The objective (1) has been achieved by incorporating relevant nonlinear effects into the controller calculations, while keeping real-time feasibility. This has been performed both by developing novel theoretical extensions to the underlying theory of moment-based control, and a suitable integration with data-based modelling and model reduction for nonlinear WEC systems. Furthermore, a composite control loop has been proposed alongside with the mathematical formulation, which features a two-level control architecture, suitable for practical implementation, and exhibiting enhanced robustness features. (2) has been achieved via exhaustive testing in experimental environments, using different wave energy conversion concepts, to fully showcase the capabilities of the strategy in real-life scenarios. In particular, both experimental hardware-in-the-loop (dry testing), and in-tank experiments (wet testing), have been performed, for pitching and heaving devices, including e.g. a flap-type WEC and a point absorber system, under realistic sea state conditions. Several control architectures have been tested, with convergence to a two-level controller based on moment-based optimal reference generation and robust variable structure tracking control. Furthermore, arrays of WEC devices have also been considered within experimental assessment and validation, in several layout configurations and with different number of devices, further demonstrating the reliability of the developed technique. (3) has been achieved via centralised and decentralised controller formulations, where the associated models, used for design and synthesis of moment-based control, have been obtained in a data-based fashion. Furthermore, and given the unmeasurable valuable for the WEC community behind availability of data for arrays of WEC systems, an open dataset has been released as part of the action, containing the experiments carried out as part of this campaign, in a post-processed and user-friendly fashion. Finally, (4) has been achieved by releasing an open-source Matlab-based software, termed CONTRALL. This particular software provides a user-friendly implementation of the validated moment-based controller, for any interested stakeholder, requiring minimum intervention from a coding perspective. In particular, any user can change the controller parameters and adapt these to a particular device, being a valuable ready-to-use implementation of the technology developed during Destiny, without the added trouble of coding the technique from scratch.
