10th IFAC Symposium on Control of Power and Energy Systems

10th
10th IFAC
IFAC
Tokyo, Symposium
Symposium
Japan, on Control
on 4-6,
September 2018of
Control of Power
Power and
and Energy
Energy Systems
Systems
10th IFAC
Tokyo,
Tokyo, Symposium
Japan,
Japan, on 4-6,
September
September Control
4-6, 2018of Power
2018 andonline
Available EnergyatSystems
www.sciencedirect.com
10th IFAC
Tokyo, Symposium
Japan, on 4-6,
September Control
2018of Power and Energy Systems
Tokyo, Japan, September 4-6, 2018
ScienceDirect
IFAC PapersOnLine 51-28 (2018) 91–96
Optimal
Optimal Design
Design of
of Power
Power System
System Stabilizer
Stabilizer
Using Optimal
Remote Design
Signal of Power
Considering System
the StabilizerDelay
Transport
UsingOptimal
Remote Signal
Design Considering
of Power the Transport
System StabilizerDelay
Using Remote Signal Considering the Transport Delay
Using
Yoshiaki Remote Signal
Matsukawa* Considering
Masayuki the
Watanabe* Hibiki Transport
Takahashi* Delay
Yasunori Mitani*
Yoshiaki Matsukawa* Masayuki Watanabe* Hibiki Takahashi* Yasunori Mitani*
Yoshiaki Matsukawa* Masayuki Watanabe*  Hibiki Takahashi* Yasunori Mitani*
Yoshiaki Matsukawa* Masayuki Watanabe*  Hibiki Takahashi* Yasunori Mitani*
*Department of Electrical and Electronic Engineering, KyushuHibiki
Yoshiaki Matsukawa* Masayuki Watanabe* Institute Takahashi*
of Technology, Yasunori Mitani* Tobata-ku,
1-1 Sensui-cho,
*Department
*Department of
of Electrical
Electrical and
and Electronic
Electronic Engineering,
Engineering,  Kyushu
Kyushu Institute
Institute of
of Technology,
Technology, 1-1
1-1 Sensui-cho,
Sensui-cho, Tobata-ku,
Tobata-ku,
*Department Kitakyushu,
of Electrical 804-8550,
and Electronic Japan (Tel: +81-93-884-3227;
Engineering, Kyushu Institute e-mail:ofp349532y@mail.kyutech.jp).
Technology, 1-1 Sensui-cho, Tobata-ku,
Kitakyushu,
Kitakyushu, 804-8550,
804-8550, Japan
Japan (Tel:
(Tel: +81-93-884-3227;
+81-93-884-3227; e-mail:
e-mail: p349532y@mail.kyutech.jp).
p349532y@mail.kyutech.jp).
*Department of Electrical
Kitakyushu, and Electronic
804-8550, Japan (Tel:Engineering, Kyushu Institute
+81-93-884-3227; e-mail:ofp349532y@mail.kyutech.jp).
Technology, 1-1 Sensui-cho, Tobata-ku,
Kitakyushu, 804-8550, Japan (Tel: +81-93-884-3227; e-mail: p349532y@mail.kyutech.jp).
Abstract: This paper proposes a novel optimal Power System Stabilizer (PSS) design method to damp
Abstract: This
This paper
paper in proposes
proposes a novel
novel optimal Power System Stabilizer (PSS) design method to
to damp
Abstract:
inter-area oscillations
Abstract: This paper in power aasystems.
proposes
optimal
novel optimal
Power
As the Power System
input ofSystem PSS, remoteStabilizer
Stabilizer
(PSS)
signals
(PSS)
design
which
design
method
canmethod
be obtained damp
to damp by
inter-area
inter-area oscillations
oscillations in power
power systems.
systems. As
As the
the input
input of
of PSS,
PSS, remote
remote signals
signals which
which can
can be
be obtained
obtained by
by
Phasor Measurement
Abstract:
inter-area This paper Units
oscillations proposes
in power (PMUs)
asystems.
novel areoptimal
usedthesince
As Power
input remote
System
of PSS, signals
remote represent
Stabilizer (PSS)
signals global
design
which information
can method
be to of
obtained dampthe
by
Phasor
Phasor Measurement
Measurement Units
Units (PMUs)
(PMUs) are used
areboth
usedsmallsince
since remote
remote signals
signals represent
represent global
global information
information of the
of into
the
power system.
inter-area
Phasor Measurement The method
oscillations in power
Units improves
(PMUs)systems. As
usedthe
areboth input
since signal
of PSS,
remote stability
remote
signals and transient
signals
represent which
global stability,
can takingof
be obtained
information by
the
power
power system.
system. The
The method
method improves
improves both small
small signal
signal stability
stability and transient
and transient stability,
stability, taking
taking into
into
consideration
Phasor
power Measurement the
system.theThe fluctuation
Units
method improves range
(PMUs) ofaretransport
used
both small delay
since remote
signalin the communication
signals
stability represent
and transient link
global between
information
stability, PMUs
taking of and
the
into
consideration
consideration the fluctuation
fluctuation range
range of
ofthetransport
transport delay
delay in
in the
the communication
communication link between
linkdesign
between PMUs
PMUsMean and
and
PSSs, which
power
considerationsystem. may
theThesignificantly
method improves
fluctuation affectof
range oscillation
both
transportsmall delaydamping
signalin the performance.
stability In the
and transient
communication link stability,
between method,
taking
PMUs into
and
PSSs,
PSSs, which
which may
may significantly
significantly affect
affect the
the oscillation
oscillation damping
damping performance.
performance. In
In the
the design
design method,
method, Mean
Mean
Variance
consideration
PSSs, whichMapping may Optimization
the significantly
fluctuation range (MVMO)
affect is employed
ofthetransport
oscillation delay to the
in
damping determine the PSS
communication
performance. parameters.
linkdesign
In parameters.
the between ThePMUs
method, proposed
Meanand
Variance
Variance Mapping
Mapping Optimization
Optimization (MVMO)
(MVMO) is employed
is Electrical
employed to
to determine
determine the
the PSS
PSS parameters. The
The proposed
proposed
method
PSSs, is
which
VarianceisMapping applied
may in IEEJ
significantly
Optimization (The Institute
affect the of
oscillation
(MVMO)ofis Electrical Engineers
damping
employed Engineers of
performance.
to determine Japan) In
the PSSWEST WEST
the 10-machine
design
parameters. method,
The proposedsystem
Mean
method
method is applied
applied in
in IEEJ
IEEJ (The
(The Institute
Institute ofis Electrical Engineers of
of Japan)
Japan) WEST 10-machine
10-machine system
system
model. Then,
Variance
method isMapping network
applied modeshape
Optimization
in IEEJ (The (MVMO) is usedof
Institute toElectrical
select theEngineers
employed most
to appropriate
determine the PSS
of Japan) remote signal.
parameters.
WEST As
10-machineThea proposed
result
system of
model.
model. Then,
Then, network
network modeshape
modeshape is
is used
used to
to select
select the
the most
most appropriate
appropriate remote
remote signal.
signal. As
As a
a result
result of
of
optimal Then,
method
model. design,
is applied the in
network PSSsIEEJ with
modeshape(The both local
Institute
is used and remote
oftoElectrical
select signals
the Engineers
most can give betterremote
of Japan)
appropriate damping
WEST thanAs
10-machine
signal. thealocal PSS
system
result of
optimal
optimal design,
design, the PSSs
the maximum
PSSs with both
both local
with transport local and
and remote
remote signals
signals can
can give better
better damping
give designed damping than the
the local
thantransport local PSS
PSS
alone, even
model.
optimal Then,
design, when
network
the maximum
PSSs modeshape both islocal
with transport delay
used and occurs,the
to remote
select whereas
mostcan
signals PSS
appropriate betterremote
give designed ignoring
damping signal. As
thealocal
thantransport delay
result PSS of
alone,
alone, even
even when
when maximum transport delay
delay occurs,
occurs, whereas
whereas PSS
PSS designed ignoring
ignoring transport delay
delay
makes
optimal
alone, the
even system
design, when theunstable
PSSs
maximum in
with some
both cases
transportlocal of
and
delaysuch delay.
remote
occurs, signals
whereas can give
PSS better
designed damping
ignoring than the
transport local PSS
delay
makes
makes the the system
system unstable
unstable in
in some
some cases of
of such
cases delay such delay.
delay. whereas PSS designed ignoring transport delay
alone, even whenunstable
maximum transport of suchoccurs,
© 2018,the
makes
Keywords: IFACsystem (International
Power System
inFederation
some
Stabilizers,
casesofParameter
Automatic delay.
Control) Hosting
Optimization, by Elsevier
Transport Delay,Ltd. Small
All rights reserved.
Signal Modes,
makes
Keywords:
Keywords: the system
Power unstable
Power SystemSystem in some
Stabilizers,
Stabilizers, cases of such
Parameter
Parameter delay.
Optimization,
Optimization, Transport Transport Delay, Delay, Small Small Signal
Signal Modes,
Modes,
Inter-area
Keywords: Oscillations,
Power System Phasor Measurement
Stabilizers, Unit.
Parameter
Inter-area
Inter-area Oscillations,
Keywords: Oscillations,
Power System
Phasor
Phasor Measurement
Measurement
Stabilizers, Unit. Optimization, Transport Delay, Small Signal Modes,
Unit.
Parameter
Inter-area Oscillations, Phasor Measurement Unit. Optimization, Transport Delay, Small Signal Modes,
Inter-area Oscillations, Phasor Measurement Unit. 
 signals obtained by it can be used as the PSS input, these are
1. INTRODUCTION signals obtained
signals remote
obtainedsignal. by
by itit can
can be
be used
used as
as the
the PSSPSS input,
input, these
these are
are
1. INTRODUCTION
1. INTRODUCTION  called
signals remote
obtainedsignal. by it can Becausebe used remote
as thesignals
PSS input, by the these PMU are
1. INTRODUCTION called
called remote signal. Because
Because remote
remote signals
signals by
by thethe PMU
PMU
In a power system,1.a INTRODUCTION specific inter-area i.e. low-frequency called represent
signals remotethe
obtained global
by
signal. it oscillation
can
Becausebe used of
as
remote a
the power
PSS
signals system,
input,
by these
the it
PMU is
are
In
In aa power
power system,
system, aa specific
specific inter-area
inter-area i.e.
i.e. low-frequency
low-frequency represent
represent the
the the global
global oscillation
oscillation of aa power
of signal power system,
system, it
it isis
mode might be critical expected
called that
remote signal.use of the
Because remote
remote signalsdamps by inter-area
the PMU
In
mode a power
might system,
be critical a for
for
a stable
specific
a stable
operation.
inter-area
operation. i.e.For
For
example, in represent
low-frequency
example, in expected
expected the the
that
that global
the use
use oscillation
of
of the
the remote
remote of signal
a power
signal damps
damps system, it is
inter-area
inter-area
mode
the
In might
apower
power be
system critical
system, a for
in west a stable
Japan
specific with operation. i.e.For
its longitudinal
inter-area example,
structure,
low-frequency in oscillation
represent
expected that more
the the effectively
global of thethan
use oscillation remoteuse
of of a the
power
signal local
damps signal
system, alone.
it is
inter-area
mode
the might
power be
system critical
in west for a stable
Japan with operation.
its For
longitudinal example,
structure,in oscillation
oscillation more
more effectively
effectively than
than use of the
the local
usetransport
of local signal
signal alone.
alone.
the
amode
poorpower system
damping in west
inter-area Japan
mode with
with its longitudinal
a period of 2-3 structure,
seconds However,
expected
in oscillation there
that the is
use in
of fact
the a
remote signal delay
damps in
inter-area the
the
aa poor
poor
might
powerdamping
damping
be critical
system in west
inter-area
inter-area
forJapan
a stable
mode
mode
with operation.
with
with
its
aa period
period
For
longitudinal
of
of
example,
2-3
2-3
structure,
seconds
seconds However, more
However, thereeffectively
there is in
is in fact than ausetransport
fact of the local
ausetransport
signalinalone.
delay
delay inshowsthe
the
occurs. Instability of the inter-area mode has been affected by communication
oscillation
However, more
there linkis between
effectively
in than
fact PMUsa and
of the
transport PSSs.
local Fig.
signal
delay 1 inalone.
the
athepoor
occurs.
power systeminter-area
damping
Instability
in west Japan
of the modewith
inter-area with its
mode
longitudinal
a period
has of 2-3
been
structure,
seconds
affected by communication
communication link
link between
between PMUs
PMUs and
and PSSs.
PSSs. Fig.
Fig. 1
1 shows
shows
occurs.
the
aoccurs.
poor Instability
factdamping
that the of the inter-area
inter-tie
inter-area power
mode flow mode
with hasa has
been
period been affected
getting
of 2-3 heavier
seconds by the However,conceptual
communication there diagram
linkis in
between offacttwo-level
PMUsa and control
transport PSSs. proposed
delay
Fig. 1 inshows by
the
the fact Instability
that the of the inter-area mode has been affected by the the conceptual
conceptual diagram
diagram of
of two-level
two-level control
control proposed
proposed by
by
the
because
occurs. of the inter-tie
fact Instability
that inter-tie
electric of power
the
power
power flow
flow
exchange
inter-area
has
has
mode
been
beenbeen
resulting
has
getting
getting
from
heavier
heavier
the
affected full
by Dotta
the et al. (2008).
communication
conceptual link Measurement
diagrambetween of PMUs
two-leveldataand by PMUsFig.
PSSs.
control will1be
proposed sent
shows by
the
because fact that
of the inter-tie
electric power power flow
exchange has been
resulting getting
from heavier
the full Dotta
Dotta et
et al.
al. (2008).
(2008). Measurement
Measurement data
data by
by PMUs
PMUs will
will be
be sent
sent
because
deregulation
the fact of
that electric
of
the power
Japanese
inter-tie exchange
electricity
power flow hasresulting
provision
been from
as
getting ofthe full
2016.
heavier to
Dottaa Phasor
the conceptual
et al. Data
(2008). Concentrator
diagram
Measurementof two-level (PDC),
data by and
control
PMUs the willPDC
proposed be will
by
sent
because of electric power electricity
exchange resulting from ofthe full processto
to aa Phasor
Phasor Data
Datathe Concentrator
Concentrator (PDC),
(PDC), and
and the PDC will
deregulation
deregulation
Hence,
because constant
of
of
of Japanese
electricJapanese
monitoring
power electricity
and
exchange
provision
provision
control
resulting of the
as
from
of
the
2016.
as inter-area
2016.
full Dotta
to a et
Phasorand
al. send
(2008).
Data control signal
Measurement
Concentrator to by
data
(PDC), PSSs. PMUs
and Inthe
thethis
willPDC
PDCscheme,
be will
sent
will
deregulation
Hence, constant of Japanese
monitoring electricity
and provision
control of as inter-area
of 2016. process process and and send
send the the control
control signal signal to to PSSs.
PSSs. In In this
this scheme,
scheme,
Hence,
mode
deregulationis constant
a priority monitoring
in recent electricity
of Japanese powerand systems.
control
provision of the
theas inter-area
of 2016. since to a Phasor
process theandPDC Data
send acts
the as a central
Concentrator
control signal controller,
(PDC),
to PSSs. andInthere
thethisPDC are will
scheme,two
Hence,
mode is constant
a priority monitoring
in recent powerand systems.
control of the inter-area since
since the
the PDC
PDC acts
acts as
as a
a central
central controller,
controller, there
there are
are two
two
mode is a
Hence,is constant priority in recent power systems. delays
process
since the involved.
and send
PDC acts One
the is from
control
as from the
signal
a central signal
to measurement
PSSs.
controller, In this
there are point
scheme,twoto
mode a priority monitoring
in recent power and systems.
control of the inter-area delays
delays involved.
involved. One
One is
is from the
the signal
signal measurement
measurement point
point to
to
Power
mode System
isSystem
a priority Stabilizer
in recent (PSS)
power is generally
systems. used to solve the the
since
delays PDC the and
PDC
involved. the other
acts
One as if afrom
is iffrom centralthe
thethe PDC to
controller,
signal PSSs.
measurement there Even are if
point we
two
to
Power
Power System Stabilizer
Stabilizer (PSS)
(PSS) is
is generally
generally used
used to
to solve
solve the
the the
the PDC
PDC and
and the
the other
other if from
from the PDC
PDC to
to PSSs.
PSSs. Even
Even if
if we
we
inter-area
Power System oscillation
Stabilizer problem.
(PSS) isThe PSS inused
generally a generator
to solve the is assumedelays
the PDC that
involved.
and thethe PDCOne
otherprocessing
is iffrom
from time
thethesignal
PDCis measurement
ignored,
to PSSs. the delays
Even point
if in
to
we
inter-area
inter-area oscillation problem. The PSS in a generator is assume that the PDC processing time is ignored, the delays in
installed
Power System
inter-area tooscillation
improve
oscillation poor
Stabilizer problem.
damping
(PSS)
problem. isThe
The
PSS by
caused
generally
PSS
inused
in
a generator
rapid
a to excitation
solve the
generator
is assume
is the PDCthat
communication
assume andthe
that thethePDC
links
PDC otherprocessing
may
processingaffectthe
if from time
thePDC
time
is ignored,
damping
is to PSSs.
ignored,
the
performance
the
delays
Even
delays if wein
of
in
installed
installed to improve
tooscillation
improve poor
poor damping
damping caused
caused by
by rapid
rapid excitation
excitation communication
communication links
links may
may affect
affect the
the damping
damping performance
performance of
of
of Automatic
inter-area
installed to Voltage
improve poor Regulator
problem.
damping The (AVR).
PSS
caused by A
in PSS
a
rapid normally
generator
excitation is PSSs,
assumetherefore
communication that the it PDC has processing
links to beaffect
may considered.
time
the is ignored,
damping the delays of
performance in
of Automatic Voltage Regulator (AVR). A PSS normally
of
consists
of
Automatic
installed
Automaticof Voltage
to aimprove
DC Voltage poorRegulator
washout Regulator
(AVR).
filter, a signal
damping (AVR). byA
causeddetector, A
PSSphase
rapid
PSS lead- PSSs,
normally
excitation
normally PSSs,
therefore it has to be considered.
communication
therefore links
it has may
to be affect the
considered. damping performance of
consists of
consists of aa DC
DC washout
washout filter, filter, aa signal
signal detector,
detector, phase phase lead-
lead- In
lag Automatic
of
consists
lag
compensators
of a DC
compensators
and a gain.
Voltage
washout
and
RegulatorIn order
filter,
aa gain. In
(AVR).
a signal
order
to improve
to
A PSS
detector,
improve
damping
normally
phase
damping
by In
lead-
by PSSs,literatures,
therefore it hassome
literatures, some
researchers
to be considered.
researchers
have
have
proposed
proposed
lag
the
consists compensators
PSS, of parameters and
a DC washout such gain.
as In
the
filter, order
again and
signal to improve damping
time constants
detector, by
have
phase lead- countermeasures
In literatures, forsome for the transport
researchers delay. Majumder
have et al.
proposed
lag
the PSS, compensators
PSS, parameters and
parameters such a
such asgain.
as theIn order
the gain
gain and to improve
and time damping
time constants
constants have by
have (2005) countermeasures the transport delay. Majumder et al.
the
to
lagbe well-tuned.
compensators andsuch a gain. In order to improve damping In
by countermeasures proposed
literatures, a unified
some
forunified Smith
the transport predictor
researchers approach
have
delay. Majumder to
et the
proposed al.
the
to bePSS, parameters
well-tuned. as the gain and time constants have (2005) proposed a Smith predictor approach to the
to be
thebePSS, well-tuned.
parameters such as the gain and time constants have (2005) transport
countermeasures delay
proposed infor
a the the
unified remote
transport
Smith signals.
delay.
predictor However,
Majumder
approach a Smith
et the
to al.
to well-tuned. transport delay in the remote signals. However, a Smith
Owing to the development of Global Positioning System predictor
(2005) in dead
proposed time
a system
unified Smithcannot be
predictor applied
approachif the delay
to the
to
Owing
Owing be well-tuned.
(GPS), Phasor
to
to thethe development
development Unit of
of Global
Global Positioning System
(PMU)Positioning System transport predictor in delay
deadintime thesystemremotecannot signals. However,
be applied if thea Smith
delay
Owing
(GPS), to the Measurement
Phasor development Unit
Measurement of Global
(PMU)
has been installed
Positioning
has been System predictor
installed
is
is
variant in
transport
variant
and
delay
and deadit isintime
it is
not
thecorrectly
not
remotecannot
system
correctly
identified.
signals.
identified.be In power
However,
applied
In power if systems,
a Smith
the delay
systems,
(GPS),
in power
Owing Phasor Phasor
systems Measurement
and
to the Measurement utilized
development Unit Unit
for (PMU)
many
of Global has
research been
Positioning installed
projects and
System the delay in
predictor is not
dead constant.
time Actually,
system cannot Naduvathuparambil
be applied if the et al.
delay
(GPS),
in (PMU) has been installed is variant and it is not correctly identified. In power systems,
in power
(GPS), powerPhasor
practical
systems
systems and
and utilized
tasks. Measurement
Phasor utilized for
for many
measurement
Unit many
(PMU)
research
research
concept has was
projects
projects
been
and
and the
originally
installed (2002)
is
delay is not constant. Actually, Naduvathuparambil et al.
variant surveyed
and it in not
is experimental
correctly research
identified. that
In the time
power delays
systems,
in power
practical systems
tasks. and
Phasor utilized for
measurement many research
concept projects
was originally and the delay is not constant. Actually, Naduvathuparambil et al.
practical
conceived
in power systems
practical
tasks.
tasks.
Phasor
by Phadke
Phasor
measurement
(1993).
and utilized for
measurement Themany PMUconcept
concept canwas
research wasmeasure
projects bus (2002)
originally
and
originally in
the
(2002) power
delay
surveyed in experimental research that the time delays
is
surveyedsystems
not constant.
in haveActually,
experimental beenresearch
influenced
Naduvathuparambil
that the bytime different
et al.
delays
conceived
conceived by
by Phadke (1993). The
The PMU can measure bus
bus in power systems have been influenced by different
voltage
practicaland
conceived by linePhadke
tasks. current(1993).
Phasor
Phadke phasor among
measurement
(1993). The
PMU
PMUconcept canwas
geographically
can
measure
measure distant
originally
bus communication
(2002)
in power surveyedsystems inlinks.
experimental
have Thebeen authors
research
influencedthattested
thebytime various
delays
different
voltage and line current phasor
phasor among geographically distant
voltage
places
conceived
voltage
andby
with
and time
linePhadke
current
synchronization
line current (1993).
phasor among
among
by the
The PMU geographically
GPS. can measure
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2405-8963
Copyright
referred to © 2018,
© as
2018 IFAC
IFAC
local (International
signal. Since theFederation
utilization of of
Automatic
PMU, some Control)91 Hosting by Elsevier Ltd. All rights reserved.
Copyright
Peer review©
Copyright 2018
©under IFAC
2018 responsibility
IFAC 91
of International Federation of Automatic
91 Control.
Copyright © 2018 IFAC
10.1016/j.ifacol.2018.11.683 91
Copyright © 2018 IFAC 91
IFAC CPES 2018
92
Tokyo, Japan, September 4-6, 2018 Yoshiaki Matsukawa et al. / IFAC PapersOnLine 51-28 (2018) 91–96
Fig. 1. A conceptual diagram of route of two-level PSS and
the route of PMU remote signal in a power system
700 ms. Erlich and Hashmani (2011) proposed H∞-based
robust PSS using remote signals with delay compensation
considering variable delay ranging between 100 ms to 700
ms according to the research by Naduvathuparambil et al.
(2002). Since Flexible AC Transmission System (FACTS)
devices are also able to contribute to the inter-area oscillation
problem, Hasanvand et al. (2016) proposed coordinated
design of a PSS and Thyristor Controlled Series Compensator
(TCSC) as one of the FACTS devices. However, the authors
did not consider the remote signal transport delay.
To design a well-tuned PSS which considers transport delay,
this paper employed a metaheuristic optimization approach
using Mean Variance Mapping Optimization (MVMO)
originally presented by Erlich et al. (2010). Because the PSS
parameter tuning problem is a non-convex optimization
problem which has to be handled by a metaheuristic
optimization algorithm, obtaining a highly accurate
approximated solution by applying an effective optimization
method is required. The search performance of MVMO has
been proved in IEEE Congress of Evolutionally Computation
(CEC) 2016.
When PSS parameters are tuned, normally an eigenvalue
based objective function is used. However, its evaluation
function does not assure performance in the transient region.
In order to design the PSS using both local and remote
signals, this paper presents a novel objective function which
improves both small signal stability and transient stability by
PSS parameters tuning taking into account the fluctuation
range of the remote signal transport delay. Here, the
fluctuation range of the remote signal delay is assumed to
vary from 100 ms to 700 ms in accordance with several
communication links referred to in the article by
Naduvathuparambil et al. (2002). Also, if the system scale is
larger and more complex, the appropriate remote signal type
and the location should be identified to obtain maximum
damping performance. Hence, this research applied the
network modeshape and sensitivity approach to select the
effective remote signal for the input of the PSS.
As a result of numerical simulation in IEEJ (The Institute of
Electrical Engineers of Japan) WEST10-machine system
model, an optimized PSS using both the local and the remote
signal performed better damping effect for inter-area
92
Fig. 2. Two-level PSS control system structure
oscillation compared to the PSS using local signal only. Even
if the remote signal transport delay occurs with 700 ms, the
former PSS can well mitigate the inter-area oscillation well.
Additionally, if the PSS using remote signal is designed
ignoring the transport delay, it is able to mitigate inter-area
oscillation as well as the PSS tuned by the proposed method
in the case of a 100 ms delay, however it makes the system
unstable in the case of a 700 ms delay.
2. PROBLEM STATEMENT
2.1 Linearized Model of Power System
In the PSS design, the power system is linearized to carry out
eigenvalue analysis. Consider the following linearized model
of a power system at the given operation point:

 x  Ax  Bu (1)
y  Cx  Du
Where Δx, Δu, and Δy are column vectors of the state
variables, inputs and outputs of the system respectively.
2.2 Design Target
An overall target of designed PSS is shown in Fig. 2. A PSS
is attached backward of the AVR, and supplies supplemental
signal to enhance damping effect because the AVR itself is
able to suppress the first swing of oscillation when a
disturbance occurs, though the damping performance is
deteriorated (Kundur (1994)). In this paper, both the local and
the global PSS are designed separately. First, the local PSS
is designed, after that the global PSS is designed overlapping
with the already designed local one. Thus, it is possible to
prevent to the loss of the damping effect in the case of remote
signal loss. In Fig. 2, Kstab is the PSS gain, TR, Tw, T1, T2, T3,
T4, are time constants of the signal detector, the washout filter,
lead/lag compensators, respectively. In these parameters, TR
and Tw are fixed and others will be tuned by optimization. For
 IFAC CPES 2018
Tokyo, Japan, September 4-6, 2018 Yoshiaki Matsukawa et al. / IFAC PapersOnLine 51-28 (2018) 91–96 93
the local PSS input signal, generator rotor speed deviation Δω
is chosen since it is effective for damping inter-area mode.
Normally, the local PSS can contribute to mitigate inter-area
oscillation in the small signal region whereas it is known that
the use of remote signal is effective in the transient region
because it represents information of the entire power system.
In a previous demonstration, Sakuragi et al. (2017) designed
a TCSC using a remote signal as the input and showed good
performance to improve transient stability.
3. PROPOSED METHOD
3.1 Proposed Design Method
This paper proposes a novel objective function in a
metaheuristic approach using MVMO in order to enhance
damping performance in both the small signal stability and
the transient stability considering the maximum
transportation delay. First, the designed transfer function of
the local and the global PSS are the following equations:
T s 1  T1s 1  T3 s 1
VPSSlcl  K stab w
1  Tw s 1  T2 s 1  T4 s 1  TR s
T s 1  T1s 1  T3 s
VPSSglb  K stab w
1  Tw s 1  T2 s 1  T4 s
The objective function is proposed in different formulation
for each PSS. Design of the local PSS and the global PSS is
separated and the objective function is different respectively.
The signal detector is not attached to the global PSS because
the detection delay has already been processed in the PDC.
Here, the objective function and the constraints of the local
PSS are represented by following equations:
1 nd 1 nd
Objective function min FL    
nd i 1
 i   i
nd i 1
Subjectto Kmin  Kstab  Kmax

Tmin  Tm  Tmax ( m  1,...,4)
 min   n (n  1,...,nd)

 n   max ( n  1,...,nd)
Where, σ is the real part of eigenvalue of each dominant
mode. nd is the number of dominant modes. α is a weight
coefficient. Kmax, Kmin, Tmax and Tmin are the upper and lower
limit of the PSS gain and time constants, respectively.
Damping ratio ζ is calculated by the following equation:

 
 2   2f
Where, ωf is oscillation frequency and the imaginary part of
the eigenvalue. The region formed by σmax and ζmin is called
D-region in complex plane, some PSS parameter tuning
studies have employed this D-region (Fig. 3). By moving
dominant eigenvalues into the D-region by tuning of the
controller, it is able to enhance small signal stability (Wang
(2013)). If a pair of eigenvalues is outside of this region, a
huge penalty value is added to the objective function (4).
Fig. 3. D-region in complex plane
After design of the local PSS, the design procedure goes to
the next phase. To design the global PSS, the objective
function is set as follows.
1 (10)
Objective function min FT  
(2) ng
 MAE
i 1
i
(3) Where, MAE is Mean Absolute Error of generator rotor
speed resulted by time domain analysis. MAE is calculated
from 0 s to 10 s. ng is the total number of generators.
Constraints are identical from (5) to (8). In this design phase,
it is obvious that the remote signal comes from PMUs
installed at substations with uncertain delay. In this paper, it
is assumed that the total delay of the signal communication
link among PMUs, the PDC, and PSSs varies between 100
ms and 700 ms following the aforementioned survey by
Naduvathuparambil et al. (2002). In this design phase, the
(4) eigenvalue analysis is carried out for the cases of 100 ms
delay to 700 ms delay by 100 ms intervals, all eigenvalues in
(5) all delay cases have to be within the D-region formed by σmax
and ζmin, and otherwise a huge penalty value is added to the
(6) objective function (10). Therefore, it is expected that certain
(7) small signal stability level is ensured. If the eigenvalues in all
delay cases are within the D-region, FT is calculated for a
(8) delay case which has the most unstable eigenvalues. Then it
will be the evaluation value for the global PSS. These
evaluations are carried out by combining the global PSS, and
the local PSS which has already been designed. Since this
design procedure evaluates the actual swing of generator, it is
able to consider the nonlinear factors including transport
delay and PSS limiter. Furthermore, this process creates
small computation burden because it does not need to carry
(9)
out time domain analysis for all delay cases.
3.2 Remote Signal Selection
In order to use the remote signal in a power system, the most
effective one should be selected from many possibilities. This
paper uses the network modeshape index (Vanfretti and
Chow (2010)) by sensitivity analysis. Here, the eigenvalue
analysis is performed for the state matrix A in (1), the
following equation is obtained:
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AW ( A)  W ( A) (11) test system, each synchronous generator is modelled as the

Where, λ is eigenvalue and W(A) is eigenvector. The interest
mode are found by eigenvalue λ. For sensitivity analysis,
following equation is represented by C in (1):
 V V 
V        
         
    (12)
   
  
 CV C  
 
Where, CV and Cθ are voltage amplitude and angle sensitivity
matrix, respectively. Also, current sensitivity matrix CIft is
represented for current flows from node f to node t as
follows:
I   C  
ft Ift
Then, those above sensitivity matrices are corresponded to
eigenvector, network modeshape is obtained as follows:
SV  CV W (A)
S  C W (A)
S Ift  CIftW (A)
Where, SV, Sθ, SIft, are voltage modeshape, angle modeshape,
and current modeshape, respectively. These indices help to
visualize the oscillation modes. By calculating modeshape, it
is possible to know that how much the signal influences the
inter-area oscillation mode in each component.
The entire design procedure is as follows. Firstly the local
PSS is designed by the objective function (4), and secondly
the most appropriate remote signal for the global PSS is
selected using network modeshape, finally, the global PSS
using the selected remote signal is designed by the objective
function (10). Note that the designed controller is not robust
for the system state change, since this paper focuses on the
damping effect by the signal transport delay.
sixth order which assumes the presence of a field circuit and
an additional circuit along the d-axis and two additional
circuits along the q-axis. All the generators are assumed to be
large thermal generator units.
As the initial configuration, MVMO and constraints
parameters are set as Table 1 and Table 2, respectively. In
WEST 10-machine system model, the local and the global
PSSs are installed at G1. In PSSs, TR=0.02, Tw=5.0, the
limiter confines PSS output between -0.1 and 0.1. For the
sake of comparison, the global PSS without considering
transport delay is also designed. The numerical experiment is
conducted in MATLAB R2015a/Simulink.
For the time domain analysis in the global PSS design phase,
the fault point is carefully selected. Here, three phase ground
fault cleared after 0.07 s is tested at all nodes without the PSS.
(13) Then the sum of MAE of all generators is calculated. As a
result, the fault at node 9 in Fig. 4 is the most critical. Thus,
the time domain analysis is tested by three phase ground fault
at node 9. Also, it is carried out in the transport delay case
with the worst eigenvalue.
(14)
(15) Fig. 5 shows the result of calculation of angle modeshape in
WEST 10-machine system model. The voltage moedshape is
(16) relatively quite small, thus it does not influence the inter-area
oscillation. From the figure, it is obvious that G1 and G10 are
oscillating each other, and participating in the oscillation.
Therefore, phase difference Δθ10-1 between G10 and G1 is
employed as the remote signal in the global PSS. The remote
signal Δθ10-1 is assumed to be obtained by PMUs installed at
nodes 21 and 30, sent to the global PSS via the PDC with the
transport delay ranging 100 ms to 700 ms.

3.3 Optimization Method

For solving abovementioned optimization problems, it is

Fig. 4. A single line connection diagram of IEEJ WEST 10-
required to apply the metaheuristic method as much as we
machine system model
can. In this paper, MVMO is chosen. The main features of
MVMO are normalized decision variables and search using
special mapping function based on mean and variance of
stored good solutions in the archive. MVMO includes
crossover and mutation. Things that differ from Genetic
Algorithm are that the crossover type is different from either
good or bad solution, and mutation is carried out in
accordance with the mapping function which reflects the
search history. The MVMO flowchart is shown in app. Fig. A.

4. NUMERICAL EXPERIMENT
In this paper, IEEJ WEST-10 machine system model is
employed to verify the significance of the proposed method.
The single line connection diagram is shown in Fig. 4. In the
Fig. 5. Angle modeshape of each generator

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Table 1. MVMO parameters

Parameters Values
Iterations 300
No. of individuals 30
Archive size 5.0
Scaling factor 0.95
Asymmetry factor 2.0
Initial mutation candidates 20
Final mutation candidates 1.0
Table 2. Parameters in the objective function and
constraints
Values
Parameters
Local Global
Damping coefficient σmax -0.10
Damping factor ζmin 3.0 (%) Fig. 7. Rotor speed of G1 with PSS designed by proposed
Gain upper limit Kmax 20 1.0 method
Gain lower limit Kmin 1.0 0.010
Time constant upper limit Tmax 4.0 1.0
Time constant upper limit Tmin 0.010 0.010
Weight coefficient α 10
Delay: 100 ms Delay: 700 ms

Fig. 8. Rotor speed of G1 with PSS designed ignoring the

transport delay

Fig. 6. The eigenvalue placement on complex plane

Transfer functions of the local and the global PSSs tuned by
proposed method using MVMO are as follows, respectively.
5.0s 1  1.575 s 1  1.607 s 1
VPSSlcl  19.884 (17)
1  5.0s 1  3.137 s 1  3.679 s 1  0.02 s
5.0 s 1  0.536 s 1  0.536 s
VPSSglb  0.042 (18)
1  5.0 s 1  0.010 s 1  0.010 s
Also, the global PSS by delay-ignored method using MVMO
is follows.
5.0s 1  0.516 s 1  0.517 s
VPSSglb  0.190 (19)
1  5.0s 1  1.000 s 1  0.085 s Fig. 9. Sum of all generators of MAE in selected fault points
Here, Fig. 6 shows the eigenvalue placement on complex
comparing to the local PSS only. However, if the transport
plane. The D-region is formed by dashed lines. As can be delay is not considered in the global PSS design, the
seen, the dominant mode moves following the transport delay eigenvalues move to outside of the D-region in case of 400
in case of the local and the global PSSs. It is possible to say ms delayed and it eventually reaches to the right half plane.
that the local and the global PSSs by the proposed method are Fig. 7 and Fig. 8 show the waveforms of the rotor speed
at least able to enhance the small signal stability even if the deviation of G1 by the proposed design method and the
transport delay occurs ranging between 100 ms and 700 ms,

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delay-ignored design method, respectively. The fault
condition is same as the design procedure. From these figures,
the local and the global PSSs by proposed design method can
effectively damp the low-frequency oscillation meanwhile
the oscillation of the PSS by the delay-ignored design method
is damped as well as the proposed method in the 100 ms
delayed case, however the oscillation in the 700 ms delayed
case is losing small signal stability due to unwanted phase
shift of the PSS output signal caused by the transport delay.
Also, the design method for the global PSS considers the
nonliner time domain analysis, there is no conflict with the
local PSS designed based on the eigenvalues.
In order to evaluate the performance of the global PSS by the
proposed design method, the sum of all generators of MAE
of generator rotor speed is calculated from 0 s to 50 s in all
cases and tested in various fault points. Fig. 9 shows the sum
of MAE of all generators in selected fault points. According
to the previous fault point analysis, fault at node 9 is the most
critical. Since the global PSS uses phase difference Δθ10-1 as
the remote signal, it is effective to mitigate the oscillation in
case of faults at both ends and the near ones of WEST 10-
macine system model compared to the local PSS only.
5. CONCLUSIONS
This paper proposed the design method of two-level PSS
which consists of the local PSS and the global PSS. First of
all, local PSS is designed to improve the small signal stability,
and secondly the global PSS is designed to improve the
transient stability via MVMO. In the global PSS design phase,
the remote signal transport delay is considered with a delay
fluctuation range of between 100 ms and 700 ms, and the
small signal stability is also enhanced by restricting the all
eigenvalues of several delay cases ranging 100 ms to 700 ms
within the D-region in the complex plane. To select the input
remote signal to the global PSS, the network modeshape is
used to visualize the inter-area oscillation mode. As a result
of optimization considering the transport delay by MVMO,
the use of remote signal in the global PSS combining with the
local PSS actually performs better oscillation damping effect
not only in the small signal stability but also in the transient
stability even if any length of delay occurs because
enhancement of transient stability is done under the
constraint by the D-region. Also, the local and the global
PSSs by the proposed method are robust for other fault points
because the time domain analysis is done at the most critical
fault point in the design procedure. In contrast, the global
PSS without considering the remote signal transport delay
makes the system unstable in some delay cases. As for future
tasks, application in a mesh like structure power system
model and enhancement of robustness by considering other
load conditions will be considered.
Dotta, D., Silva, A.S., and Decker, I.C. (2008). Wide-area
measurements based two-level control design
considering signal transmission delay. IEEE
Transactions on Power Systems, 24(1), pp. 208-216.
Hasanvand, H., Arvan, M.R., Mozafari, B., and Amraee, T.
(2016). Coodinated design of PSS and TCSC to mitigate
interarea oscillations. Electrical Power and Energy
Systems, 78(1), pp.194-206.
Hashmani, A., and Erlich, I. (2011). Delayed-input power
system stabilizer using supplementary remote signals.
Control Engineering Practice, 19(8), pp. 893-899.
Kundur, P. (1994). Power system stability and control.
Chapter 12. McGraw-Hill,
Manjuber, R., Chaudhuri, B., Pal, B.C., and Zhong, Q. (2005).
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Naduvathuparambil, B., Valenti, M.C., and Feliachi, A.
(2002). Communication delays in wide area
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Sakuragi, M., Yokoyama, A., Amano, H., Kawabe, K., and
Ota, Y. (2017). Wide-area measurements based
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controllers. The International Conference on Electrical
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Vanfretti, L. and Chow, J.H. (2010). Analysis of power
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Appendix A. MVMO FLOWCHART

REFERENCES
Erlich, I., Venayagamoorthy, G.K., and Worawat, N. (2010)
A mean-variance optimization algorithm. WCCI 2010
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344-349.
app. Fig. A. The flowchart of MVMO

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