Electrical Power and Energy Systems 78 (2016) 884–896

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Electrical Power and Energy Systems

journal homepage: www.elsevier.com/locate/ijepes

Fractional order PID controller for perturbed load frequency control

using Kharitonov’s theorem
Swati Sondhi ⇑, Yogesh V. Hote
Department of Electrical Engineering, Indian Institute of Technology Roorkee, India

a r t i c l e i n f o a b s t r a c t

Article history: In the fast developing world of today, there is an inevident demand of good quality power supply. For
Received 3 December 2014 this, it is very essential that the present day power systems should possess efficient control algorithms
Received in revised form 13 November 2015 for the load frequency control. Although, in recent years, lot of research has been carried out in this direc-
Accepted 24 November 2015
tion however, the parametric uncertainty and rejection of the external disturbances continue to remain
important issues for the LFC design engineers. The control algorithms based on fractional order control
are known to possess excellent disturbance rejection capability as well as high robustness towards the
Keywords:
system parameter variations. Further, a higher level of robustness can be incorporated in the system
Fractional order PID controller
Interval system
by using an interval model of the plant while designing the controller. Therefore, in this paper a fractional
Kharitonov’s theorem order PID controller is designed for the interval model of the single area load frequency control using the
Load frequency control Kharitonov’s theorem. This technique gives freedom to the design engineer to decide the limits of the
Robustness parameter variations up to which the controller is required to perform well. This helps in improving
the system performance as well as the overall safety of the system by preventing the system breakdown
that may occur due to sudden increase in any system parameter. Finally, the performance of the proposed
controller is compared to the nominal controllers existing in the literature and evaluated on the basis of
the various integral error criterion. It is observed that the proposed controller gives the best performance
and is capable of stabilizing the system for a larger range of system parameter variations.
Ó 2015 Elsevier Ltd. All rights reserved.

Introduction synchronization between the various remotely located units is

In the fast developing scenario of the present times, there is an
ever increasing demand of good quality electric power supply. The
most commonly used sources of electrical energy these days are
kinetic energy of water and thermal energy of fossil fuels. Compo-
nents called prime movers are used to convert this energy into
mechanical energy and further synchronous generators are used
to generate electric power from this mechanical energy. Such
prime mover governing systems provide an efficient method of
controlling power and frequency. This operation is termed as Load
Frequency Control (LFC) or Automatic Generation Control (AGC) [1].
In a power system, there are generation, transmission and distribu-
tion units individually situated in far off locations and are con-
nected through transmission lines called tie-lines. This type of
power system often faces the problem of fluctuations in the area
frequency and tie line power. As a result, it is very essential
to maintain the stability of the power system so that the
⇑ Corresponding author.
E-mail addresses: swatiei@gmail.com (S. Sondhi), yhotefee@iitr.ac.in (Y.V. Hote).
maintained. This task is performed by the LFC. Hence, the LFC is
one of the most important components of the complete power sys-
tem design. Further details on the LFC can be studied from [2,3].
The power systems can be classified broadly into two types on
the basis of their architecture i.e.
1. Single Area Power System: It is a power system which consists
of only a single isolated service area consisting of a single
generator.
2. Multiple Area Power system: It is a power system which con-
sists of an interconnection of multiple remotely located service
areas.
The LFC needs to play a very important role in both types of
power systems [4]. In case of a single area power system, the prime
duty of the LFC is to control any fluctuation occurring in the area
frequency. However, in case where multiple areas are intercon-
nected, the power generation taking place within individual areas
also needs to be controlled along with the frequency fluctuation.
This is required in order to maintain the prescribed levels of power
interchange.

http://dx.doi.org/10.1016/j.ijepes.2015.11.103
0142-0615/Ó 2015 Elsevier Ltd. All rights reserved.
 S. Sondhi, Y.V. Hote / Electrical Power and Energy Systems 78 (2016) 884–896
In this paper, only the single area power system is taken into
consideration where the role of LFC is to restore the value of fre-
quency to the specified value in case of any fluctuation. To perform
this task efficiently, it is essential to have an efficient robust control
algorithm which has an excellent capability of disturbance rejec-
tion even while working under uncertain environment.
The integral controllers have been most commonly used in the
LFC of the single area power systems [5]. However, in such sys-
tems, the performance is limited by the integral gain of the con-
troller which may eventually lead to large oscillations and
instability of the system. As the present day power system
becomes more and more complex, the researchers are continu-
ously working in the direction of formulating efficient and robust
algorithms for the LFC. Exhaustive research is being carried out
for developing the control algorithms of LFC for both single area
[6–10] as well as multi area systems [11–27]. Numerous control
strategies have been suggested in the recent literature like PI/PID
control [28], optimal control [29], variable structure control [30],
adaptive and self tuning control [31,32], artificial intelligence con-
trol [33–39], robust control [40–44], etc. Further, the concepts of
reduced order modelling and internal model control have also been
illustrated in the literature recently [5,45,46]. Traditionally, the
conventional PID controllers have been popularly used in most of
the real time applications due to the simplicity of design and phys-
ical implementation. In [47,48], the conventional PID controllers
have been illustrated for the problem of load frequency control.
Although, the PID controllers are easy to design and implement,
however, they suffer performance limitations in cases where the
system experiences parameter uncertainty as well as external dis-
turbances. Therefore, there is still a lot of scope for improvement in
this area.
In recent years, the fractional order control has emerged as a
very efficient algorithm for the systems experiencing parametric
uncertainty and external disturbances. Moreover, a higher level
of robustness can be embedded in the controller by considering a
wide range of values of system parameters. This can be done by
using an interval form of mathematical model while designing a
controller. In the control system literature, there are many tech-
niques like LMI, Edge theorem, QFT, H1, pole placement, etc.
[49–53] available for the design of controllers for such type of
interval systems. In [49], an H-infinity based method has been pro-
posed for synthesis of robustly stabilizing compensators for the
interval plants. In [50], the concepts of thirty-two edge theorem
and geometry of the value set of the closed loop polynomials of
the interval plants have been used to design the controllers. In
[51], technique has been illustrated in which the desired specifica-
tions are obtained from the interval reference model and then the
PID controller design is carried out using constraint satisfaction
methodology. In [52], the authors have suggested a technique for
designing robust controller using the model matching of the inter-
val plants. Further, in [53], the PID controller has been designed
using the quantitative feedback theory. However, it is observed
that most of these techniques are mathematically complex and
lengthy. The Kharitonov’s theorem is a popularly used method
for the stability testing as well as the controller design for interval
systems which is mathematically simpler than the other tech-
niques. This technique requires formulation of only four polynomi-
als for the stability testing and controller design of the interval
plants. This reduces the mathematical complexity and makes the
controller design procedure much simpler than the other tech-
niques. Therefore, in this paper the Kharitonov’s theorem has been
used for the controller design of the interval model of the load fre-
quency control problem. Some results on the stability analysis and
controller design for the load frequency control using the Kharito-
nov’s theorem have been illustrated in [54–56]. Further, some
works related to the design of fractional order PID controllers for
885
interval systems are suggested in [57–60]. However, still there is
a lot of scope in the area of formulating efficient techniques for
the design of fractional order PID controller for the interval model
of the load frequency control. Therefore, in this paper, a load fre-
quency control method has been suggested for the interval model
of single area power system based on the concept of fractional
order control using the Kharitonov’s theorem.
This paper comprises of 9 sections. The Section ‘Motivation’ of
the paper states the motivation for working on this type of tech-
nique, Section ‘Objective’ illustrates the objectives of this paper,
in Section ‘Mathematical preliminaries’ the preliminaries of frac-
tional order control and the Kharitonov’s theorem is given, while
in Section ‘Interval model of single area load frequency control’ a
brief introduction of the interval model of single area load fre-
quency control is given. The Section ‘Fractional Order PID (INFO-
PID) controller design for single area interval load frequency
control’ describes the proposed interval FOPID controller design
technique, Section ‘Simulation results’ gives the simulation results
while the Section ‘Performance analysis’ shows the performance
analysis of the proposed design technique in comparison to the
existing techniques, and the conclusion of the paper is given in S
ection ‘Conclusion and future work’.
Motivation
Although, there are various controller design techniques avail-
able in the literature for the problem of LFC. However, most of
the controllers face performance limitations while working in an
uncertain environment. In almost all real time systems, parameter
uncertainty and external disturbances are two important issues
that the controller needs to cope with. In case of power systems
also, the parameter values of the various components like genera-
tors and turbines, keep varying depending upon the power condi-
tions. Although, the controllers designed by considering fixed
values of the system parameters, exhibit robustness to a certain
extent. However, if the parameter values go beyond a certain limit
due to some external disturbance or some unusual system beha-
viour, the nominal controllers (i.e., controllers designed using fixed
parameter values) often fail to stabilize the system. This may
sometimes lead to complete system break-down. Therefore, it is
essential to have a controller design technique which can stabilize
the system as well as show good disturbance rejection for a larger
range of parameter values.
According to the recent developments in the area of control sys-
tems, the fractional order controllers are known to possess excel-
lent disturbance rejection capability. These controllers also give
robustness to high frequency noise and better elimination of
steady state errors. They also provide better stability in the case
of non-linear systems. The various advantages of fractional order
control are illustrated in [61]. The combination of all such proper-
ties make fractional order control a very desirable control strategy.
In many real time practical applications where parameter
uncertainty is an important issue, the mathematical modelling is
done in the form of interval models. For such systems, the Kharito-
nov’s theorem has been quite successfully used for the stability
testing of the system as well as design of the conventional PID con-
trollers [62]. The successful implementation of fractional con-
trollers to a wide range of applications like robotics [63], power
electronics [64] and process control [65–67], has motivated the
authors to think on the lines of implementing the fractional order
controllers to the interval plants as well. Hence, in this paper, a
technique is illustrated in which the FOPID controller is designed
for an interval system model using the Kharitonov’s theorem.
Using this technique, a controller can be designed for a system
by considering a range of parameter values rather than any specific
886 S. Sondhi, Y.V. Hote / Electrical Power and Energy Systems 78 (2016) 884–896
value. Such controllers are capable of stabilizing the system for all
the values of the system parameters within the selected range. This
technique helps us in incorporating higher level of robustness for a
larger range of system parameter variations. Up to the best of the
author’s knowledge, there is no technique available in the litera-
ture for the design of fractional controller for load frequency con-
trol using an interval model based on Kharitonov’s theorem.
Objective
The objective of this work is to propose a fractional order PID
controller design scheme for the interval system using the Kharito-
nov’s theorem. The basic objectives can be stated as:
 A FOPID controller is designed using Kharitonov’s theorem, for
the interval model of the load frequency control for a single area
power system.
 The controller parameters are optimized using the integral error
criterion.
 Finally, the performance of the proposed controller is evaluated
on the basis of integral error criterion.
Mathematical preliminaries
Basics of fractional order control
The studies on fractional order control started approximately in
the beginning and middle of the 19th century by Liouville (1832),
Holmgren (1864) and Riemann (1953). However, the real time
application of fractional control remained limited for a long time
mainly because of the mathematical complexity involved in using
the fractional calculus. The most important constraint was to
define the fractional order integral and derivative operators. The
two most frequently used definitions of fractional derivative and
integral are Riemann–Liouville (RL) and Grunwald–Letnikov (GL)
[68]. Once the fractional operators were mathematically defined,
the use of fractional calculus in control systems became wide-
spread. The fractional order PID controller was proposed in 1999.
Mathematically, it is of the form [61]:
ki
CðsÞ ¼ kp þ k þ kd sl :
s
In the discrete domain, the fractional order controller is defined
as [41]:
P½T 
T d T l j¼0
L
½TL 
T iz
Cðz1 Þ ¼ K p þ   þ
k P½T  j k
L
½TL j
T j¼o ð1Þ z
j
where L is the number of past samples to be considered, on the basis
of short memory principal. k and l can take any value within the
u -
Governor
Fig. 1. Linear model of a single area power system.
range (0, 2). If l P 2 or k P 2, the controller is transformed to a
higher-order structure which is different in form in comparison to
the conventional PID controller. The fractional order controllers
described in (1) may be regarded as the general case of the conven-
tional PID controllers. Some of the advantages of using a fractional
order controllers have been very well illustrated in [61] i.e., reduced
steady state error, robustness to plant gain variation and good out-
put disturbance rejection. In recent years, the area of hardware
implementation of the fractional controllers has also developed
quite well [68–71].
Kharitonov’s theorem
In the field of control systems, stability testing and controller
design are the two most important areas of work. For both the
tasks, it is very essential to obtain the mathematical model of the
system. However, in most of the large complex real time applica-
tions, the exact values of the system parameters is not known
rather a range of values is predicted within which the system
parameter is likely to vary. In such cases, the system model is rep-
resented in interval form. Stability testing and controller design for
such type of systems is a very difficult task. In 1970s, a Russian
mathematician Kharitonov proposed a method for the stability
testing of integer order interval systems. In [72], it is stated that
by using Kharitonov’s theorem, only four polynomials are required
to be generated from the parameter variations and the Routh’s sta-
bility criterion has to be applied only to these four polynomials to
determine the stability of the interval system under the given
parameter variations.
According to the Kharitonov’s method, for a polynomial pðsÞ:
pðsÞ ¼ p0 þ p1 s þ p2 s2 þ    þ pn sn ð3Þ
where the parameter pi varies between its minimum X i and maxi-
mum Y i for i ¼ 0; 1; 2; . . . ; n, the four Kharitonov polynomials are
[72]:
K 1 ðsÞ ¼ X 0 þ X 1 s þ Y 2 s2 þ Y 3 s3 þ    ð4Þ
K 2 ðsÞ ¼ X 0 þ Y 1 s þ Y 2 s2 þ X 3 s3 þ    ð5Þ
ð1Þ
K 3 ðsÞ ¼ Y 0 þ X 1 s þ X 2 s2 þ Y 3 s3 þ    ð6Þ
  K 4 ðsÞ ¼ Y 0 þ Y 1 s þ X 2 s2 þ X 3 s3 þ    ð7Þ
l
ð1Þ j
L
z½T j
j If all these four polynomials pass the Routh’s stability test individ-
½TL  ually, then the system is stable under the given perturbation condi-
z
tions. This concept can also be used for the controller design for the
ð2Þ interval systems.
In this paper, an attempt is made to use the Kharitonov’s theo-
rem for designing the Fractional Order PID (FOPID) controller for
the problem of perturbed load frequency control.
Droop Characteristics
ΔP d
-
Δ XG ΔP G Δf
Turbine Load & Machine
 S. Sondhi, Y.V. Hote / Electrical Power and Energy Systems 78 (2016) 884–896 887

Table 1
Nomenclature of power system parameters. Gp ðsÞ represents the power system (load and machine)
dynamics:
Nomenclature
DP d Load disturbance (p.u. MW) Kp
Kp Electric system gain Gp ðsÞ ¼ : ð14Þ
TPs þ 1
Tp Electric system time constant (s)
TT Turbine time constant (s)
TG Governor time constant (s)
The turbine dynamics Gt ðsÞ are selected on the basis of the type of
R Speed regulation due to governor action(Hz/p.u. MW) turbine being used in the system. The turbine may be a steam tur-
Tr Constant of reheat turbine bine or a hydro turbine. The modelling of the power systems using
c Percentage of power generated in the reheat portion different turbines is given below.
Tw Time constant of hydro turbine
Df Incremental frequency deviation (Hz)
DP G Incremental change in generator output (p.u. MW) A. Steam Turbines [1]: A steam turbine is the one that works on
DX G Incremental change in governor valve position the principal of converting the energy of high pressure and high
temperature steam into rotating energy and further into electrical
energy by the generator. Steam turbines can be divided into two
types: non-reheated turbines and reheated turbines.
(a) Non-reheated turbine: A non-reheated turbine is the one
r y which does not have a re-heater and the steam directly passes to
Ct ( A' ,θ ) C(s) G(s)
the low pressure section. For the non-reheated turbine, the nomi-
-
nal parameter values are [45]: K P ¼ 120; T P ¼ 20; T T ¼ 0:3;
T G ¼ 0:08 and R ¼ 2:4.
The model can be represented as in (15) using Eqs. (8)–(11) and
Fig. 2. Feedback control system with gain-phase tester. (14):
Gp ðsÞGt ðsÞGg ðsÞ
GNR ðsÞ ¼
1 þ Gp ðsÞGt ðsÞGg ðsÞ=R
Interval model of single area load frequency control KPR
¼ : ð15Þ
R½ðT P s þ 1ÞðT T s þ 1ÞðT G s þ 1Þ þ K P
The power system is a large scale system having very complex
The values of various parameters are considered in the interval
nonlinear dynamics. Since for the case of load frequency control,
form as:
the power system taken into consideration is subjected to small
changes in the load, therefore, it can be suitably represented by a K P 2 ½60; 180; T P 2 ½10; 30; T T 2 ½0:15; 0:45;
linear model, linearized around the operating point. The model of T G 2 ½0:04; 0:5; R 2 ½1:2; 3:6: ð16Þ
LFC consists of a governor, a turbine, load and machine, and droop
characteristics. The droop characteristics is a type of feedback gain The intervals are formed by taking 50% lower and upper bound
used to improve the damping properties of the power system. Here uncertainties while the interval of the parameter T G is arbitrarily
the case of single service area is considered where the power is chosen to demonstrate the utility of the proposed technique. Solv-
supplied by a single generator. The linear model of such a system ing the model in (15) to the transfer function of the form given in
is shown in Fig. 1 [4]. The nomenclature of the different parameters (17):
used in the system is given in Table 1.
NNR ðsÞ a
Mathematically, the overall system can be represented as GNR ðsÞ ¼ ¼ ð17Þ
[4,68,73], DNR ðsÞ b3 s3 þ b2 s2 þ b1 s þ b0

Gp ðsÞGt ðsÞGg ðsÞ where a ¼ K P R 2 ½72;648;b3 ¼ RT P T T T G 2 ½0:0720;24:3; b2 ¼ R½T T T G þ

GðsÞ ¼ : ð8Þ
1 þ Gp ðsÞGt ðsÞGg ðsÞ=R T P T T þT P T G  2 ½2:2872;103:41;b1 ¼ R½T T þ T P þT G  2 ½12:2280;111:42;
b0 ¼ ½K P þR 2 ½61:2;183:6.
where (b) Reheated turbine: In this type of turbine, the steam coming
1 from the high pressure section is passed through a re-heater and
¼ droop characteristics ð9Þ then sent to the intermediate pressure section. The parameter val-
R
ues for the case of reheated turbine are [45]: K P ¼ 120;
Gg ðsÞ represents the governor dynamics: T P ¼ 20; T T ¼ 0:3; T G ¼ 0:08; R ¼ 2:4; T r ¼ 4:2 and c ¼ 0:35.
The model can be represented as in (18) using Eqs. (8), (9), (10),
1 (12) and (14):
Gg ðsÞ ¼ : ð10Þ
TGs þ 1
Gp ðsÞGt ðsÞGg ðsÞ
Gt ðsÞ represents the turbine dynamics: GR ðsÞ ¼
1 þ Gp ðsÞGt ðsÞGg ðsÞ=R
 In case of Non-reheated turbine:
K P RðcT r s þ 1Þ
1 ¼
Gt ðsÞ ¼ : ð11Þ R½ðT P s þ 1ÞðT T s þ 1ÞðT G s þ 1ÞðT r s þ 1Þ þ K P ðcT r s þ 1Þ
TT s þ 1 ð18Þ
 In case of Reheated turbine:
The parameters are considered in the interval form as:
cT r s þ 1
Gt ðsÞ ¼ : ð12Þ K P 2 ½60; 180; T P 2 ½10; 30; T T 2 ½0:15; 0:45;
ðT r s þ 1ÞðT T s þ 1Þ
T G 2 ½0:04; 0:3; R 2 ½1:2; 3:6; T r 2 ½2:1; 6:3;
 In case of Hydro turbine:
c 2 ½0:175; 0:525: ð19Þ
1  Tws
Gt ðsÞ ¼ : ð13Þ
1 þ 0:5T w s
888 S. Sondhi, Y.V. Hote / Electrical Power and Energy Systems 78 (2016) 884–896

In this case also the intervals are formed by taking 50% lower
and upper bound uncertainties while the interval of the parameter
T G is arbitrarily chosen. Solving the model in (18) to the transfer
function of the form in (20):
Using the Kharitonov’s theorem, the 4 Kharitonov polynomials
for the denominator polynomial given in (25) are formed as:
DNR1 ðsÞ ¼ 61:2 þ 12:2280s þ 103:41s2 þ 24:3s3 ð26Þ

NR ðsÞ a1 s þ a0 DNR2 ðsÞ ¼ 61:2 þ 111:42s þ 103:41s2 þ 0:0720s3 ð27Þ

GR ðsÞ ¼ ¼ ð20Þ
DR ðsÞ b4 s4 þ b3 s3 þ b2 s2 þ b1 s þ b0
DNR3 ðsÞ ¼ 183:6 þ 12:2280s þ 2:2872s2 þ 24:3s3 ð28Þ
where a1 ¼ RK P cT r 2 ½26:46; 2143:26; a0 ¼ RK P 2 ½72; 648; b0 ¼
½K P þ R 2 ½61:2; 183:6b1 ¼ R½T T þ T P þ T G þ T r  þ K P cT r 2 ½36:798; DNR4 ðsÞ ¼ 183:6 þ 111:42s þ 2:2872s2 þ 0:0720s3 ð29Þ
728:73; b4 ¼ RT P T G T r T T 2 ½0:1512; 91:854b2 ¼ R½T r T T þ T T T G þ
Using Eqs. (24) and (26)–(29), the set of 8 Kharitonov transfer func-
T P T T þ T G T r þ T r T P þ T P T G  2 ½27:966; 778:896; b3 ¼ R½T r T T T G þ
tions for the interval model of the non-reheated turbine given in
T r T T T P þ T P T T T G þ T P T G Tr 2 ½4:87512; 527:94418.
(17) can be formed as,
B. Hydro Turbines [1]: The performance of this type of turbine NNRj ðsÞ
GNRi ðsÞ ¼ ; i ¼ 1; 2; 3; . . . ; 8; j ¼ 1; 2; l ¼ 1; 2; 3; 4:
depends on various properties of the water column feeding the DNRl ðsÞ
turbine, like water inertia, water compressibility and pipe wall ð30Þ
elasticity in the penstock. In case where the hydro turbine is used
the parameter values are [45]: K P ¼ 1; T P ¼ 6; T w ¼ 4; T G ¼ 0:2; Considering the fractional order PID controller given in (1) and
R ¼ 0:05. using Eqs. (17) and (23), the characteristic equation of the system
Therefore, the plant model for the power system using hydro becomes:
turbine with droop characteristics, becomes,   
  ki a
p s;kp ;ki ;kd ;k; l ¼ 1 þ A0 ejh kp þ k þ kd sl ¼0
1:667s þ 0:4167 s b3 s3 þ b2 s2 þ b1 s þ b0
GH ðsÞ ¼ : ð21Þ
s3 þ 5:667s2  29:92s þ 8:75 ð31Þ

In this case it can be seen that the denominator has two unstable  
p s; kp ; ki ; kd ; k; l ¼ b3 s3þk þ b2 s2þk þ b1 s1þk þ b0 sk
poles and one positive zero. It is known in the literature that the  
Kharitonov’s theorem is only applicable to polynomials having all þ Aejh kp sk þ ki þ kd skþl ¼ 0 ð32Þ
positive coefficients. However, in Eq. (21) the denominator has a
negative coefficient. where A ¼ a  A0 .
The closed-loop system as shown in Fig. 2 will be stable if all the
roots of Eq. (32) lie in the left half of the s-plane. The stability
Fractional Order PID (INFOPID) controller design for single area
domain S0 is defined as the region for which, when
interval load frequency control
ðkp ; ki ; kd ; k; lÞ 2 S0 , the equation in (32) has no roots in the right
In this section, a method is proposed for designing the fractional half s-plane. The boundary of the stability domain for a fractional
order PID controller for single area interval load frequency control order PID controller is marked by the real root boundary (RRB)
using a gain-phase tester. In this technique, a gain-phase tester and the complex root boundary (CRB) [69,74]. These boundaries
  are described as.
C t A0 ; h ¼ A0 ejh is placed in the forward path as shown in Fig. 2.
Here, A0 represents the gain margin while h represents the phase
RRB: Pð0; kp ; ki ; kd ; k; lÞ ¼ 0, for x 2 ð0; 1Þ,
margin. Note that C t ðA0 ; hÞ is just a virtual component used for
CRB: Pðjx; kp ; ki ; kd ; k; lÞ ¼ 0, for x 2 ð0; 1Þ.
mathematical purpose and does not exist in the actual physical
system.
In this case, substituting s ¼ 0 in (32), the RRB is obtained as
In Fig. 2, CðsÞ represents the controller, GðsÞ represents the
ki ¼ 0.
system model and C t ðA0 ; hÞ represents the gain-phase tester. The To obtain the CRB, substitute s ¼ jx in (32), we get,
closed-loop transfer function of the overall system can be written  
p jx; kp ; ki ; kd ; k; l ¼ b3 ðjxÞ þ b2 ðjxÞ þ b1 ðjxÞ þ b0 ðjxÞ
3þk 2þk 1þk k
as

kþl
þ Aejh kp ðjxÞ þ ki þ kd ðjxÞ
k
GðsÞCðsÞC t ðA0 ; hÞ ¼0 ð33Þ
: ð22Þ
1 þ GðsÞCðsÞC t ðA0 ; hÞ
Solving Eq. (33) using the mathematical identities,
Hence the characteristic equation of the overall system    
k kp kp
becomes, ejh ¼ cos h þ j sin h and j ¼ cos þ j sin ; ð34Þ
2 2
   
p s; kp ; ki ; kd ; k; l ¼ 1 þ C A0 ; h CðsÞGðsÞ ¼ 0: ð23Þ
we get the equation as,
n p po
Non-reheated turbine b3 x3þk cos ð3 þ kÞ þ j sin ð3 þ kÞ
2 2
n p po
þ b2 x2þk cos ð2 þ kÞ þ j sin ð2 þ kÞ
For designing the INFOPID (Interval Fractional Order PID) con- 2 2
n p po
troller for the non-reheated turbine, consider the interval model þ b1 x1þk
cos ð1 þ kÞ þ j sin ð1 þ kÞ
obtained in (17). The numerator N NR ðsÞ in (17) can have two varia-  2  2
tions i.e., kp kp
þ b0 x cos
k
þ j sin
2 2
NNR1 ðsÞ ¼ 72 and NNR2 ðsÞ ¼ 648: ð24Þ   
kp kp
Consider the denominator polynomial from (17), þ Afcos h þ j sin hg kp xk cos þ j sin
2 2
n p po o
DNR ðsÞ ¼ b3 s3 þ b2 s2 þ b1 s þ b0 ð25Þ þ kd xkþl cos ðk þ lÞ þ j sin ðk þ lÞ þ ki ¼ 0 ð35Þ
2 2
 S. Sondhi, Y.V. Hote / Electrical Power and Energy Systems 78 (2016) 884–896 889

8
x 10
(a) 30 Stability region for the 1st
(b) 3.5 Stability region for the 2nd
Kharitonov transfer
Kharitonov transfer
function GNR1
3 function GNR2
25
2.5
20
2
15
1.5 Stability Region

ki

ki
10 Stability Region
1
5
0.5
0 0

-5 -0.5
-200 0 200 400 600 800 1000 1200 -1 0 1 2 3 4 5
12
x 10
kp kp
4
x 10
12
(c) 4
Stability region for the 3rd
(d) Stability region for the 4th
Kharitonov transfer
Kharitonov transfer 10 function GNR4
function GNR3
3
8
2
6
Stability Region

ki
ki

1
4

0
2
Stability Region
-1
0

-2 -2
-10 0 10 20 30 40 50 -1 0 1 2 3 4 5
7
kp kp x 10

7
x 10
(e) 300
Stability region for the 5th
(f) 7
Stability region for the 6th
Kharitonov transfer Kharitonov transfer
function GNR5 6 function GNR6
250
5
200
4
150
ki

3
ki

100 Stability Region

2
50
1
Stability Region
0 0

-50 -1
-2000 0 2000 4000 6000 8000 10000 -2 0 2 4 6 8 10
kp kp x 10
11

6
x 10
5
(g) 10 Stability region for the 7th (h) Stability region for the 8th
Kharitonov transfer
Kharitonov transfer
function GNR7 function GNR8
8 0

6
-5 Stability
4 Region
ki
ki

2
Stability Region -10
0
-15
-2

-4
-20
-8 -6 -4 -2 0 2 4 6 8 10 12 -1 0 1 2 3 4 5 6 7
9
kp kp x 10

(i) 40 Zoomed view of the

Stability region for the 8th
Kharitonov transfer
function GNR8
30

20
ki

10
Stability Region
0

-10

-60 -40 -20 0 20 40 60 80 100

kp

Fig. 3. (a–i) Gain-Phase Margin Stability Regions for the 8 Kharitonov transfer functions for the non-reheated turbine.
890 S. Sondhi, Y.V. Hote / Electrical Power and Energy Systems 78 (2016) 884–896

Express (35) in the form (36) and equate the real and imaginary 1. When A0 ¼ 1 and h ¼ 0, the RRB and CRB describe the global sta-
parts to 0: bility region i.e., they divide the entire kp  ki plane into the
stable and unstable regions for a fixed value of k and l .
Pðx; kP ; ki ; kd ; k; lÞ ¼ RefPðx; kP ; ki ; kd ; k; lÞg 2. When A0 ¼ a and h ¼ 0, the RRB and the CRB describe the
þ j ImfPðx; kP ; ki ; kd ; k; lÞg ¼ 0: ð36Þ stability region having gain margin adb, where a > 0.
3. When A0 ¼ 1 and h ¼ x , the RRB and the CRB describe the
Separating the real and Imaginary parts and equating to 0: stability region having a phase margin of x where x > 0.
Real Part:
p p Therefore, in order to get the stability region simultaneously
b3 x3þk cos ð3 þ kÞ þ b2 x2þk cos ð2 þ kÞ satisfying the conditions of both gain and phase margin, the inter-
2 2
p kp section of the regions described above is to be considered. The
þ b1 x1þk cos ð1 þ kÞ þ b0 xk cos intersection region so obtained is called the ’gain-phase margin sta-
2 2
kp p bility region’. In this problem, we have considered a gain margin of
þ Akp xk cos h cos þ Akd xkþl cos h cos ðk þ lÞ A0 ¼ 3db and phase margin of h ¼ 45 . Next step is to calculate a
2 2
kp suitable values of kp ; ki ; l and k . This can be done by the following
þ Aki cos h  Akp xk sin h sin steps:
2
p
 Akd xkþl sin h sin ðk þ lÞ ¼0 ð37Þ
2 Step 1: Consider the first Kharitonov transfer function
N NR1 ðsÞ
Imaginary Part: GNR1 ðsÞ ¼ DNR1 ðsÞ
obtained in Eq. (30).
Step 2: Obtain the expressions of kp and ki using Eqs. (39) and
p p p (40). Plot the graphs of gain-phase margin stability region
b3 x3þk sin ð3 þ kÞ þ b2 x2þk sin ð2 þ kÞ þ b1 x1þk sin ð1 þ kÞ
2 2 2 as described above, in the kp  ki plane for all values of
kp kp kþl p k 2 ð0; 2Þ and l 2 ð0; 2Þ. The gain-phase stability region
þ b0 x sin
k
þ Akp x cos h sin
k
þ Akd x cos h sin ðk þ lÞ
2 2 2 for the first Kharitonov transfer function GNR1 ðsÞ is shown
kp p
þ Akp x sin h cos
k
þ Akd x sin h cos ðk þ lÞ
kþl in Fig. 3(a). The enclosed region shown in Fig. 3(a) is the
2 2 gain-phase stability region for the first Kharitonov transfer
þ Aki sin h ¼ 0 ð38Þ function given in Eq. (30).
Step 3: Repeat the step 2 for all GNRi ðsÞ; i ¼ 2; . . . ; 8 to get the
Eqs. (37) and (38) can be simultaneously solved to obtain the required gain phase stability region for all the remaining
expressions for kp and ki given in (39) and (40). Eqs. (39) and (40) 7 transfer functions. The graphs obtained are shown in
trace a curve called the CRB in the ðkp  ki Þ plane for a fixed k and Fig. 3(b)–(i). The regions depicted in Fig. 3(b)–(i) shows
l as x varies from ð0; 1Þ. From Eqs. (37) and (38), it can be seen the individual gain phase margin stability regions for the
that two equations are obtained in terms of three variables. The remaining 7 transfer functions.
expressions of kP ; ki and kd can be calculated in two ways: Step 4: In the next step the intersection region of the gain phase
margin stability regions of all the 8 transfer functions is
 The value of kd is fixed arbitrarily and the CRB and the RRB is to be obtained. Since the aim is to design a single
plotted in the ðkP  ki Þ plane for various k 2 ð0; 2Þ and controller that can stabilize all the 8 Kharitonov transfer
l 2 ð0; 2Þ or, functions, therefore a gain phase stability region is
 The value of ki is fixed and the CRB and RRB is plotted in the required that is common to all the 8 Kharitonov transfer
ðkP  kd Þ plane for various k 2 ð0; 2Þ and l 2 ð0; 2Þ. functions. To obtain such a region, the intersection of the
8 individual graphs obtained in Fig. 3(a)–(i), is obtained.
Here, an arbitrary value of kd ¼ 1 is chosen. In the next step This intersection region is the gain phase stability region
kd ¼ 1 is substituted and Eqs. (37) and (38) are solved simultane- applicable to all the 8 Kharitonov transfer functions given
ously to get the expressions of kp and ki as, in Eq. (30).

     
b3 x3þk sin 32p  h þ b2 x2þk sin ðp  hÞ þ b1 x1þk sin p2  h  b0 xk sin h þ Axkþl sin lp
ki ¼ kp 2
ð39Þ
A sin 2

  
 b3 x3þk cos ð3 þ kÞ p2 þ b2 x2þk cos ð2 þ kÞ p2 þ b1 x1þk cos ð1 þ kÞ p2 þ b0 xk cos k2p þ Axkþl cos h þ k2p þ lp þ Aki cos h
kp ¼   2
ð40Þ
Axk cos h  k2p

The region that is obtained by plotting the CRB and the RRB in
the kp  ki plane is called the global stability region for a fixed k
and l i.e., all the values of kp and ki that lie within this region
are capable of stabilizing the system. Hence, by varying k 2 ð0; 2Þ,
and l 2 ð0; 2Þ, the global stability regions for all combinations of
k and l can be obtained.
In the next step the stability boundary in the kp  ki plane for
the specified gain margin A0 and phase margin h is to be calculated.
Note that,
Step 5: The combination of k and l that gives the largest intersec-
tion stability region is selected. In this case k ¼ 1 and
l ¼ 1:5 is selected. The selected intersection stability
region is shown in Fig. 4. The gain phase stability region
shown in Fig. 4 is the common stability region for all the
8 Kharitonov transfer functions i.e., the controller designed
using this region would stabilize all the 8 Kharitonov
transfer functions given in Eq. (30). Therefore, this region
is used further to obtain suitable values of kp and ki .
 S. Sondhi, Y.V. Hote / Electrical Power and Energy Systems 78 (2016) 884–896 891

 
Step 6: From the region obtained in step 5, obtain a suitable value   ki
p s; kp ; ki ; kd ; k; l ¼ 1 þ A0 ejh kp þ k þ kd sl
of kp and ki that gives the best controller performance. The s
 
point selected here is kp ¼ 2 and ki ¼ 1. The selected point a1 s þ a0
from within the intersection stability region is shown in
 ¼0 ð54Þ
b4 s4 þ b3 s3 þ b2 s2 þ b1 s þ b0
the zoomed view in Fig. 5.
 
p s; kp ; ki ; kd ; k; l ¼ b4 s4þk þ b3 s3þk þ b2 s2þk þ b1 s1þk þ b0 sk
Hence, the controller parameters selected here are  
þ A0 ejh kp sk þ ki þ kd skþl ða1 s þ a0 Þ ¼ 0 ð55Þ
kp ¼ 2; ki ¼ 1; kd ¼ 1; k ¼ 1; l ¼ 1:5 i.e., the INFOPID controller
obtained is, As described in the previous section the RRB is obtained by substi-
tuting s ¼ 0 in Eq. (55). Hence, the RRB obtained is ki ¼ 0. To obtain
1
CðsÞ ¼ 2 þ þ 1s1:5 ð41Þ the CRB, substitute s ¼ jx in (55).
s1
 
p jx; kp ; ki ; kd ; k; l ¼ b4 ðjxÞ þ b3 ðjxÞ þ b2 ðjxÞ
4þk 3þk 2þk

þ b1 ðjxÞ þ b0 ðjxÞ
1þk k
Reheated turbine

þ ejh A1 kp ðjxÞ þ A1 ki ðjxÞ
1þk
For designing the INFOPID (Interval Fractional Order PID) con-
1þkþl
þ A1 kd ðjxÞ þ A0 k p ð j x Þ
troller for the reheated turbine, consider the numerator polyno- k

mial from the interval model given in Eq. (20),

kþl
þ A0 ki þ A0 kd ðjxÞ ¼0 ð56Þ
NR ðsÞ ¼ a1 s þ a0 ð42Þ
where A1 ¼ a1  A0 and A0 ¼ a0  A0 .
Kharitonov’s theorem is applied to form the 4 Kharitonov numera-
Solve Eq. (56) using the identities,
tor polynomials as,
   
k kp kp
NR1 ðsÞ ¼ 72 þ 26:46s ð43Þ ejh ¼ cos h þ j sin h and j ¼ cos þ j sin ; ð57Þ
2 2

NR2 ðsÞ ¼ 72 þ 2143:26s ð44Þ we get the equation as,

  
NR3 ðsÞ ¼ 648 þ 26:46s ð45Þ kp kp p p
b4 x4þk cos þ j sin  b3 x3þk cos ð1 þ kÞ þ j sin ð1 þ kÞ
2 2 2 2
NR4 ðsÞ ¼ 648 þ 2143:26s: ð46Þ  
kp kp
 b2 x 2þk
cos þ j sin
Consider the denominator polynomial from Eq. (20), 2 2
 p p
þ b1 x 1þk
cos ð1 þ kÞ þ j sin ð1 þ kÞ
DR ðsÞ ¼ b4 s4 þ b3 s3 þ b2 s2 þ b1 s þ b0 ð47Þ  2  2
kp kp
Using the Kharitonov’s theorem the denominator polynomial þ b0 x cos
k
þ j sin þ ðcos h þ j sin hÞ
2 2
can be written into 4 Kharitonov polynomials as: n  p p
 A1 kp x1þk cos ð1 þ kÞ þ j sin ð1 þ kÞ
2 2
 p p
DR1 ðsÞ ¼ 61:2 þ 36:798s þ 778:896s2 þ 527:9418s3 þ 0:1512s4 þ jA1 ki x þ A1 kd x 1þkþl
cos ð1 þ k þ lÞ þ j sin ð1 þ k þ lÞ
  2 2
ð48Þ
kp kp
þ A0 kp x cos
k
þ j sin
2 2
DR2 ðsÞ ¼ 61:2 þ 728:73s þ 27:966s2 þ 527:9418s3 þ 0:1512s4  p p o
þ A0 ki þ A0 kd x kþl
cos ðl þ kÞ þ j sin ðl þ kÞ ¼0 ð58Þ
ð49Þ 2 2

DR3 ðsÞ ¼ 183:6 þ 36:798s þ 778:896s2 þ 4:87512s3 þ 91:854s4 Express (58) in the form (59) and equate the real and imaginary
parts to 0:
ð50Þ

DR4 ðsÞ ¼ 183:6 þ 728:73s þ 27:966s2 þ 4:87512s3 þ 91:854s4 Pðx; kP ; ki ; kd ; k; lÞ ¼ RefPðx; kP ; ki ; kd ; k; lÞg
ð51Þ þ j ImfPðx; kP ; ki ; kd ; k; lÞg ¼ 0: ð59Þ

The set of 16 Kharitonov transfer functions for the interval model of Separating the real and Imaginary parts and equating to 0:
the reheated turbine given in (20) can be formed as using Eqs. (43)– Real Part:
(46) and (48)–(51),
kp p kp
NRj ðsÞ b4 x4þk cos  b3 x3þk cos ð1 þ kÞ  b2 x2þk cos
GRi ðsÞ ¼ ; i ¼ 1; 2; 3; . . . ; 16; j ¼ 1; 2; 3; 4; l ¼ 1; 2; 3; 4: 2 2 2
DRl ðsÞ p kp
þ b1 x1þk cos ð1 þ kÞ þ b0 xk cos
ð52Þ 2 2
 p
þ A1 kp x cos h þ ð1 þ kÞ
1þk
Consider the fractional order PID controller of the form given in (1), 2  
 p kp
and from Eqs. (1), (20) and (23) the characteristic equation of the
þ A1 kd x1þkþl cos h þ ð1 þ k þ lÞ þ A0 kp xk cos h þ
system becomes: 2 2
 p
  þ A0 kd xkþl cos h þ ðk þ pÞ þ A0 ki cosh  A1 ki x sin h ¼ 0 ð60Þ
p s; kp ; ki ; kd ; k; l ¼ 1 þ A0 ejh CðsÞGðsÞ ¼ 0 ð53Þ 2
892 S. Sondhi, Y.V. Hote / Electrical Power and Energy Systems 78 (2016) 884–896

3.5
x 10 (a) 0.2
Liu SOPDT
Liu Routh
0.15 Liu Pade
3 Tan's SOPDT
0.1 FOPID
2.5 Tan's IMC-PID
0.05 INFOPID

Amplitude
Majhi's PID
2
0
ki

1.5 -0.05

1 -0.1 Proposed
kp=2, ki=1
INFOPID

0.5 -0.15

0 -0.2
0 1 2 3 4 5 6 7 8 9 10

-0.5 Time (sec.)

-1 0 1 2 3 4 5
12
kp x 10
(b) 0.05
Liu SOPDT
0.04 Liu Routh
Fig. 4. Intersection region of the Gain-Phase Margin Stability Regions of the 8 Liu Pade
Kharitonov transfer function for the non-reheated turbine. 0.03 Tan's SOPDT
FOPID
0.02 Tan's IMC-PID
INFOPID

Amplitude
0.01 Majhi's PID
0

-0.01
3.5
-0.02
3
-0.03
Proposed
INFOPID
2.5 -0.04

-0.05
2 0 1 2 3 4 5 6 7 8 9 10
ki

Time (sec.)
1.5
Fig. 7. (a) Response of non-reheated turbine using various controllers for step
1 disturbance, and (b) zoomed view of the response of non-reheated turbine using
various controllers for step disturbance.
kp=2, ki=1
0.5

-3
0 x 10
2
0 5 10 15 20 25
kp
0
Fig. 5. Zoomed view of the point selected from within the intersection region of the
Gain-Phase Margin Stability Regions for non-reheated Turbine. -2

-4
Amplitude

-6
-3
x 10

2
-8

-10
0

-12
0 5 10 15 20
-2
Time (sec.)
Amplitude

-4 Fig. 8. Response of proposed INFOPID controller for reheated turbine for step
disturbance.

-6
Imaginary Part:
kp p kp
-8 b4 x4þk sin  b3 x3þk sin ð1 þ kÞ  b2 x2þk sin
2 2 2
p kp  p
þ b1 x sin ð1 þ kÞ þ b0 x sin þ A1 kp x sin h þ ð1 þ kÞ
1þk k 1þk
-10 2 2   2
0 5 10 15 20  p kp
Time (sec.) þ A1 kd x 1þkþl
sin h þ ð1 þ k þ lÞ þ A0 kp x sin h þ
k
2 2
 p
Fig. 6. Response of proposed INFOPID controller for non-reheated turbine for step þ A0 kd xkþl sin h þ ðk þ lÞ þ A1 ki x cos h þ A0 ki sinh ¼ 0 ð61Þ
disturbance. 2
 S. Sondhi, Y.V. Hote / Electrical Power and Energy Systems 78 (2016) 884–896 893

Table 2
(a) 0.2
FOPID Solution values of PID controller parameters.
Tan's IMC-PID
0.15 Liu Pade kp ki kd k l
Liu Routh
0.1 Liu SOPDT Non-reheated turbine
INFOPID INFOPID (proposed) 2 1 1 1 1.5
0.05 Majhi's PID
FOPID [75] 2 3 0.4 0.9 1.15
Amplitude

Tan’s IMC-PID [45] 0.4036 0.6356 0.1832 1 1

0
Reheated turbine
-0.05 INFOPID (proposed) 2 0.5 3 1 1.3
Proposed FOPID [75] 6 4 1 0.9 1.2
INFOPID
-0.1 Tan’s IMC-PID [45] 2.7935 1.2735 0.7866 1 1

-0.15 Note: It is seen here that the value of kd is chosen arbitrarily. Thus it may sometimes
be difficult to obtain suitable value of kd by trial and error. This proves to be a
-0.2 limitation of the proposed method. Therefore, in future efforts can be made to
0 1 2 3 4 5 6 7 8 9 10 formulate some method by which the value of kd can be more easily obtained.
Time (sec.)

(b) 0.05
FOPID
Simulation results
0.04 Tan's IMC-PID
Liu Pade
0.03 Liu Routh
The simulation results obtained by the implementation of the
Liu SOPDT INFOPID controller designed in the previous section are illustrated
0.02 INFOPID
Majhi's PID
here. The response of the INFOPID controllers for both non-
Amplitude

0.01 reheated as well as reheated turbines is presented here.

0 Fig. 6 shows the response of the INFOPID controller for the non-
-0.01 reheated turbine power system. The INFOPID controller is designed
by keeping in consideration a range of values of each parameter.
-0.02 Proposed
INFOPID The response is shown here for one set of values i.e.,
-0.03 K P ¼ 60; R ¼ 1:2; T P ¼ 10; T T ¼ 0:45; T G ¼ 0:5. In this system a neg-
-0.04 ative disturbance of magnitude 0.01 is added to the system at time
-0.05 2 s. From Fig. 6 it can be observed that the proposed INFOPID con-
0 1 2 3 4 5 6 7 8 9 10 troller is capable to reject this disturbance even before it reaches
Time (sec.) the maximum peak. The largest overshoot occurring in Fig. 6 is
Fig. 9. (a) Response of various controllers for the reheated turbine for step
approximately of magnitude 0.007. Thus it can be seen that the
disturbance, and (b) zoomed view of the response of various controllers for the proposed INFOPID controller is robust enough to control the
reheated turbine for step disturbance. deflection occurring in the frequency of the system. Further, the
comparison of the proposed INFOPID controller with the IMC-PID
controller proposed in [45], the nominal Fractional Order PID
(FOPID) controller designed in [75], nominal PID controller
Similar to the procedure illustrated for the non-reheated turbine, in designed in [76] and the various controllers designed using the
this case also, an arbitrary value of kd is chosen and the expressions reduced order modelling concept illustrated in [46], is shown in
of kp and ki are calculated. Here kd ¼ 3 is selected. Fig. 7(a) and (b). From Fig. 7(a), it can be observed that the existing

8 h i9
< sin h þ pA1 b4 x5þ2k þ A1 b2 x3þ2k  A1 b0 x1þ2k þ sin hA1 b3 x4þ2k  A1 b1 x2þ2k  A0 b4 x4þ2k þ A0 b2 x2þ2k  A0 b0 x2k þ sin lp A2 k x2þ2kþl þ A2 k x2kþl =
2 2 1 d 0 d

: þ sin p  hb A x1þ2k  b A x3þ2k þ A A k x1þ2kþl sin lp  p  A A k x1þ2kþl sin p  lp ;
1 0 3 0 0 1 d 1 0 d
ki ¼ 2
n 2 2 2 2
o
A1 x cos ð1 þ kÞ 2  A0 A1 x1þk sin ð1 þ kÞ 2 þ A1 A0 x1þk cos 2  A0 xk sin 2
2 2þk p p k p 2 kp

ð62Þ

      
 cos 2 b4 x  b2 x þ b0 x þ cos ð1 þ kÞ 2 b3 x þ b1 x
kp 4þk 2þk k p 3þk 1þk
þ A 1 kd x 1þkþl
cos h þ ð1 þ k þ lÞ 2 þ A0 kd x cos h þ ðk þ lÞ 2 þ ki ½A0 cos h  A1 sinh
p kþl p
kp ¼
   
A1 x cos h þ ð1 þ kÞ 2 þ A0 x cos h þ 2
1þk p k kp

ð63Þ

Further, following the same procedure as illustrated for the non-
reheated turbine case, the INFOPID controller parameters are calcu-
lated for the reheated turbine system. The parameters obtained for
this case are kp ¼ 2; ki ¼ 0:5; kd ¼ 3; k ¼ 1; l ¼ 1:3.
0:5
CðsÞ ¼ 2 þ þ 3s1:3
s1
The values of various controller parameters for non-reheated as
well as reheated turbine cases have been illustrated in Table 2 given
below.
controllers designed by considering the nominal parameter values
are not capable of stabilizing the system at these parameter values.
However, from the zoomed view of the responses of the various
controllers shown in Fig. 7(b), it can be clearly seen that, the con-
troller designed using the proposed approach is robust enough to
stabilize the system much more efficiently as compared to the
ð64Þ existing nominal controllers.
This indicates that if due to some sudden unusual behaviour,
the value of governor parameter increases to 0.5 (i.e. much higher
than the nominal value) still the proposed controller is capable of
stabilizing the system. This shows that, the proposed controller is
able to prevent the sudden break down of the system that may
894 S. Sondhi, Y.V. Hote / Electrical Power and Energy Systems 78 (2016) 884–896

0.1 Table 4
Comparison of the performance indices for the reheated turbine power system for
0.08 step disturbance.
0.06 Design method Reheated turbine
0.04 ISE IAE ITAE
0.02 9.34  105
Amplitude

INFOPID (proposed approach) 0.0199 0.1035

0
FOPID [75] 5:761  1013 1:501  107 7:144  108
Tan’s IMC-PID [45] 7:439  104 779.4 3:503  104
-0.02 FOPID
SOPDT Liu SOPDT [46] 4:409  105 0.0343 1.195
-0.04 Proposed INFOPID Liu SOPDT Liu Routh [46] 0.0003559 0.1037 3.449
Liu Routh Liu Pade [46] 0.000333 0.1022 3.34
-0.06 Liu Pade
Majhi’s PID [76] 0.0001043 0.03193 0.2285
Tan's IMC-PID
-0.08 INFOPID
Majhi's PID
-0.1
0 1 2 3 4 5 6 7 8 9 10
Time (sec.)
Table 5
Comparison of the performance indices for the non-reheated turbine power system
Fig. 10. Responses of various controllers for ramp disturbance for non-reheated
for ramp disturbance.
turbine case.
Design method Non-reheated turbine

0.1 ISE IAE ITAE

0.08 INFOPID (proposed approach) 0.0007097 0.0817 0.4562

FOPID [75] 0.01341 0.2369 1.786
0.06 Tan’s IMC-PID [45] 0.002321 0.1396 0.745
0.04 Liu SOPDT [46] 0.05065 0.5613 3.762
Liu Routh [46] 0.6899 1.545 12.12
Amplitude

0.02 Liu Pade [46] 0.1087 0.6973 4.907

0 Tan’s SOPDT [46] 0.1945 1.194 7.97
Majhi’s PID [76] 0.002124 0.1161 0.6665
-0.02
Proposed INFOPID FOPID
-0.04 Tan's IMC-PID
Liu Pade
-0.06 Liu Routh shown here is for the system having parameter values as,
-0.08
Liu SOPDT K P ¼ 60; R ¼ 1:2; T P ¼ 10; T T ¼ 0:45; T G ¼ 0:3; T r ¼ 2:1; c ¼ 0:175.
INFOPID
Majhi's PID In this case also, a negative disturbance of magnitude 0.01 is added
-0.1
0 1 2 3 4 5 6 7 8 9 10 to the system at time 2 s. It is clear from Fig. 8 that the proposed
Time (sec.) INFOPID controller rejects the external disturbance within
approximately 2 s. The comparison of the proposed controller with
Fig. 11. Responses of various controllers for ramp disturbance for reheated turbine the nominal controllers proposed in [45,75,76] as well as the
case. controllers designed using the reduced order modelling concept
illustrated in [46], is shown in Fig. 9(a) and (b). From Fig. 9(a), it
can be observed that for these specified parameter values, the
occur due to any unusual increase in some parameter value and
existing controllers are not capable of stabilizing the system. How-
hence improves the performance efficiency and the overall safety
ever, the proposed controller stabilizes the system quite efficiently
of the power system.
in comparison to the existing nominal controllers suggested in
Thus, it can be seen that using this technique a higher level of
[45,46,75,76]. This can be clearly observed from the zoomed view
robustness can be incorporated in the system by using a larger
of the responses of various controllers shown in Fig. 9(b). This indi-
range of parameter variations while designing the controller.
cates that in this case also, in spite of an increase in the governor
Whereas, the nominal controllers (designed using fixed parameter
parameter, the proposed controller is still capable of controlling
values) show robustness only for some limited parameter varia-
the frequency fluctuation.
tions. The proposed approach gives the design engineer, freedom
Similar results are obtained for the case of ramp disturbance
of deciding the range of parameter variations up to which the con-
also. Figs. 10 and 11 show the performances of various controllers
troller can continue to perform well.
for the ramp type disturbance. It is seen in Figs. 10 and 11 that the
Similarly, the response of the INFOPID controller designed for
proposed controller gives better performance that the existing con-
the reheated turbine power system is shown in Fig. 8. The response
trollers for the ramp disturbance also.

Table 3 Performance analysis

Comparison of the performance indices for the non-reheated turbine power system
for step disturbance. In the previous section it has been illustrated that the controller
Design method Non-reheated turbine designed using the proposed approach is robust for a larger range
of system parameter variations as compared to the nominal con-
ISE IAE ITAE
trollers. The quantitative comparison of the proposed INFOPID con-
INFOPID (proposed approach) 4.321  105 0.01014 0.03615
troller with the existing nominal controllers can be done using the
FOPID [75] 0.04563 0.4213 3.283
Tan’s IMC-PID [45] 0.001969 0.1124 0.6785 various integral error criterion i.e., Integral Squared Error (ISE),
Liu SOPDT [46] 0.02789 0.3555 2.645 Integral Absolute Error (IAE) and Integral Time-Weighted Absolute
Liu Routh [46] 0.9222 1.698 13.83 Error (ITAE). The comparison of the various error criterion for the
Liu Pade [46] 0.1201 0.6628 5.216 proposed INFOPID controller with the controllers suggested in
Tan’s SOPDT [46] 0.02266 0.3528 2.341
Majhi’s PID [76] 0.006249 0.1872 1.288
[45,46,75,76] for non-reheated and reheated turbines for step dis-
turbance is given in Tables 3 and 4 respectively. Table 5 shows the
 S. Sondhi, Y.V. Hote / Electrical Power and Energy Systems 78 (2016) 884–896
comparison of various error criterion for the ramp type disturbance
for the non-reheated turbine. Similarly, the results can be calcu-
lated for the ramp disturbance for the reheated turbine case also.
From this comparison, it is seen that the proposed INFOPID con-
troller gives the best performance under the given perturbation
conditions. This indicates that the INFOPID controller is much more
robust in nature as compared to the nominal controllers.
Conclusion and future work
The rapidly modernizing world of today is continuously posing
a great demand of electric power. Therefore, it is very important to
have an efficient LFC system which has good disturbance rejection
capability even while working under uncertain environment. In
this paper, a load frequency control design technique is proposed
based on the fractional order control using the Kharitonov’s theo-
rem. This technique is designed by considering a range of values
for all system parameters rather than any fixed value. The results
show that this technique helps in making the controller robust
towards a larger range of system parameter variations as compared
to the existing nominal controllers. This technique gives the design
engineer freedom to decide the range of parameter variations up to
which the controller should perform efficiently. Hence the pro-
posed control strategy makes the system much more efficient by
incorporating higher level of robustness and simultaneously
improves the safety by preventing the system breakdown that
may otherwise occur due to sudden unusual increase in any sys-
tem parameter.
In this paper, the fractional order controller is designed for the
perturbed(interval) non-reheated and reheated turbines, however,
the proposed techniques is not applicable to the hydro turbine
since it has an unstable pole. The work is still in progress to formu-
late a similar fractional order PID controller design technique for
the unstable interval systems.
Further, similar control algorithm can be formulated for the
load frequency control of the multi area power systems also. How-
ever, due to the space limitations, in this paper the technique is
applied only to the single area power system. The researchers
and engineering practitioners working in this area can use the pro-
posed technique for designing an efficient control algorithm for the
load frequency control of the multi area power systems.
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