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The paper proposes a decentralised approach to guarantee an optimal voltage profile along the feeders of a distribution system with Distributed Generation (DG) from renewable sources. The goal is achieved by using a reactive power closed-loop control scheme for the DG device. The reference value is designed by solving a minimisation problem, which is formulated using only local measurements and avoiding any data exchange with other control systems in the grid. Variations of the operating conditions of the distribution system are estimated to update the formulation of the minimisation problem. Numerical results are presented to give evidence of the effectiveness of the proposed approach.