shown experimentally to increase the correlation of the radar estimates with buoy measurements.