The steady increase in the energy demand and the growing carbon footprint has forced electricity-based utilities to shift from their use of non-renewable energy sources to renewable energy sources. Furthermore, there has been an increase in the integration of renewable energy sources in the electric grid. Hence, one needs to manage the energy consumption needs of the consumers, more effectively. Consumers can connect all the devices and houses to the internet by using Internet of Things (IoT) technology. In this study, the researchers have developed and proposed a novel 2-stage hybrid method that schedules the power consumption of the houses possessing a distributed energy generation and storage system. Stage 1 modeled the non-identical Home Energy Management Systems (HEMSs) that can contain the DGS like WT and PV. The HEMS organise the controllable appliances after taking into consideration the user preferences, electricity prices and the amount of energy produced /stored. The set of optimal consumption schedules for every HEMS was estimated using a BPSO and BSA. On the other hand, Stage 2 includes a Multi-Agent-System (MAS) based on the IoT. The system comprises two portions: software and hardware. The hardware comprises the Base Station Unit (BSU) and many Terminal Units (TUs).

The control problem of the rotary double inverted pendulum (double Furuta pendulum) is nontrivial because of underactuation and strong nonlinearities in the associated state‐space model. The system has three degrees of freedom (one actuated and two unactuated joints) while receiving only one control input. In this article, a novel nonlinear optimal (H‐infinity) control approach is developed for the dynamic model of the rotary double inverted pendulum. First, the dynamic model of the double pendulum undergoes approximate linearization with the use of first‐order Taylor series expansion and through the computation of the associated Jacobian matrices. The linearization process takes place at each sampling instance around a temporary operating point which is defined by the present value of the system's state vector and by the last sampled value of the control inputs vector. At a next stage a stabilizing H‐infinity feedback controller is designed. To compute the controller's feedback gains an algebraic Riccati equation has to be solved at each time‐step of the control algorithm. The global stability properties of the control scheme are proven through Lyapunov analysis. To implement state estimation‐based control without the need to measure the entire state vector of the rotary double‐pendulum the H‐infinity Kalman filter is used as a robust state observer. The nonlinear optimal control method achieves fast and accurate tracking of setpoints by all state variables of the rotary double inverted pendulum under moderate variations of the control input.