ESTRUCTURA DE PRESTACIÓN DE LOS SERVICIOS PÚBLICOS DOMICILIARIOS (SPD) DE ENERGÍA ELÉCTRICA EN BOGOTÁ Y LA COSTA ATLÁNTICA
The structure of the article is directed to evaluate the provision of the services public home of energy by the municipal public enterprises EPM of Bogota and the Atlantic coast from the address and the presence of Chilean and Spanish, capital through (Emgesa and Endesa) companies within the Countess and (Electricaribe and Electro costa) within the framework of Union Fenosa located respectively in the mentioned regions. Unlike the rest of the EPMs providers of public utilities in the country, having dabbled in companies of State regime which combines with the privately run public holding, in a present, in which is questioned the viability and sustainability of a business such as this, which requires large investments they share. The systemic analysis responds to the economic and legal elements to consider the matter, while the organizational composition of them is unknown.
Electricity privatisation and restructuring in Latin America and the impact on workers, 2005
The process of electricity privatisation and liberalisation in Latin America has led to loss of jobs, insecurity of employment, and worse conditions for electricity workers. Outsourcing has been a major problem. It has also contributed to a number of social and economic problems, including problems of price levels, reliability, and government guarantees.
L1 Adaptive Controller for Attitude Control of Multirotors
In this work we show an application of L1 Adaptive control theory for attitude control of UAVs. We implement the flight control system on a multirotor to show robustness and precise attitude tracking in the presence of modeling uncertainties and environmental disturbances. We choose backstepping control architecture, since the kinematics and dynamics of multirotors in most cases can be written in strict feedback form. We further exploit the fact that the kinematics of the plant, while free of uncertainties, is nonlinear, which makes it highly suitable for dynamic inversion control at each level of backstepping. On the other hand, plant dynamics is uncertain and is affected by environmental disturbances such as wind gusts, unmodeled dynamics etc. Therefore, we consider 3 variants of the control architecture. The first method uses backstepping to determine the moment demand and augments it with the L1 adaptive controller to account for uncertainties and provide robustness with guaranteed transient performance. The second architecture apply the concept of L1 adaptive backstepping to the same problem; and the third architecture uses L1 backstepping for quaternion representation of the system dynamics, which helps to avoid the singularities associated with Euler angles.