4th International Conference on Advances in Control and

Optimization
4th of Dynamical Systems
4th International
International Conference
Conference on
on Advances
Advances in
in Control
Available Control and
and
February 1-5, of
Optimization 2016. NIT Tiruchirappalli,
Dynamical Systems India online at www.sciencedirect.com
Optimization of Dynamical Systems
February
February 1-5,
1-5, 2016.
2016. NIT
NIT Tiruchirappalli,
Tiruchirappalli, India
India
ScienceDirect
IFAC-PapersOnLine 49-1 (2016) 567–572
Introducing LQR-Fuzzy Technique with Dynamic Demand Response
Introducing LQR-Fuzzy
Control Technique
Loop to with Dynamic
Load Frequency Demand
Control Model Response
Control Loop to Load Frequency Control Model
P.Srividya Devi*, Dr. R Vijaya Santhi**, Dr. D.V.Pushpalatha***
P.Srividya
P.Srividya Devi*, Dr.
Dr. R
R Vijaya
Devi*, scholar,
*Research Vijaya Santhi**,
Santhi**,
Andhra Dr. D.V.Pushpalatha***
D.V.Pushpalatha***
Dr.Visakapatanam
University,
(e-mail:srividyadevi2001@gmail.com)
*Research
*Research scholar,
scholar, Andhra
Andhra University,
University, Visakapatanam
Visakapatanam
**Assistant Professor ,Andhra University, Visakapatanam
(e-mail:srividyadevi2001@gmail.com)
(e-mail:srividyadevi2001@gmail.com)
**Assistant (e-mail:santhikanth@gmail.com
**Assistant Professor ,Andhra
Professor ,Andhra University, )
University, Visakapatanam
Visakapatanam
***(e-mail:santhikanth@gmail.com
Professor, EEE, GRIET, Hyderabad
(e-mail:santhikanth@gmail.com ))
*** (e-mail:dvplatha@gmail.com)
*** Professor,
Professor, EEE, GRIET,
EEE, GRIET, Hyderabad
Hyderabad
(e-mail:dvplatha@gmail.com)
(e-mail:dvplatha@gmail.com)
Abstract: The present paper indicates a novel approach of LQR-Fuzzy controller to stabilize the
frequency
Abstract: The
Abstract: in allpresent
The (normalpaper
present and emergency)
paper indicates aa conditions
indicates novel under of
novel approach
approach ofmicro grid environment.
LQR-Fuzzy
LQR-Fuzzy controller Load
controller to Frequency
to stabilize
stabilize the
the
Control
frequency (LFC)
in model
all plays
(normal a
and vital role in
emergency) electric power
conditions system
under design
micro and
grid
frequency in all (normal and emergency) conditions under micro grid environment. Load Frequency operation.
environment. From
Loadthe literature,
Frequency
it is proven
Control
Control (LFC)
(LFC) that the implementation
model
model plays
plays aa vital roleof
vital role in DR
in (Demand
electric
electric power Response)
power system
system design is aand
design keyoperation.
and to the future
operation. Frommicro
From the grid. In
the literature,
literature,
itpractice,
is LFC-DR
proven that model
the is tuned
implementation by conventional
of DR (Demand controllers
Response) like
is PI,
a PD,
key
it is proven that the implementation of DR (Demand Response) is a key to the future micro grid. toPIDthe controllers,
future microwith their
grid. In
In
fixed
practice, gains.
practice, However,
LFC-DR
LFC-DR model
modeltheyis
isare incapable
tuned
tuned by of obtaining
by conventional
conventional good dynamic
controllers
controllers like performance
like PI,
PI, PD,
PD, PID over a widewith
PID controllers,
controllers, range
with of
their
their
operating
fixed
fixed gains. conditions
gains. However,and
However, they
theyload
arechanges.
are incapable
incapable This
of paper presents
of obtaining
obtaining good an
good idea ofperformance
dynamic
dynamic introducing over
performance a DRaacontrol
over wide loop of
wide range
range in
of
the traditional
operating
operating LFC and
conditions
conditions model
and load(called
load changes.
changes. LFC-DR)
This using
This paper
paper Intelligent
presents
presents an ideaController
an idea of for a aa power
of introducing
introducing DR system.
DR control
control loopDR
loop in
in
communication
the
the traditional
traditional LFC delaymodel
LFC latency
model in theLFC-DR)
(called
(called controllerusing
LFC-DR) design
using is considered
Intelligent
Intelligent Controller
Controllerand for
is linearized
for aa power using Padé
system.
power system. DR
DR
approximation. The
communication
communication delay
delayaddition
latencyof in
latency DRthe
in control
the loop guarantees
controller
controller design
design isis stability
considered
considered of the
and overall
and is closed-loop
is linearized
linearized usingsystem
using Padé
Padé
and effectively
approximation. improves
The additionthe system
of DR dynamic
control performance.
loop guarantees Simulation
stability of results
the show
overall
approximation. The addition of DR control loop guarantees stability of the overall closed-loop system that LQR-
closed-loop Fuzzy
system
Logic
and Controllerimproves
and effectively
effectively based LFC-DR
improves the
the systemsingle-area
system dynamic
dynamic power system have
performance.
performance. better performance
Simulation
Simulation results
results show
show andthat
superiority
that LQR- over
LQR- Fuzzy
Fuzzy
aLogic
classical controller
Controller under
based any
LFC-DR operating scenarios.
single-area power system have better performance
Logic Controller based LFC-DR single-area power system have better performance and superiority over and superiority over
classical controller
aa©classical controller
2016, IFAC Load
under
under
(International
any
any operating
operating
Federation
scenarios.
scenarios.
of Automatic Control) Hosting
Keywords: Frequency control; microgrid; Demandby Elsevier
Response;Ltd. All rights reserved.
Linear Quadratic
Regulator(LQR);Fuzzy
Keywords:
Keywords: Load Logic Control;
Load Frequency
Frequency padé approximation.
control;
control; microgrid;
microgrid;  Demand
Demand Response;
Response; Linear Linear Quadratic
Quadratic
Regulator(LQR);Fuzzy
Regulator(LQR);Fuzzy Logic Logic Control;
Control; padé
padé approximation.
approximation. 

1. INTRODUCTION  reliability is jeopardized" by Federal Energy Regulatory
INTRODUCTION
1. INTRODUCTION
1. Commission
reliability
reliability is is (FERC)[7]
jeopardized"
jeopardized" . In by suchFederal
by cases, energy
Federal Energystorage
Energy and
Regulatory
Regulatory
For the stability, sensitivity and security responsive
Commission loads shows a very great
Commission (FERC)[7] . In such cases, energy storage and
(FERC)[7] . In such cases, swear
energy for balancing
storage and
considerations,
For the
For the frequency
the stability, of sensitivity
stability, a power system
sensitivity and issecurity
and a very
security generation
responsive and
responsive loads
loadsdemand,
shows asaa they
shows verywill
very help
great
great to avoid
swear
swear for the
for use of
balancing
balancing
important performance
considerations,
considerations, signal of
the frequency
the frequency ofto aa the
power
powersystem
system
systemoperator [1].
is aa very
is very the traditional
generation
generation and generation
and demand,
demand, as asfollowing
they
they will schemes,
will help
help to which
to avoid
avoid the can
the use be
use of
of
Power system
important
important frequency signal
performance
performance controlto
signal /regulation
to the system
the haveoperator
system been one[1].
operator of
[1]. costly
the
the and/or environmentally
traditional
traditional generation
generation following unfriendly.
following schemes,
schemes, With the limited
which
which can
can bebe
the important
Power
Power control problems
system frequency
system frequency for research,
control /regulation
control /regulation have traditionally
have been
been one one of
of availability,
costly and/orlow
costly and/or efficiency, andunfriendly.
environmentally
environmentally high cost With
unfriendly. of large
With the storage
the limited
limited
termed
the as Loadcontrol
the important
important Frequency
control Controlfor
problems
problems (LFC).
for It has traditionally
research,
research, been one of
traditionally devices,
availability,real low-time smart
efficiency, responsive
availability, low efficiency, and high cost of large storage
and high load
cost of participation,
large storage
the functions
termed
termed as
as Load
Loadof Automatic
Frequency Generation
Frequency Control
Control (LFC). Control
(LFC). It
It has
has(AGC)[2].The
been
been one one of
of known
devices, asreal
devices, realDemand
-time Response
-time smart
smart responsive (DR),it load
responsive has
load been actively
participation,
participation,
frequency
the functionsand of tie-line
Automatic power exchanges
Generation are
Control
the functions of Automatic Generation Control (AGC)[2].The two variables
(AGC)[2].The considered
known as for power
Demand balancing.
Response It
known as Demand Response (DR),it has been actively can
(DR),it be achieved
has been by active
actively
which
frequency
frequency should
and be
and considered
tie-line
tie-line under investigation
power exchanges
power exchanges are two
are in load
two variables
variables consumer
considered involvement
for power in
balancing. real-time
It can to
be
considered for power balancing. It can be achieved by active maintain
achieved by balance
active
frequency
which control
should be problem
considered [3],[4].
under
which should be considered under investigation in Frequency regulation
investigation in loadin
load between involvement
consumer
consumer generation in
involvement andreal-time
in demand
real-time with two-way
to maintain
to maintain balance
balance
power
frequency
frequency system
control
controlis problem
achieved [3],[4].
problem by pondering
[3],[4]. Frequency
Frequency generation
regulationand
regulation in
in communication
between
between [8], [9]. Itand
generation
generation andis well known that
demand
demand withDR increases
with two-way
two-way
demand
power system
power throughis
system is load following,
achieved
achieved i.e., spinning
by pondering
by pondering and non-
generation
generation and
and system reliability
communication
communication [8], and
[8], [9]. It
[9]. flexibility,
It is well
is decreases
well known
known that DR
that DRthe increases
cost of
increases
spinning
demand reserves.
demand through load
through The future
load poweri.e.,
following,
following, grid,spinning
i.e., on the other
spinning and hand,
and non-
non- operation,
system and
reliability enhances
and system
flexibility,efficiency
system reliability and flexibility, decreases the cost decreases[10]. The
the use of
cost of
is foreseen
spinning to have
reserves. high
The incursion
future power of Renewable
grid, on
spinning reserves. The future power grid, on the other hand, theEnergy
other (RE)
hand, electricity
operation, demand response as a new assess
operation, and enhances system efficiency [10]. The use of
and enhances system efficiency for
[10]. fast
The reserves
use of
power
is
is generation.[5].The
foreseen
foreseen to have
to have high ancillary
high incursion
incursion services like
of Renewable
of Renewable Energy
Energyfrequency
(RE)
(RE) inside an autonomous
electricity
electricity demand
demand response (islanded)
response as micro
as aa new
new grid for
assess
assess during
for fast different
fast reserves
reserves
and
power voltage control,
generation.[5].The are essential
ancillary parts of
services
power generation.[5].The ancillary services like frequency a power
like system.
frequency operating
inside
inside an conditions (islanded)
an autonomous
autonomous including
(islanded) micro
microfrequency duringcontrolled
grid during
grid different
different
The voltage
and
and parameter
voltage which
control,
control, are is representing
are essential
essential parts of aathepower
parts of balance
power of
system.
system. disturbance and
operating
operating normal ones[11],[12].
conditions
conditions including frequency
including This kind of
frequency demand
controlled
controlled
generation
The
The and consumption
parameter
parameter which
which is is in a power system
representing
representing the isbalance
the frequency
balance of
of can respondand
disturbance
disturbance andautonomously
normal to frequency
normal ones[11],[12].
ones[11],[12]. This variation
This kind of
kind and it
of demand
demand
[6]. It is worth
generation
generation and noting that generation
and consumption
consumption in power and
in aa power system
systemdemand
is can be
is frequency
frequency provides
can respond
can fast reserve
respond to the system
autonomously
autonomously to by equipping
to frequency
frequency variation
variationthemand with
and it
it
equally
[6].
[6]. It isapplied
It is worth tonoting
worth the frequency
noting that control. and
that generation
generation Demand
and demand
demand response
can
can beis
be frequencyfast
provides
provides reserve and
fastsensors
reserve to theappropriate
to the system by
system control intelligence
by equipping
equipping them with
them with
defined
equally as: "changes
equally applied
applied to
to the in electric
the frequency
frequency usage
control.
control. by demand-side
Demand
Demand response
response is is [13],[14].
frequency Simulation
frequency sensors and
sensors results
and show that, control
appropriate
appropriate using thisintelligence
control approach,
intelligence
resources
defined
defined as: from"changes
as: their normal
"changes in consumption
in electric
electric usagepatterns
usage by in response
demand-side
by demand-side i.e. by
[13],[14].introducing
Simulation Demand
results Response(DR)
show that, using
[13],[14]. Simulation results show that, using this approach, control
this loop to
approach,
to changesfrom
resources
resources in the
from price
their
their of electricity
normal
normal consumption
consumption over time, or to
patterns
patterns in incentive
in response
response the
i.e. traditional
by introducingLFC model
Demand (called LFC-DR),
Response(DR)
i.e. by introducing Demand Response(DR) control loop the demand
control loopside
to
to
payments
to changes premeditated
in the price of to induce
electricity lower
over electricity
time, or
to changes in the price of electricity over time, or to incentive to use at
incentive can
the make a
traditional significant
LFC model and reliable
(called contribution
LFC-DR),
the traditional LFC model (called LFC-DR), the demand side the to
demand major
side
times
payments of high wholesale
premeditated to market
induce prices
lower
payments premeditated to induce lower electricity use or when
electricity system
use atat frequency
can make response
can make aa significant
significantwhile andpreserving
and the advantages,
reliable contribution
reliable contribution to major
to that
major
times of
times of high wholesale market
high wholesale market prices
prices or or when
when system system frequency response
frequency response while while preserving
preserving the the advantages,
advantages, that that
2405-8963 © 2016,
Copyright 2016 IFAC
IFAC (International Federation of Automatic Control)567 Hosting by Elsevier Ltd. All rights reserved.
Peer review©under
Copyright 2016 responsibility
IFAC of International Federation of Automatic
567 Control.
Copyright © 2016 IFAC
10.1016/j.ifacol.2016.03.115 567
IFAC ACODS 2016
568 P.Srividya Devi et al. / IFAC-PapersOnLine 49-1 (2016) 567–572
February 1-5, 2016. NIT Tiruchirappalli, India

consumers derive from their supply of electric energy. These Therefore; the only obstacle for DR is communication
models are useful in small disturbance studies such as small delay, known as latency, which could affect the system
variations in load and generation, and in controller design. In dynamic performance. There are various methods available
the past decades, Fuzzy Logic Controllers (FLCs) have been for Input-Output Linearization Problem (IOLP) for a class of
effectively developed for analysis and control of non-linear single-input-single-output nonlinear systems with delays .In
systems [15], [16]. order to linearise the communication delay latency, Padé
Power system is a highly non-linear and uncertain approximation is used which is explained in the next section.
system[17],[18].The objective of this study is to investigate
the Load Frequency Control with Demand Response (LFC- 3. STATE-SPACE DYNAMICAL MODEL FOR
DR) control loop at different operating conditions using the LFC-DR
intelligent control techniques associated with LQR(Linear
Quadratic Regulator) approach which is already State-space representation of the LFC model is a useful
demonstrated[19]. Padé approximation is used which is an tool for the application of modern/robust control theory. For
important parameter in the system dynamic performance of creating a general framework of LFC in dynamic frequency
LFC-DR [20].Taking this feature into consideration, the analysis this type of representation can be conveniently
robust control scheme is designed using LQR-Fuzzy logic. modified and applied to power system of any size. Therefore
The proposed controller is simulated for a single area power deriving the dynamic model of the power system, including
system and was compared with PI (S. Ali Pourmousavi) [19] DR in the state-space representation, in order to study the
controller Results of simulation show that the LQR-Fuzzy
effect of DR on LFC performance and controller design. The
controllers guarantee the robust performance.
proposed LFC-DR model of Fig.1. is based on a simplified
power system model with a non-reheat steam turbine.
2. SYSTEM MODEL
The state-space realization of a single-area power system
In general the power balance equation in the frequency- with DR [19] (shown in Fig.1.) is given by equations
domain for low-order linearized power system LFC model .
X ( t )    x ( t )    u ( t )    w (t ) (3)
for the purpose of frequency control and analysis is given by y (t )  C  x ( t )
[1], [6]:
1 1 30 105 945 
0 0 0
ΔPT (s)-ΔPL(s) =2H.s.Δf(s) +D. Δf(s) (1) 2H 2H 2H.Td 23 2HTd3 211 2HTd5 220 
 
0 1 1 
0 0 0 0 0
The modified block diagram of single area power  Tt Tt 
 1 1 
system(Thermal) with the consideration of Demand  0 0 0 0 0 0 
 RTg Tt 
Response (DR) control loop for load frequency control, with  30 105 105 945 945 
communication delay latency is shown in Fig.1. Since DR 0 0 0 
 Td Td2 25 Td3 28 Td4 214 Td5 217 
performs like spinning reserve in magnitude and power flow 0 0 0 128 0 0 0 0 
direction, i.e., once frequency deviation becomes negative  
0 0 0 0 64 0 0 0 
(positive), it is required to turn OFF (ON) a portion of the 0 0 0 0 0 32 0 0 
 
responsive loads for ancillary services (i.e., DR), Equation 0 0 0 0 0 0 16 0 
(1) can be modified as:
 1 
ΔPT (s)-ΔPL(s) +ΔPDR=2H.s.Δf(s) +D. Δf(s) (2) 0 0 Tg
0 0 0 0 0 
 
T 
 1 0 0 16 0 0 0 0 
The power utilization status of controllable loads can be 2H
 
changed instantaneously by the demand signal they receive.
CT  1 0 0 0 0 0 0 0
Unlike the usual spinning reserve-provider power plants,
 1 
there is no ramp up and down limitations on the DR T   0 0 0 0 0 0 0
 2H 
resources.
D= [0]
where
A - System matrix, B -control input matrix,  - Disturbance
matrix, X - State vector,u (t) - input vector,C- Observation
matrix,  - Disturbance variable, w (t)- observation matrix,
Y- System output.
In order to derive the linear state-space model of the system,
it is required to have a linear model of the system under
study. From Fig. 1, it can be seen that the system has only
one nonlinear element which is the time delay in the DR
. control loop. Therefore, we need to linearize the time delay
Fig.1. Block Diagram representation of single area power for derivation of the linear state-space model. Padé
system approximation is used for linearizing the DR time delay.

568
 IFAC ACODS 2016
February 1-5, 2016. NIT Tiruchirappalli, India
P.Srividya Devi et al. / IFAC-PapersOnLine 49-1 (2016) 567–572 569
4. PADÉ APPROXIMATION
In order to linearize systems with time delays in control
engineering with very strong and successive convergent
results Padé approximation is widely used [20]. Among the
many methods Padé approximations are the most frequently
used methods to approximate a dead-time by a rational
function. It basically approximates time delays by a quotient
of polynomials. Classical control system theory provides the
basic relation, but usually only for an approximation with
equal numerator and denominator degree are most widely
recommended.
The Padé function for the time delay functions
e  sTd  Rmn (  s.Td )
It is as follows:
Rmn ( s.Td )  Pm (e  sTd ) / Qn (e  sTd )
where
Pm (e sTd )
m
( m  n  k )!m!
=
 (m  n)!k!(m  k )! ( s.T
k 0
d )k
Qn (e  sTd )
n
(m  n  k )!n!
=
 (m  n)!k!(n  k )! (s.T
k 0
d )k
‘P’ and ‘Q’ are the polynomials of order ‘m’ and ‘n’,
respectively. It is usually common for the numerator and
denominator of the approximation fractional functions to
have the same order, and the order usually varies between 1
and 10.The 5th-order Padé approximation is acceptable and is
used in this study, Since the cut-off frequency of the low pass
filters, i.e., speed-governor and turbine, in the model of the
power system are usually less than 15 rad/sec. The
magnitudes of all orders of Padé approximation in the
frequency domain have also been compared to that of pure
time delay.
5. CONTROLLER DESIGN FOR LFC-DR MODEL
A. General approach using LQR Design for the LFC-DR
model
Numerous different classical and modern control theories
have been utilized for the LFC problem. In this section, a
general controller design (LQR) approach for the LFC
problem with the DR control loop is presented. The theory
of optimal control is concerned with operating a dynamic
system at minimum cost, where the system dynamics are
described by a set of linear differential equations and the cost
is described by a quadratic function is called the LQ problem.
The solution is provided by the Linear-Quadratic
Regulator (LQR). Optimal control in state space is centered
around the Riccati Equation with state variable functions that
has to be solved to yield the control law or trajectory.
The simplified version of the LQR problem is to design the
controller such that the performance index is minimized for
the system given in equation (3). With the modified state
space equations, ensuring the system matrix is controllable.
    0   X    ^
^
 
X        u 0   w (8)
 x1   C 0   x1   0   
 
X 
y  C 0   
 x1 
The implementation of LQR method with required state
and control matrices and R (scalar quantity) is well presented
in [19].
B. Fuzzy logic controllers
(4) Fuzzy logic controllers are rule-based systems. The
essential part of the FLC system is a set of Fuzzy Control
Rules (FCRs) related by means of a fuzzy implication and the
compositional rule of inference. Since power system dynamic
characteristics are complex and variable, conventional control
(5)
methods cannot provide the desired results. Intelligent
controllers can be replaced with conventional controllers to
get fast and good dynamic response in load frequency control
(6) problems. If the system robustness and reliability are more
important, fuzzy logic controllers can be more useful in
(7) solving a wide range of control problems and in nonlinear
system applications.The basic configuration of a fuzzy-logic
control is composed of four principle components: a
fuzzification, a knowledge base, a inference engine, and
defuzzification. The fuzzifier maps the input crisp values into
fuzzy variables using normalized membership functions and
input gains. The fuzzy logic inference engine then infers the
proper control action based on the available rule-base. The
fuzzy control action is translated to the proper crisp value
through the defuzzifier using normalized membership
functions and output gains. The block diagram of a fuzzy
logic system is shown Fig.2.
Fig. 2. Block Diagram representation of a Fuzzy Logic
System
The two normalized input variables, error e and
change in error Δe are inputs of FLC, are first fuzzified by T1
fuzzy sets. Two inputs signals are converted to fuzzy
numbers first in fuzzifier using three Triangular membership
functions, named as Positive Big (B), Positive Small(S), and
Zero (Z)). Finally resultant fuzzy subsets representing the
controller output are converted to the crisp values using the
Central Of Area (COA) defuzzifier scheme. The rules for the
controller design are shown in the Table I with error (e) and
569
IFAC ACODS 2016
570 P.Srividya Devi et al. / IFAC-PapersOnLine 49-1 (2016) 567–572
February 1-5, 2016. NIT Tiruchirappalli, India

change in error (Δe) are applied and the robust performance DR control loop of the system are modified and governed by
for the proposed model can be achieved. the below equation:

(1-α)G(s)+α.H(s) (16)
TABLE I
CONTROL RULES FOR FUZZY LOGIC CONTROLLER where 0<α<1 is the share of traditional regulation services in
the required control effort. It shows that if α=1, the total
(e) S Z B regulation is provided by traditional regulation services and if
α=0 i.e. for this time the total control would be provided by
(Δe) DR. The decision of α should be made by ISO/RTO ,based
B S S on the price of DR and Traditional regulatory services in the
S real time market explored by authors[17].Simulation studies
are carried on the system frequency deviation considering
S Z S two different values of α.
Z
S S B  If α = 0.1 ,10% of the regulation id provided by the
B supplementary control and 90% from DR
 If α = 0.8 ,80% of the regulation id provided by the
supplementary control and 20% from DR
6. ANALYTICAL EVALUATION OF THE MODEL In the next section, simulation results for the LFC-DR model
of a single- area power system are presented to verify the
effectiveness of the proposed model compared to that the
The state equations of conventional load frequency classic controller.
control are well documented [1], [6]. However, the DR
control loop is added to the LFC problem in this study. 7. SIMULATION RESULTS
Investigations are done earlier on the impact of the DR
control loop on the stability analysis and steady-state error of The parameters used in the simulation studies are given in
the given power system. Rewriting the equation (2), the Table II .for a single area power system of the proposed LFC-
system frequency deviation can be expressed as follows: DR model.

Δf(s)= (2 H .s  D) 1 [PT (s )  PL (s )  G ( s).PDR ] (9) TABLE II

PARAMETERS FOR THE SIMULATION STUDY [6]
where Tg Tt R 2H D Td ΔPL K

1 0.0 0. 3.0 0.166 0.015 0.1 0.01 0.2

ΔPT (s) = H ( s )[ Ps ( s )  f ( s )] (10) 8 4 Hz/ 7 p.u sec p.u
R
Sec se p.u p.u
H(s) = 1 (11) c
(1  sT t )(1  sT g )
30 420 3360 15120 30240 A prerequisite for satisfactory control of a feedback control
G(s) =  s  Td .s  Td2 .s  Td3 .s  Td4 .s  Td5
5 4 3 2
(12) system is its stability and gain and phase margins are two
30 4 420 3 3360 2 15120 30240 criteria commonly used for stability evaluation [11].
s5  .s  2 .s  3 .s  .s 
Td Td Td Td4 Td5
Based on the final value theorem, the steady state value of the
frequency deviation can be obtained as follows [14].
Δf ss =  Ps , ss   PDR , ss   PL (13)
1
D
R
From the above equation (13); the following conclusions can
be made for the analysis of the model and conclusions are
briefly presented in[21].
Therefore taking above conclusions into consideration:
With DR availability in the LFC, the required control effort
can be splitted into two control loops based on their cost at Fig. 3. Bode plot for LFC with and without DR.
real –time electricity market
The gain and phase margins can be obtained from the Bode
ΔPS(s)= α.control effort (14) diagrams which provide the relative stability of the system,
ΔPDR(s)= (1-α).control effort (15) using, and the load disturbance as the system input. The Bode
And finally based on the control effort the supplementary and plots of the systems (with and without DR) are shown in

570
 IFAC ACODS 2016
February 1-5, 2016. NIT Tiruchirappalli, India
P.Srividya Devi et al. / IFAC-PapersOnLine 49-1 (2016) 567–572 571

Fig.3.The phase and gain margins are given in Table III. It

can be noticed from this table that a higher share of control
effort for the DR control loop, i.e., smaller α, will provide a
higher gain and phase margin, indicating a more stable
system.

TABLE III
PHASE AND GAIN MARGINS FOR THE SYSTEM (LFC)
WITH AND WITHOUT DR

SYS- SYS- SYS- Fig. 5. Frequency deviation for LFC-DR model with LQR
DR,α=0.1 DR,α=0.8 supp and LQR-Fuzzy with α=0.1

Gain 14.1 11.3 10.3

margin,
dB
Phase 83.5 74.8 72.2
margin,
degree

Case.1:
In the first simulation study, a 0.01 pu load
disturbance was applied to the single-area power system with Fig. 6. Frequency deviation for LFC-DR model with LQR
conventional LFC and LFC -DR model with the parameters and LQR-Fuzzy with α=0.8
in Table II. Using proposed method, the frequency deviations
is quickly driven back to zero and the controller designed For above two cases the numerical analysis is
using fuzzy controller has the best performance in control and carried based on the settling time and Undershoot for all the
models i.e. conventional LFC and LFC-DR with PI
damping of frequency when compared with conventional
LFC and LFC-DR conventional PI Controller, The controllers and the proposed approaches shown in TABLE IV
proposed LFC-DR model has a superior performance over .From the analysis best system dynamic performance is
the conventional LFC during the transient period are shown achieved by the proposed LQR-Fuzzy logic approach
in Fig.4. TABLE IV
THE NUMERICAL ANALYSIS
S.No Parameter Type of Settling Under
system/Controller Time shoot
(Sec) (p.u.)
Case Change in Conventional >12 0.0399
1 frequency,Δf LFC
(Hz)
LFC-DR, α=0.8, 7 0.036
PI
LFC-DR, α=0.1, 6.5 0.033
PI
Fig. 4. Frequency deviation for conventional LFC and LFC- LFC-DR, α=0.8, 5 0.017
DR models (with PI and proposed Fuzzy controller) fuzzy control
LFC-DR, α=0.1, 4.5 0.013
Case.2: fuzzy control
In the second simulation study, with the parameters
in TableII and 0.01 pu as load disturbance, applied to the
single-area power system (LFC –DR) model with LQR and Case Change in LFC-DR ,α=0.8, >8 0.019
Proposed method (LQR-Fuzzy). Using proposed method, the 2 frequency,Δf LQR
frequency deviations is quickly driven back to zero and the (Hz)
controller designed using LQR-Fuzzy controller has the LFC-DR >6 0.005
robust performance in control and damping the frequency ,α=0.8,LQR-
when compared with Case.1 and also with LQR. The Fuzzy
proposed LFC-DR model has a superior performance. LFC-DR, >7 0.009
Frequency deviation for LFC-DR models (with with LQR α=0.1,LQR
and (LQR-Fuzzy) proposed Fuzzy controller) with control LFC-DR, 4 0.0025
effort alpha(α) are shown in Fig.5. and Fig. 6. α=0.1,LQR-
fuzzy control

571
IFAC ACODS 2016
572 P.Srividya Devi et al. / IFAC-PapersOnLine 49-1 (2016) 567–572
February 1-5, 2016. NIT Tiruchirappalli, India

From the above simulation studies it is seen that the
proposed method is the best and robust. It can also be applied
and seen at different perturbations using different classical
controllers as well as with proposed controllers for LFC-DR
model.
8. CONCLUSIONS
In this paper, a new methodology for solving LFC problem
with DR loop using fuzzy controller and LQR-Fuzzy for a
single-area power system has been proposed. While
designing the controller, DR communication delay latency is
considered. It is linearized using Padé approximation. To
demonstrate the robustness of the proposed controller,
settling time and undershoot of the system are being
considered (shown in Table-IV). In future scope, the
simulation studies can be carried out with the proposed
controller strategy for different communication latencies and
can also be extended to LFC-DR in multi-area power systems
under restructured schemes.
9. REFERENCES
[1] P. Kundur, Power system Stability and Control.
New York, NY, USA: McGraw-Hill, 1994, ch. 11
[2] Rahul Umrao,Sanjeev Kumar, Man Mohan,
D.K.Chaturvedi, “Load Frequency Control
Methodologies for Power System” International
Conference on Power, Control and Embedded
Systems
[3] K.Okada, R.Yokoyama, G.Shirai, H.Sasaki,
"Decentralized Load Frequency Control with Load
demand Prediction in Multi-Area Power systems,"
IEEE 2000
[4] Mohyi el-din Azzam, "An Optimal Approach to
Robust Controller for Load-Frequency Control,"
IEEE 2002
[5] T. Hiyama, “Design of decentralized load-frequency
regulators for interconnected power systems,” Proc.
IEEE Generation, Transmission, Distribution Conf.,
vol. 129, no. 1, pp. 17–23, 1982.
[6] H. Bevrani, Robust Power System Frequency
Control. New York, NY, USA: Springer, 2009, ch.
1–3.
[7] Federal Energy Regulatory Commission
(FERC):http://www.ferc.gov/industries/electric/indu
sact/demand-response/dem-res-adv-metering.asp
[8] Mojtaba khederzadeh “Frequency Control of
Microgrids by Demand Response” CIRED
Workshop - Lisbon 29-30 May 2012
[9] S. A. Pourmousavi and M. H. Nehrir, “Demand
response for smart microgrid: Initial results,” in
Proc. 2nd IEEE PES Innov. Smart Grid Technol.
(ISGT), Anaheim, CA, USA, 2011, pp. 1–6.
[10] J. Medina, N. Muller, and I. Roytelman, “Demand
response and distribution grid operations:
Opportunities and challenges,” IEEE Trans.Smart
Grid, vol. 1, no. 2, pp. 193–198, Sep. 2010
[11] Ibraheem, P. Kumar, and D. P. Kothari, “Recent
philosophies of automatic generation control
strategies in power systems.” IEEE Trans. Power
Syst., vol. 20, no. 1, pp. 346–357, Feb. 2005.
[12] Karnavas YL, Papadopoulos DP. “AGC for
autonomous power system using combined
intelligent techniques.” Electr Power Syst Res
2002;62:225–39.
[13] Indulkar CS, Raj B. Application of fuzzy controller
to automatic generation control. Electr Mach Power
Syst 1995;23:209–20.
[14] Chown GA, Hartman RC. Design and experiment
with a fuzzy controller for automatic generation
control (AGC). IEEE Trans Power Syst
1998;13:965–70
[15] D.V.Pushpalatha, K.R.Sudha and A.Satya Devi
“Design of Adaptive Fuzzy Controller for a Robot
gripper” proceedings of IEEE Advances in Recent
Technologies in Communication and Computing,
ARTCom '09. International Conference on 27-28
Oct. 2009 , pp 254 – 256.
[16] K.R.Sudha, R.VijayaSanthi ”Robust Decentralized
Load Frequency Control of Interconnected Power
System with Generation Rate Constraint using
Type-2 Fuzzy approach” International Journal of
Electrical Power and Energy Systems, Vol. 33, pp.
699–707, Feb 2011
[17] S. A. Pourmousavi and M. H. Nehrir, “Real-time
central demand response for primary frequency
regulation in microgrids,” IEEE Trans. Smart Grid,
vol. 3, no. 4, pp. 1988–1996, Dec. 2012.
[18] D Jay, KS Swarup, “Dynamic demand response and
control in smart grid environment” India Conference
(INDICON), 2011 Annual IEEE, 16-18 Dec. 2011
[19] S. Ali Pourmousavi,M. Hashem Nehrir,
“Introducing Dynamic Demand Response in the
LFC Model” IEEE Trans. Power Syst., vol. 29, no.
4, pp. 1562–1572, June2014
[20] R. C. Dorf and R. H. Bishop, Modern Control
Systems, 7th ed. New York, NY, USA: Addison-
Wesley, 1995, p. 807.

572