Canadian Journal on Electrical & Electronics Engineering Vol. 1, No.

7, December 2010

Transient Stability Enhancement using Robust FACTS Controllers- A Brief Tour

Chintu Rza Makkar and Lillie Dewan
Abstract This paper summarizes the various robust control techniques for the enhancement of transient stability of a large power system. Flexible ac transmission systems (FACTS) controllers are being used to damp out the power system oscillations. By applying different robust control techniques, the FACTS controller is realized. Uncertainties are taken into account in a robust fixed parameter and structure control law to allow for parameter variations and perturbations acting on the electrical power system. This paper presents a comprehensive review on the research and developments in the power system stability enhancement using FACTS damping controllers. The FACTS controller ensures robust performance and internal stability against power system disturbances and unstructured parameter variations. Key Words Power systems, FACTS, Robust Control, Stability

I. INTRODUCTION Modern power systems are designed to operate economically and efficiently to supply power on demand to various load centers with high reliability along with high interconnectivity. The increase in the loading of the transmission lines in Modern power systems sometimes can lead to voltage collapse due to the shortage of reactive power delivered at the load centers. FACTS devices can make the AC transmission network flexible to adapt to the changing conditions caused by these contingencies and load variations. Flexible AC Transmission System (FACTS) according to IEEE is defined as, "Alternating current transmission systems incorporating power electronic-based and other static Controllers to enhance controllability and increase power transfer capability" [1]-[2]. There are two generations for realization of power electronicsbased FACTS controllers: the first generation employs conventional thyristor-switched capacitors and reactors, and quadrature tap-changing transformers, the second generation employs gate turn-off (GTO) thyristor-switched converters as voltage source converters (VSCs). The first generation has resulted in the Static VAR Compensator (SVC), the ThyristorControlled Series Capacitor (TCSC), and the ThyristorControlled Phase Shifter (TCPS) [3]-[4]. The second generation has produced the Static Synchronous Compensator (STATCOM), the Static Synchronous Series Compensator (SSSC), the Unified Power Flow Controller (UPFC), and the Interline Power Flow Controller (IPFC) [5][8].
1 Chintu Rza Makkar is with the DAV Institute of Engineering & Technology, Jalandhar, Punjab, (INDIA) e-mail: chinturza78@gmail.com. Dr. Lillie Diwan is Professor with National Institute of Technology, Department of Electrical Engineering, Kurukshetra, Haryana (INDIA) e.mail: ldewanin@gmail.com.

The two groups of FACTS controllers have distinctly different operating and performance characteristics [9]. The significance of the power electronics and other static Controllers is that they have high speed response and there is no limit to the number of operations. FACT technology provides the opportunity to: Control power flow so that it flows through the designated routes. Increase loading capacity of transmission lines. Prevent blackouts. Improve generation productivity. Effective use of upgrading uprating. Reduce circulating reactive power. Rating of FACTS controllers will range from a few MVAs to a few hundred MVAs [10][14]. It was found that the ratio of FACTS applications to the stability study with respect to other power system studies is more than 60% in general. This reflects clearly the increasing interest to the different FACTS controllers as potential solutions for power system stability enhancement problem[9]. According to P.Kundur et al Power system stability is the ability of an electric power system, for a given initial operating condition, to regain a state of operating equilibrium after being subjected to a physical disturbance, with most system variables bounded so that practically the entire system remains intact [11]. The development of the modern power system has led to an increasing complexity in the study of power systems, and also presents new challenges to power system stability, and in particular, to the aspects of transient stability (TS) and small-signal stability(SS). 1) Transient stability (TS) :-Transient stability refers to the capability of a system to maintain synchronous operation in the event of large disturbances, and transient stability control is a significant area of research as it provides the first line of defense in ensuring the stable operation of power systems[12]-[13] [15]. 2) Small signal stability (SS):-Small signal stability is the ability of the power system to maintain synchronism under small disturbances. This occurs when a system perturbation, even a small one, excites a natural oscillatory mode of the power system. These oscillations are slow, usually under 1Hz. Therefore, small signal stability is largely a problem of insufficient damping of oscillations. The main method used today to guard against small signal instability is the off-line tuning of power

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Canadian Journal on Electrical & Electronics Engineering Vol. 1, No. 7, December 2010 system stabilizers (PSS). These PSS are local controllers on the generators [12] [16]. The potential of FACTS controllers to enhance power system stability has been discussed by Noorozian and Anderson [17], where a comprehensive analysis of damping of power system electromechanical oscillations using FACTS was presented. Wang and Swift [18] have discussed the damping torque contributed by FACTS devices, where several important points have been analyzed and confirmed through simulations. This review paper is dedicated to study of FACTS controllers dealing with stability enhancement using various robust control techniques. Different control strategies had been applied to improve TS and SS of power systems. II. POWER SYSTEM CONTROL In this section, a brief survey is presented of the various controls available today. The survey is neither comprehensive nor complete but is meant to provide a general feel for the technologies being utilized today and the phenomena that are being controlled. These are: A. Lyapunov Function Method This method is also known as Lyapunovs direct method, and is a powerful technique in both the analysis of power system stability and the design of nonlinear controllers. This method is based on the assumption that the system equilibrium point is at the origin, and the idea is to obtain a Lyapanov function V(x) > 0, x 0 such that V(0)=0. The feedback control law u=u(x) is then determined such that V(x) is a non-increasing function of time, which ensures closed loop system stability. The Lyapunov function method is clear in its physical meaning, and has the advantage that system stability can be obtained without having to solve the system equations explicitly. However, the formation of Lyapunov functions for high order nonlinear systems such as power systems is a tough task, and therefore, this method is more often combined with other control theories in design applications[14].The Lyapunovs second method or direct method is known to be a very powerful tool of assessing Critical Clearing time of a power system without solving the system dynamics equations at post fault. The direct method is capable of providing the information about the degree of stability (or instability). The difficulty in this method is to find the suitable energy function of power system with FACTS devices[19].[20] proposed a new approach of nonlinear control for transient and steady state stability analysis of a synchronous generator. The control law of the generator excitation is derived from the basis of Lyapunov stability criterion. B. Linear Mapping Methods: The various linear mapping are (i) Linearization based on differential geometric theory: Linearization by differential geometric theory is based on obtaining a partial differential coordinate transformation to perform mapping of a nonlinear system to a linear one. Linearization methods based on differential geometric theory drawbacks of requiring precise system model information, lacking robustness to uncertainties and having highly complex control laws which are difficult to derive[30]. (ii) Direct feedback linearization method: Compared with linearization methods based on differential geometric theory, this method is not restricted to affine nonlinear systems, is clear in physical meaning and is simple to apply as it does not require coordinate transformations or a great deal of mathematical derivations. Therefore, it is an appropriate method to be used for actual engineering problems. However, there is no general method for obtaining the inverse transfer function for this method, rendering it more difficult to be applied in complex MIMO systems [14]. (iii) Inverse-system method: The application of the inverse system method in power systems is restricted because of the need for precise information regarding the system model. However, research has shown that neural networks can be applied together with the inverse system method to produced good results [21] [22]. C. Adaptive Control In actual power systems, many parameters are either totally unknown or slowly time-varying, which renders the aforementioned control strategies ineffective. Examples of such parameters include the damping coefficient of generators, which is usually untraceable, and the synchronous reactance and transient reactance, which may vary slowly during system dynamics as a result of generator saturation effects. In such cases, adaptive control methods, which employ dynamic estimation of unknown parameters, tend to be more appropriate in obtaining solutions to problems involving unknown parameters[15], [23]-[25]. D. Intelligent Controls In recent years, there has been rapid development in the research of intelligent controls, and as a relatively newer class of control theories, intelligent controls method possess learning capabilities. Artificial neural networks are complicated networks comprising a multitude of simple sensory cells connected according to certain algorithms, and based on past knowledge, the algorithms are adjusted such that
th th

the nonlinear mapping from an m order space to an n order space can be implemented. Artificial neural networks are capable of performing large scale computations, self learning and also illustrate strong robustness[14]. E. Robust Controls Robust control theory deals with control system design for dynamic systems with uncertainties in their models. A system is said to be robust to a given set of system uncertainties (or operating conditions) if it provides stability and satisfactory performance for all system models in this set[32]. In robust control theory, uncertainties can be in multiplicative or additive forms. Peter Dorato[26 ] presented the historical review of robust control. He suggested three control periods

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Canadian Journal on Electrical & Electronics Engineering Vol. 1, No. 7, December 2010 Classical Sensitivity Design Period 1927-1960 State variable Period. 1960-1975. Modern Robust Control Period. 1975 - present. In general, Facts controllers are not very efficient to damp inter-area oscillations. Its applications concern principally voltage support and stability. On the other hand, using one of the most efficient robust techniques, a very powerful controller for damping inter-area oscillation modes may be obtained[53]. Based on this, in the next section, robust control techniques are presented. III. ROBUST CONTROL TECHNIQUES In this paper, a different robust control techniques available in literature has been studied keeping in view the TS and SS in conventional power system as well as in deregulated environment[27]-[30]. Hu Qing et al. [33] presented modern H robust control techniques. The performance of the proposed control has fulfilled the robust stability and robust performance criteria. M. Dehghani et al. [34] used H approach to check the robustness of the given controller. The performance of the controller is tested on a sample synchronous generator connected to an infinite bus system. Yixin Ni et al. [31] used the robust adaptive control (RAC) to improve interconnected power system TS and SS. The novel nonlinear RAC is applied to excitation systems and then to HVDC transmission. Kwang M.Son [35] presented an LQG (Linear Quadratic Gaussian) design technique applied to the TCSC damping controller design. Loop Transfer Recovery (LTR) method is a systematic procedure developed to guarantee the robustness of the LQG controller. Mohammad N. Marwali et al. [36] analyzed the robust stability of a voltage and current control solution for a stand alone distributed generation (DG) unit using the structured singular value or -framework based method. Vilma A. Oliveira et al. [37] has given focus on robust control analysis and design. Design and implementation issues of robust controllers and the use of analysis to check the stability and performance robustness of the solutions are addressed. There exists a large number of H methods for controller design such as synthesis, LQG method, RAC and shaping of transfer function which includes H loop shaping design and mixed sensitivity. because equations do not balance dimensionally. If you must use mixed units, clearly state the units for each quantity in an equation. enhance the damping of an interarea oscillation in a large power system. H approach is particularly appropriate for the stabilization of plants with unstructured uncertainty. In which case the only information required in the initial design stage is an upper band on the magnitude of the modeling error. Whenever the disturbance lies in a particular frequency range but is otherwise unknown, then the well known LQG (Linear Quadratic Gaussian)method would require knowledge of the disturbance model. However, H controller could be constructed through the maximum gain of the frequency response characteristic without a need to approximate the disturbance model. The design of robust H controllers based on a polynomial system philosophy has been introduced by Kwakernaack and Grimble. In the usual H control problem, the cost function minimization leads to relatively complicated algorithms, whether using state-space or polynomial system models. B. analysis Vilma A. Oliveira[37] used the analysis to check the stability and performance robustness. With the robust controllers, in accordance with the robustness tests carried out using analysis, the design specifications are met for the steel balls of different sizes and mass used as component of maglev control system. Moreover, the controller showed better disturbance attenuation responses when compared with the standard H controller responses. However, the controller is not as efficient as the standard H controller in suppressing the control signal noise. The conclusion is that the controller design is more conservative with respect to disturbances. Mohammad N. Marvali investigated the stability robustness of the system with the controller developed by [40] using structured singular value or framework by choosing different weighting scalars[36]. Specifically, perturbations due to load variations and parameter uncertainties of the system components are considered. It was shown that scalar weighting in the optimal control cost function provides a way of tuning the transient performance of the controllers while maintaining stability robustness of the system under perturbations due to plant parameter uncertainties. To investigate the performance in face of uncertainties, the analysis and synthesis procedure is adopted to test the robust performance of the H loop-shaping controller proposed in [41] and to synthesize a robust controller with improved performance[42].

A. H control design C. Robust Adaptive Control M.M Farasangi et al.[38] proposed H loop shaping method to Yixin Ni applied Robust adaptive control to improve design a robust controller for STATCOM, SPFC and UPFC to interconnected power system TS and SS under deregulated improve the system damping and stabilize the system. The environment[31]. In actual power systems, many parameters main advantages of this method are: (i) it is relatively easy to are either totally unknown or slowly time-varying which implement as it is based on classical loop shaping ideas (ii) it makes the above control strategies ineffective. Examples of is more flexible than mixed sensitivity but is not as such parameters include the damping coefficient of generators, complicated as synthesis and it is not limited in its which is usually untraceable and the synchronous reactance applications. M.Klein[39] proposed H control design and transient reactance which may vary slowly during system technique which produces a robust controller satisfactory for a dynamics as a result of generator saturation effects. In such range of operating conditions. H is a frequency domain cases, adaptive control methods which employ dynamic technique. Here, the design of H controller for a TCSC is to estimation of unknown parameters, tend to be more 152

Canadian Journal on Electrical & Electronics Engineering Vol. 1, No. 7, December 2010 appropriate in obtaining solutions to problems involving unknown parameters. The designed RAC controllers ensure uniform boundedness of all system states. So the system is stable in the Lyapunov stability sense. According to Alireza Karimi et al.[43], the classical robust adaptive control approach leaves unsolved two important problems.1) Transient responses caused by abrupt and large changes in the load cannot be handled by the adaptive system (the adaptive system is not enough fast to follow the parameter variations and unacceptable transients occur). 2) In the absence of an excitation signal, the parameter drift caused by the unmodeled output disturbances can render the system unstable. He presented an adaptive control scheme for the flexible transmission system which removes the disadvantages of the classical robust adaptive control. This scheme is based on the following algorithms.1) Use of multiple models approach to adaptive control [44].2) Replacement of the least squares estimator by a recently developed closed-loop output error parameter estimation scheme [45]. D. Linear Quadratic Gaussian Design of LQG controllers was considered for a class of uncertain systems as given in Suresh M. Joshi[46]. By appropriately choosing the weighting functions, the controller can be designed to provide optimal performance as well as robust stability in the presence of parameter uncertainties. A.A.Nour Eldeen[47] has developed LQG control of SVC and TCSC for maintaining constant terminal voltage at all busses and damping multimachine power system oscillations. The proposed control strategy based upon LQG can be used for SVC and TCSC to damp the power swing. The performance of such a controller is robust with respect to network structure, fault location and system loading. H approach is particularly appropriate for the stabilization of plants with unstructured uncertainty. In which case the only information required in the initial design stage is an upper band on the magnitude of the modeling error. Whenever the disturbance lies in a particular frequency range but is otherwise unknown, then the well known LQG (Linear Quadratic Gaussian)method would require knowledge of the disturbance model[48]. variations in the operating points of the system. Kerim Mekki et al used LMI techniques to design the feedback control loop, called damping loop, of an SVC in a stressed network. The performances of this controller are compared to the ones obtained with non-linear techniques [51] for the same SVC with regard to damping loops[52]-[53]. The new two-step LMI approach as proposed in [54] is applied for the design of an output-feedback damping controller for a multimodel system; LMI formulation of regional pole placement is derived in detail. Then this approach is applied to design of a STATCOM damping controller with consideration of STATCOM internal controllers[55]. This Method is also presented for calculating parameters of Lure type Lyapunov function in Abdul Halim et al[56]. The objective is to apply Linear Matrix Inequality (LMI) method for helping the analysis of power system transient stability. In order to derive the method, a simple multi machine. model which can include network transfer conductances, uniform or nonuniform damping is considered. It can be verified by a simulation that the proposed method can improve the conservativeness of energy function and conventional Lure type Lyapunov function. Three factors make LMI techniques appealing: 1) A variety of design specifications and constraints can be expressed as LMIs.2) Once formulated in terms of LMIs, a problem can be solved exactly by efficient convex optimization algorithms. 3) While most problems with multiple constraints or objectives lack analytical solutions in terms of matrix equations, they often remain tractable in the LMI framework. Ahmed Bensenouci[57] presented the design steps of a robust iterative LMI-based multivariable PID (abbreviated: PID) whose effectiveness is evaluated through a comparison with a robust LMI-based H controller [58,59,60]. Both voltage and speed/power control-loops are lumped in one forming a MultiInput Multi-Output (MIMO) controller. The controllers are used in conjunction with a synchronous generator connected to an infinite-bus through a step-up transformer and a transmission line [61][62]. Both controllers are tested using step/tracking in the control variables and variation in the plant parameters.

IX. CONCLUSION E. Linear Matrix Inequalities This paper presented a study about the stability improvement An LMI technique based method is proposed. This approach consists of designing a robust damping controller by LMI of a large power system embedded with FACTS based (Linear Matrix Inequalities) techniques in the aim of controller. The robustness of the controller has been evaluated guaranteeing a certain degree of stability and performances of with respect to model uncertainties of the power generator. the FACTS controller in presence of dynamic loads Based on current trends in power system development, the uncertainties. LMI techniques allow the stabilization of most important objective in transient stability control is in the uncertain systems. The efficiency of this method which was determination of effective control methods to ensure global developed to overcome interaction between FACTS and stability of large interconnected systems. Some experiences dynamic loads is validated on a test power system[49]. with robust control techniques for controller design have been Furthermore, it presents the advantage of dealing with discussed. The resulting controller provides robust stability as multiple uncertain variables. Roman Kuiava et al.[50] well as optimal performance. presented a systematic method for the robust design of a supplementary controller for a TCSC device to damp interREFERENCES area oscillations in electric power systems. The method is based on a robust control technique structured in the form of [1] Hingorani N G and Gyugi L, Understanding FACTS: Concepts and Technology of Flexible AC Transmission Systems. New York, IEEE linear matrix inequalities (LMIs). The polytopic model is used Press, 2000. to guarantee the robustness of the controller with respect to the 153

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Chintu Rza Makkar was born on April 14, 1978. She received B.E (Electrical) from GZSCET, Bathinda, Punjab in 1999 and PEC University, Chandigarh in 2006 respectively. Currently she is working as Assistant Professor with DAV Institute of Engineering and Technology, Jalandhar, Punjab (India). She is pursuing Ph. D. degree at National Institute of Technology, Kurukshetra, Haryana (India). Her areas of interest include FACTS devices, robust control, and power system stability.

Dr. Lillie Dewan was born on 27 Oct, 1962. She is a Professor(Electrical Engg) at NIT Kurukshetra. She received her B.Sc. Engineering (Electrical) from G.N.E. Ludhiana in 1983, M. tech from REC Kurukshtra in 1998 and Ph.D. (Electrical Engineering) from Kurukshtra University Kurukshetra in 2001. Her area of interest includes Adaptive, optimal, robust, control, Digital Signal Processing & Instrumentation.

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