Modelling, control and Pontryagin Maximum Principle for a two-body wave energy device

A time domain model is also developed for the device. A non-linear power take-off mechanism configuration, consisting in a hydraulic circuit with low-pressure and high-pressure gas accumulators, is devised. Time-averaged absorbed power is maximized in terms of characteristic mechanism parameter. A sub-optimal method of phase control by latching is applied to the device in order to improve its performance. Analytical development of Pontryagin Maximum Principle is used to establish an algorithm for device's control.