Load following in a deregulated power system with Thyristor Controlled

Series Compensator
M. Deepak, Rajesh Joseph Abraham

Department of Avionics, Indian Institute of Space Science and Technology, Thiruvananthapuram 695 547, India
a r t i c l e i n f o
Article history:
Received 27 August 2014
Received in revised form 19 September
2014
Accepted 23 September 2014
Keywords:
Deregulation
Genetic Algorithm
Thyristor Controlled Series Compensator
a b s t r a c t
Load following is considered to be an ancillary service in a deregulated power system. This paper inves-
tigates the effect of a Thyristor Controlled Series Compensator (TCSC) for load following in a deregulated
two area interconnected thermal system with two GENCOs and two DISCOs in either areas. Optimal
gain settings of the integral controllers in the control areas are obtained using Genetic Algorithm by
minimizing a quadratic performance index. Simulation studies carried out in MATLAB validates that a
Thyristor Controlled Series Compensator in series with tie-line can effectively improve the load following
performance of the power system in a deregulated environment.
2014 Elsevier Ltd. All rights reserved.
Introduction
Conventionally, the electricity supply industry has been a natu-
ral monopoly wherein electricity was considered as merely energy
supply sector. In this monopolistic market, same agency is respon-
sible for power generation, transmission, distribution and control.
Since few decades, electric power industry has undergone rapid
changes from the conventional, monopolistic Vertically Integrated
Utility (VIU) conguration to Horizontally Integrated Utility con-
guration with distinct entities namely GENCOs, TRANSCOs and
DISCOs [15]. This has introduced an open power market and com-
petition among different market players where customers/DISCOs
can buy power from different suppliers/GENCOs at competitive
prices. Since power generation, transportation, distribution and
control tasks are segregated, they have to be separately paid for,
by the transacting parties [2]. In the new competitive electricity
market, maintaining the physical ow of electricity, satisfying
consumers demand at proper voltage and frequency level, main-
taining security, economy and reliability of the system, ensuring
proper protection, control and all measures for the proper func-
tioning of the system are treated as separate ancillary services [4].
Load following is one among such ancillary services. In a power
system, changes in power supply or demand affect the operating
conditions. Hence, a power system must be kept very tightly
controlled in two ways. First, power coming into the system must
be exactly balanced against power owing out, at every moment.
Second, the system frequency must be held constant as far as
possible [3]. It too, can wander as power ow changes, and as a
result, the system can become unstable. Instant adjustment of
the generation to track the uctuations between the power supply
and demand so that the system is in perfect balance is called speed
regulation or load following.
Literature survey shows that several researchers have proposed
different methods to tackle the load frequency control problem in
deregulated environment [516]. Donde et al. [5] has proposed an
introductory idea of LFC control in deregulated power system
considering bilateral contract, contract violation, etc. A PID tuning
technique using internal mode control for decentralized load fre-
quency control in deregulated environment has been investigated
in [6].
The authors of [7] has proposed a decentralized robust LFC
design technique through mixed H
2
/H
1
for three area power
system under bilateral policy scheme. A new robust controller for
load frequency control in a deregulated electricity environment
based on H
1
norm and structured singular values of each control
area has been reported in [8]. In practical environment, access to
all state variables of a system is limited and measuring them is
either difcult or impossible. Rakhshani and Sadesh [9] has
suggested some practical viewpoints on load frequency control
problem in deregulated power system. A decentralized neural net-
work based controller for load frequency control in a deregulated
power system has been explored in [10]. The impact of interline
power ow controller and Redox ow batteries on a two area
multiple unit thermal reheat power system in restructured
environment has been investigated in [11].
http://dx.doi.org/10.1016/j.ijepes.2014.09.038
0142-0615/ 2014 Elsevier Ltd. All rights reserved.

Corresponding author.
E-mail address: rajeshja@gmail.com (R.J. Abraham).
Electrical Power and Energy Systems 65 (2015) 136145
Contents lists available at ScienceDirect
Electrical Power and Energy Systems
j our nal homepage: www. el sevi er . com/ l ocat e/ i j epes
The effect of Superconducting Magnetic Energy Storage in load
frequency control of a deregulated system with decentralized
controller based on mixed H
2
/H
1
technique has been explored in
[12]. Load frequency control for an interconnected system with
multi-source power generation under deregulated environment
has been presented in [13]. A new robust strategy to adapt classical
automatic generation control system to changing environment of
power system operation based on bilateral AGC scheme has
been proposed in [14]. A robust decentralized approach based on
l-synthesis for load frequency controller design of a restructured
multi-area power system under possible contract has been
reported in [15]. An intelligent solution for load frequency control
in a restructured power system using extended classier system
has been explored in [16].
In the mean time, several studies have investigated the poten-
tial of using Flexible AC Transmission Systems (FACTS) devices
for better power system control since it provides more exibility.
Not only the power transfer capability of transmission lines can
be increased [1724], but also, the dynamic stability can be
enhanced using TCSC [25]. However, a literature survey shows
that, the effect of a TCSC on oscillations in area frequencies and
tie-line power following a load perturbation has not yet been
studied. Hence this work aims to
1. Develop the linear incremental mathematical model of TCSC
suitable for AGC applications.
2. Optimize the integral gain settings of control areas using
Genetic Algorithm.
3. Study and compare the effect on AGC in deregulated environ-
ment of a thermal power system without and with TCSC.
Deregulated environment
In a restructured power market, there are distinct and separate
entities namely GENCOs, TRANSCOs and DISCOs exclusively for
generation, transmission and distribution of electric power. In such
a scenario, any DISCO can have individual and independent power
contracts with any GENCO either in the same area (Unilateral
Contract) or in other areas (Bilateral Contract) but under the
supervision of ISO [5]. Since the DISCOs are free to choose any
GENCOs for power contract based on prices, various combinations
of GENCODISCO contracts are possible in practice which can be
visualized through DISCO Participation Matrix (DPM). Number of
rows of the DPM is equal to number of GENCOs whereas number
of DISCOs determine the number of columns of DPM. Each entry
in this matrix called contract participation factor (cpf), corresponds
to the fraction of the total load contracted by a DISCO (column)
towards a GENCO (row). Thus the ijth entry of the DPM corre-
sponds to the fraction of the total power contracted by DISCO
j
from
GENCO
i
. Thus for a two area system with two GENCOs (GENCO
1
,
GENCO
2
) and two DISCOs (DISCO
1
; DISCO
2
) in area-1 and two
GENCOs (GENCO
3
, GENCO
4
) and two DISCOs (DISCO
3
; DISCO
4
) in
area-2, DPM is given by
DPM
cpf
11
cpf
12
cpf
13
cpf
14
cpf
21
cpf
22
cpf
23
cpf
24
cpf
31
cpf
32
cpf
33
cpf
34
cpf
41
cpf
42
cpf
43
cpf
44
_

_
_

_
1
The sum of all the entries in a column in this matrix is unity. i.e.,

NGENCO
i1
cpf
ij
1; for j 1; 2; . . . ; NDISCO 2
where NGENCO is the total number of GENCOs and NDISCO is the
total number of DISCOs. The expression for contracted power of
ith GENCO with DISCOs is given as
DP
gci

NDISCO
j1
cpf
ij
DP
Lj
; for i 1; 2; . . . ; NGENCO 3
where DP
gci
is the contracted power of ith GENCO and DP
Lj
is the
total load demand of jth DISCO. The scheduled steady state power
ow on the tie-line is given as:
DP
tie12;scheduled
= (Demand of DISCOs in area-2 from GENCOs in
area-1)-(Demand of DISCOs in area-1 from GENCOs in area-2).
The scheduled steady state power ow on the tie-line is given
as:
DP
tie12;scheduled

2
i1

4
j3
cpf
ij
DP
Lj

4
i3

2
j1
cpf
ij
DP
Lj
4
cpf
13
DP
L3
cpf
14
DP
L4
cpf
23
DP
L3
cpf
24
DP
L4
5
cpf
31
DP
L1
cpf
32
DP
L2
cpf
41
DP
L1
cpf
42
DP
L2

The tie-line power error is dened as:
DP
tie12;error
DP
tie12;actual
DP
tie12;scheduled
6
At steady state, the tie-line power error, DP
tie12;error
, vanishes as
the actual tie-line power ow reaches the scheduled power ow.
This error signal is used to generate the respective Area Control
Error (ACE) signal as in the traditional scenario. i.e.,
ACE
1
B
1
Df
1
DP
tie12;error
7
ACE
2
B
2
Df
2
a
12
DP
tie12;error
8
where a
12

P
r1
P
r2
with P
r1
and P
r2
being the rated area capacities of
area-1 and area-2 respectively.
It is noted that the total load of the ith control area (DP
Di
) is
the sum of the contracted and uncontracted load demand of the
DISCOs of the ith control area.
Nomenclature
f nominal system frequency
P
ri
rated power in the ith area
H inertia constant
DP
Di
incremental load change in area i
DP
Gi
incremental generation change in ith GENCO
T
12
synchronizing coefcient
T
Gi
steam turbine time constant
T
Ri
reheat unit time constant
T
Ti
turbine time constant
B
i
frequency bias constant
K
I
integral gain
K
Ri
steam turbine reheat constant
J cost index
T
TCSC
TCSC time constant
K
TCSC
TCSC gain constant
R
i
self-regulation parameters for the governor of the ith
area
D
i
load damping coefcient in ith area
GENCO generation company
TRANSCO transmission company
DISCO distribution company
ISO independent system operator
M. Deepak, R.J. Abraham/ Electrical Power and Energy Systems 65 (2015) 136145 137
Linearized model of TCSC
Thyristor Controlled Series Compensator (TCSC) is a series com-
pensating device to govern the power ow by compensating for
the reactance of transmission line. It consists of a series capacitor
shunted by a Thyristor controlled inductive reactor whose reac-
tance is varied according to the ring angle, a of the thyristor
[26]. Both capacitive and inductive reactance compensation are
Fig. 1. Schematic diagram of the interconnected power system with TCSC in series with tie-line near to area-1 in deregulated scenario.
Fig. 2. Linearized model of an interconnected thermalthermal system under deregulation.
138 M. Deepak, R.J. Abraham/ Electrical Power and Energy Systems 65 (2015) 136145
possible by proper selection of capacitor and inductor values of the
TCSC device. The variable reactance X
TCSC
represents the net equiv-
alent reactance of the TCSC, when operating in either the inductive
or the capacitive mode.
Fig. 1 shows the schematic diagram of a two area intercon-
nected thermalthermal power system with TCSC connected in
series with the tie-line under deregulated environment. For analy-
sis, it is assumed that TCSC is connected near to the Area 1. The
reactance to resistance ratio in a practically interconnected power
system is quite high and hence tie-line resistance is neglected. The
incremental tie-line power ow without TCSC is given by [3],
DP
tie12
s
2pT
0
12
s
Df
1
s Df
2
s 9
where T
0
12
is the synchronizing coefcient without TCSC and Df
1
and Df
2
are the frequency deviations in areas 1 and 2 respectively.
When TCSC is connected in series with the tie-line, the current ow
from area-1 to area-2 can be written as,
i
12

j V
1
j \d
1
j V
2
j \d
2

jX
12
X
TCSC

10
where X
12
and X
TCSC
are the tie-line reactance and TCSC reactance
respectively.
From Fig. 1,
P
tie12
jQ
tie12
V

1
I
12
j V
1
j \d
1

j V
1
j \d
1
j V
2
j \d
2

jX
12
X
TCSC

_ _
11
Separating the real part of Eq. (11),
P
tie12

j V
1
jj V
2
j
X
12
X
TCSC

sind
1
d
2
12
Let k
c
be the percentage of compensation offered by the TCSC
k
c

X
TCSC
X
12
. The tie-line ow can be represented in terms of k
c
as
P
tie12

j V
1
jj V
2
j
X
12
1 k
c

sind
1
d
2
13
To obtain the linear incremental model, d
1
; d
2
and k
c
are
perturbed by Dd
1
; Dd
2
; Dk
c
from their respective nominal values
d
0
1
; d
0
2
and k
0
c
, so that, from Eq. (13)
DP
tie12

j V
1
jj V
2
j
X
12
1 k
0
c

2
sind
0
1
d
0
2
Dk
c

j V
1
jj V
2
j
X
12
1 k
0
c

cosd
0
1
d
0
2
Dd
1
Dd
2
14
If J
0
12

jV
1
jjV
2
j
X
12
sind
0
1
d
0
2
, and T
0
12

jV
1
jjV
2
j
X
12
cosd
0
1
d
0
2
, then Eq. (14)
becomes
DP
tie12

J
0
12
1 k
0
c

2
Dk
c

T
0
12
1 k
0
c

Dd
1
Dd
2
15
Since Dd
1
2p
_
Df
1
dt and Dd
2
2p
_
Df
2
dt and taking Laplace
transform, Eq. (15) yields
DP
tie12
s
J
0
12
1 k
0
c

2
Dk
c
s
2pT
0
12
s1 k
0
c

Df
1
s Df
2
s 16
Eq. (16) reveals that the tie-line power ow can be regulated by
controlling Dk
c
s, the percentage compensation of TCSC. If the
control input signal to TCSC damping controller is assumed to be
DErrors and the transfer function of the signal conditioning circuit
is
K
TCSC
1sT
TCSC
, then
Dk
c
s
K
TCSC
1 sT
TCSC
DErrors 17
where K
TCSC
is the gain of the TCSC controller and T
TCSC
is the time
constant of the TCSC. Since TCSC is kept near to area-1, frequency
deviation Df
1
may be suitably used as the control signal DErrors,
to the TCSC unit to control the percentage incremental change in
the system compensation level. Hence,
Dk
c
s
K
TCSC
1 sT
TCSC
Df
1
s 18
Thus the deviation in the tie-line power ow after the perturbation
becomes,
DP
tie12

2pT
0
12
s1 k
0
c

Df
1
s Df
2
s

J
0
12
1 k
0
c

2
_
_
_
_
K
TCSC
1 sT
TCSC
Df
1
s 19
State space model of the two-area deregulated system with
TCSC
The block schematic shown in Fig. 2 represents the detailed
block diagram model of a two area multi-unit thermal system in
deregulated environment. The LFC in a deregulated power market
should be designed to accommodate all possible transactions, such
as unilateral based transactions, bilateral transactions, and a com-
bination of these two transactions. The AGC system on which
investigations have been carried out comprises a two area inter-
connected thermal system as shown in Fig. 2. Area 1 consists of
two GENCOs (GENCO
1
and GENCO
2
) of reheat thermal power gener-
ation units and Area 2 comprises two GENCOs (GENCO
3
and
GENCO
4
) of non reheat thermal units. K
I1
and K
I2
are the integral
gain settings in area 1 and area 2 respectively. The state space
model of the two area system is characterized by the state space
form as
_
X AX BU Cp 20
where X; U and p are the state, control and load disturbance input
vectors respectively whereas A; B and C are the respective matrices
of appropriate dimensions. The vectors X; U and p are given by
X
Df
1
DP
G1
DP
G2
DP
R1
DP
R2
DP
T1
DP
T2
Df
2
DP
G3
DP
G4
DP
T3
DP
T4
DP
0
tie
Dk
c
_

_
_

_
; U
u
1
u
2
_ _
; p
DP
D1
DP
D2
_ _
Total load demand of ith Area, DP
Di

N
i1
DP
Li
+ Uncontracted load
demands of DISCOs in ith area where DP
Li
denotes the contract
demand ith DISCO, N is the number of DISCOs in ith area. The states
are chosen as deviations in frequencies (Df
1
; Df
2
) in area-1 and
area-2 respectively, the deviations in the power outputs of DISCOs
in area-1 (DP
G1
; DP
G2
) and (DP
G3
; DP
G4
) in area-2, the deviations in
reheat outputs in area-1 DP
R1
; DP
R2
), the deviations in turbine out-
puts in area-1 (DP
T1
; DP
T2
) and (DP
T3
; DP
T4
) in area-2 and the
M. Deepak, R.J. Abraham/ Electrical Power and Energy Systems 65 (2015) 136145 139
deviations in tie-line power ow (DP
tie12
) and are also shown in
Fig. 2.
Objective function formulation for AGC
The ultimate objective of AGC is to maintain frequency and
inter-area tie-line power within their respective scheduled values
following a sudden load perturbation at the earliest. To do so, the
integral gains of the control areas (K
I1
; K
I2
) are tuned optimally to
obtain the area frequencies and power exchange with minimum
overshoot and lower settling time. A quadratic performance index
dened by,
J
_
t
0
Df
2
1
Df
2
2
DP
2
tie12;error
dt 21
is minimized for 10% load demand on each DISCO to obtain the opti-
mum values of K
I1
and K
I2
using Genetic Algorithm.
Genetic Algorithm (GA)
GA is a directed random search technique that uses the sur-
vival of the ttest concept in search of better solutions. Normally
the parameters to be optimized are represented as individual
strings in a GA population which are reproduced as in nature
[27]. To start the optimization, GA uses randomly produced initial
population and then, each individual string in the population is
evaluated by their tness, normally represented by the value of
objective function. Individuals with higher tness values are
selected and are then modied through selection, crossover and
mutation to obtain the next generation of individuals strings. The
new generation on average, will be better than the current
Table 1
GA parameters.
Population size 100
Cross over 0.8
Elite count 2
Mutation 0.2
No. of generations 100
Initial penalty 10
Penalty factor 100
Table 2
Optimized gain settings of control areas.
Unilateral contract Bilateral contract Contract violation
K
I1
K
I2
K
I1
K
I2
K
I1
K
I2
Without TCSC 0.0246 0.009 0.024 0.0101 0.071 0.022
With TCSC 0.243 0.0097 0.0248 0.01 0.0712 0.0222
0 10 20 30 40 50 60 70 80 90 100
1.74
1.735
1.73
1.725
1.72
1.715
1.71
1.705
1.7
x 10
4
Generation
F
i
t
n
e
s
s

v
a
l
u
e


Best fitness
J= 0.000173774
K
I1
=0.0246
K
I2
=0.009
(a) Case-1:Unilateral Contract Without TCSC
0 10 20 30 40 50 60 70 80 90 100
1.715
1.71
1.705
1.7
x 10
4
Generation
F
i
t
n
e
s
s

v
a
l
u
e


Best fitness
J= 0.000171202
K
I1
=0.243
K
I2
=0.0097
(b) Case-1:Unilateral Contract With TCSC
0 10 20 30 40 50 60 70 80 90 100
9.7
9.72
9.74
9.76
9.78
9.8
9.82
9.84
x 10
3
Generation
F
i
t
n
e
s
s

v
a
l
u
e


Best fitness
J= 0.00971741
K
I1
=0.024
K
I2
=0.0101
(c) Case-2:Bilateral Contract Without TCSC
0 10 20 30 40 50 60 70 80 90 100
9.6
9.65
9.7
9.75
9.8
9.85
9.9
9.95
x 10
3
Generation
F
i
t
n
e
s
s

v
a
l
u
e


Best fitness
J=0.00972048
K
I1
=0.0248
K
I2
=0.01
(d) Case-2:Bilateral Contract With TCSC
0 10 20 30 40 50 60 70 80 90 100
9.762
9.764
9.766
9.768
9.77
9.772
9.774
x 10
3
Generation
F
i
t
n
e
s
s

v
a
l
u
e


Best fitness
J=0.00976314
K
I1
=0.071
K
I2
=0.022
(e) Case-3:Contract Violation Without TCSC
0 10 20 30 40 50 60 70 80 90 100
9.76
9.77
9.78
9.79
9.8
9.81
9.82
x 10
3
Generation
F
i
t
n
e
s
s

v
a
l
u
e


Best fitness
J=0.00976722
K
I1
=0.0712
K
I2
=0.0222
(f) Case-3:Contract Violation With TCSC
Fig. 3. Generation vs tness values obtained from GA optimization.
140 M. Deepak, R.J. Abraham/ Electrical Power and Energy Systems 65 (2015) 136145
population [28]. In this way, the above process is repeated to create
the subsequent new generations until some termination condition
is reached.
In this work, GA is used to tune the integral gain settings
(K
i1
; K
i2
) of area-1 and area-2 respectively with and without TCSC.
An initial generation of 100 individual strings representing K
i1
and
K
i2
is chosen randomly. The performance index (J) given by Eq. (21)
is evaluated for each individual string in the population and
individuals strings with higher tness values are selected for cross
over and mutation to obtain the next generation. The GA parame-
ters used are given in Table 1. The algorithm is repeated for 100
number of generations and computation is terminated until for a
particular generation, average tness is within 1% of best tness
value in the generations. This indicates convergence in the popula-
tion. The gain settings based on the best ttest value from the cur-
rent generation is chosen as optimal gain settings.
The optimized gain settings for (1) Unilateral Contract (2) Bilat-
eral Contract and (3) Contract violation for areas 1 and 2 are given
in Table 2. Presented in Fig. 3 are plots showing the generation ver-
sus tness function for different cases.
Simulation results and discussion
Time domain simulations using MATLAB have been carried out
for the AGC system with 10% load demand on each DISCO, ie
DP
L1
DP
L2
DP
L3
DP
L4
0:1 pu. TCSC is placed near area-1
considering 50% compensation. Fourth-order RungeKutta method
with an integration step size of 0.01 s is used for simulations. Stud-
ies are carried out on AGC in deregulated environment, for three
different possibilities as given below.
Case 1: Unilateral contract.
Case 2: Bilateral contract.
Case 3: With contract violation.
Case 1-unilateral contract
In unilateral contract, DISCOs in an area can have power con-
tract with GENCOs in the same area only. Assume that each DISCO
has a total load demand of 0.1 pu MW. Let DISCO
1
and DISCO
2
in
area-1 have power contract with GENCO
1
and GENCO
2
in area-1
as per the following DPM,
DPM
0:6 0:7 0 0
0:4 0:3 0 0
0 0 0 0
0 0 0 0
_

_
_

_
22
0 2 4 6 8 10 12 14 16 18
0.4
0.3
0.2
0.1
0
0.1
Time (s)

f
1

(
H
z
)
Without TCSC
With TCSC
(a) Deviation in frequency of area-1
0 2 4 6 8 10 12 14 16 18
0.25
0.2
0.15
0.1
0.05
0
0.05
0.1
Time (s)

f
2

(
H
z
)
Without TCSC
With TCSC
(b) Deviation in frequency of area-2
0 2 4 6 8 10 12 14 16 18
0.12
0.1
0.08
0.06
0.04
0.02
0
0.02
Time (s)

P
t
i
e

1
2

a
c
t
u
a
l



(
p
u

M
W
)
Without TCSC
With TCSC
(c) Deviation in tie-line power ow
Fig. 4. Variations in area frequencies (Df
1
and Df
2
) and tie-line power (DPtie12) in
case-1.
0 2 4 6 8 10 12 14 16 18
0
0.02
0.04
0.06
0.08
0.1
0.12
0.14
Time (s)
G
E
N
C
O

1

(
p
u

M
W
)
Without TCSC
With TCSC
(a) Deviation in power output of GENCO-1
0 2 4 6 8 10 12 14 16 18
0
0.02
0.04
0.06
0.08
0.1
Time (s)

G
E
N
C
O

2

(
p
u

M
W
)
Without TCSC
With TCSC
(b) Deviation in power output of GENCO-2
Fig. 5. Deviation in generation (DPG1 and DPG2) of GENCOs in area-1 for case-1.
0 2 4 6 8 10 12 14 16 18
0.02
0
0.02
0.04
0.06
0.08
Time (s)
G
E
N
C
O

3

(
p
u

M
W
)Without TCSC
With TCSC
(a) Deviation in power output of GENCO-3
0 2 4 6 8 10 12 14 16 18
0.02
0
0.02
0.04
0.06
0.08
Time (s)
G
E
N
C
O

4

(
p
u

M
W
)Without TCSC
With TCSC
(b) Deviation in power output of GENCO-4
Fig. 6. Deviation in generation (DPG3 and DPG4) of GENCOs in area-2 for case-1.
M. Deepak, R.J. Abraham/ Electrical Power and Energy Systems 65 (2015) 136145 141
The dynamic responses without and with TCSC are plotted in
Fig. 4. It can be observed that, with TCSC, the transient response
has been improved in terms of ripples as well as settling time. In
unilateral contract, GENCOs in area-1 are having power contracts
with DISCOs in area-1 only. Hence as per the DPM given by Eq.
(22), DP
tie12scheduled
using Eq. (5) becomes zero and is depicted in
Fig. 4(c). It may be noted that as per Eq. (3), at steady state,
power output of GENCO-1 = cpf
11
DP
L1
+ cpf
12
DP
L2
+
cpf
13
DP
L3
+ cpf
14
DP
L4
= (0.6 0.1) + (0.7 0.1) + (0 0.1) +
(0 0.1) = 0.13 pu MW and power output of GENCO-2 at steady
state = cpf
21
DP
L1
+ cpf
22
DP
L2
+ cpf
23
DP
L3
+ cpf
24
DP
L4
=
(0.4 0.1) + (0.3 0.1) + (0 0.1) + (0 0.1) = 0.07 pu MW. Simi-
larly at steady state, power output of GENCO-3 = cpf
31
DP
L1
+
cpf
32
DP
L2
+ cpf
33
DP
L3
+ cpf
34
DP
L4
= (0 0.1) + (0 0.1) +
(0 0.1) + (0 0.1) = 0 pu MW and GENCO-4 has a steady state
power output of cpf
41
DP
L1
+ cpf
42
DP
L2
+ cpf
43
DP
L3
+
cpf
44
DP
L4
= 0 pu MW. The power outputs of various GENCOS
are plotted without and with TCSC in Figs. 5 and 6 and simulation
results matches with calculated values. It can be seen from Figs. 5
and 6 that a TCSC improves the power outputs in terms of
overshoots and the responses are more smooth.
Case 2-bilateral transactions
In this scenario a DISCO in an area has freedom to have power
contract with any GENCOs in other control areas. The bilateral con-
tracts between DISCOs and various GENCOs are simulated based on
the following DPM, given by
DPM
0:1 0:24 0:33 0:18
0:2 0:16 0:17 0:22
0:27 0:4 0:5 0
0:43 0:2 0 0:6
_

_
_

_
23
Figs. 79 depict the corresponding simulation results without
and with TCSC. It may be noted that with TCSC, the transient oscil-
lations and settling times have been reduced. It is clear from
Fig. 7(d) that with TCSC, DP
tie12;error
vanishes faster. In this case, cal-
culated value of DP
tie12;scheduled
0:04 pu MW, as given by Eq. (5)
0 2 4 6 8 10 12 14 16 18
0.5
0.4
0.3
0.2
0.1
0
0.1
0.2
Time (s)

f
1

(
H
z
)
Without TCSC
With TCSC
(a) Deviation in frequency of area-1
0 2 4 6 8 10 12 14 16 18
0.4
0.3
0.2
0.1
0
0.1
Time (s)

f
2

(
H
z
)
Without TCSC
With TCSC
(b) Deviation in frequency of area-2
0 2 4 6 8 10 12 14 16 18
0.12
0.1
0.08
0.06
0.04
0.02
0
Time (s)

P
t
i
e

1
2

a
c
t
u
a
l

(
p
u

M
W
)
Without TCSC
With TCSC
(c) Deviation in tie-line power ow
0 2 4 6 8 10 12 14 16 18
0.08
0.06
0.04
0.02
0
0.02
0.04
Time (s)

P
t
i
e

1
2

e
r
r
o
r

(
p
u

M
W
)
Without TCSC
With TCSC
(d) Deviation in tie-line power ow error
Fig. 7. Variations in area frequencies (Df
1
and Df
2
) actual tie-line power (DPtie12)
and tie-line power error (DPtie12error ).
0 2 4 6 8 10 12 14 16 18
0
0.02
0.04
0.06
0.08
0.1
0.12
Time (s)
G
E
N
C
O

1

(
p
u

M
W
)Without TCSC
With TCSC
(a) Deviation in power output of GENCO-1
0 2 4 6 8 10 12 14 16 18
0
0.02
0.04
0.06
0.08
0.1
0.12
Time (s)
G
E
N
C
O

2

(
p
u

M
W
)Without TCSC
With TCSC
(b) Deviation in power output of GENCO-2
Fig. 8. Deviation in generation (DPG1 and DPG2) of GENCOs in area-1 for case-2.
0 2 4 6 8 10 12 14 16 18
0
0.05
0.1
0.15
0.2
0.25
Time (s)
G
E
N
C
O

3

(
p
u

M
W
)Without TCSC
With TCSC
(a) Deviation in power output of GENCO-3
0 2 4 6 8 10 12 14 16 18
0
0.05
0.1
0.15
0.2
0.25
Time (s)
G
E
N
C
O

4

(
p
u

M
W
)Without TCSC
With TCSC
(b) Deviation in power output of GENCO-4
Fig. 9. Deviation in generation (DPG3 and DPG4) of GENCOs in area-2 for case-2.
142 M. Deepak, R.J. Abraham/ Electrical Power and Energy Systems 65 (2015) 136145
matches with simulation result. At steady state, power output of
GENCO-1 = DP
G1
= (0.1 0.1) + (0.24 0.1) + (0.33 0.1) + (0.18
0.1) = 0.085 pu MW. Similarly DP
G2
= (0.2 0.1) + (0.16 0.1) +
(0.17 0.1) + (0.22 0.1) = 0.075 pu MW, at steady state. Further,
at steady state, DP
G3
= (0.27 0.1) + (0.4 0.1) + (0.5 0.1) +
(0 0.1) = 0.117 pu MW and DP
G4
= (0.43 0.1) + (0.2 0.1) +
(0 0.1) + (0.6 0.1) = 0.123 pu MW. The corresponding plots are
presented in Figs. 8 and 9. TCSC has improved the transient
behaviour of the response.
Case 3-contract violation
In this scenario, DISCOs in an area may have an excess uncon-
tracted power demand. As per industrial practice, this uncon-
tracted load must be supplied by the GENCOs in the same area
according to their respective ACE participation factor. Consider a
case where DISCO-1 demands 0.1 pu MW uncontracted excess
power.
The total load in area I (DP
D1
) = Contracted Load of DISCO
1
+
Contracted Load of DISCO
2
+ Uncontracted power = (0.1 + 0.1) +
0.1 = 0.3 pu MW.
Similarly for area II (DP
D2
) = Contracted Load of DISCO
3
+
Contracted Load of DISCO
4
= (0.1 + 0.1) = 0.2 pu MW.
With the DPM given by Eq. (23), at steady state, GENCO-1 gen-
erates, DP
G1
= cpf
11
DP
L1
+ cpf
12
DP
L2
+ cpf
13
DP
L3
+ cpf
14

DP
L4
+ apf
11
uncontractedpower = (0.1 0.1) + (0.24 0.1) +
(0.33 0.1) + (0.18 0.1) + 0:5 0:1: = 0.135 pu MW. Similarly
at steady state, DP
G2
= 0.125 pu MW. Further, DP
G3
= 0.117 pu MW
and DP
G4
= 0.123 pu MW which are same as in previous case. The
uncontracted load of DISCO-1 is reected in generations of
GENCO-1 and GENCO-2 in its area. The responses obtained for this
case are shown in Figs. 1012 and clearly reveal the superiority of
TCSC over those without TCSC. The uncontracted load of DISCO-1 is
reected in DP
G1
DP
G2
at steady state as shown in Fig. 11 and
matches with calculated (desired) value. As shown in Fig. 12, the
generation of GENCOs-3 and 4 is not affected by the excess
uncontracted load of DISCO-1.
In deregulated environment the contract affects not only the
load demand of an area but also the exchanged tie-line power ow.
0 2 4 6 8 10 12 14 16 18
0.8
0.6
0.4
0.2
0
0.2
Time (s)

f
1

(
H
Z
)
Without TCSC
With TCSC
(a) Deviation in frequency of area-1
0 2 4 6 8 10 12 14 16 18
0.5
0.4
0.3
0.2
0.1
0
0.1
0.2
Time (s)

f
2

(
H
z
)
Without TCSC
With TCSC
(b) Deviation in frequency of area-2
0 2 4 6 8 10 12 14 16 18
0.2
0.15
0.1
0.05
0
Time (s)

P
t
i
e

1
2

a
c
t
u
a
l

(
p
u

M
W
)
Without TCSC
With TCSC
(c) Deviation in tie-line power ow
0 2 4 6 8 10 12 14 16 18
0.15
0.1
0.05
0
0.05
Time (s)

P
t
i
e

1
2

e
r
r
o
r

(
p
u

M
W
)
Without TCSC
With TCSC
(d) Deviation in tie-line power ow error
Fig. 10. Variations in area frequencies (Df
1
and Df
2
) and actual tie-line power
(DP
tie12
) and (DP
tie12error
) for case-3.
0 2 4 6 8 10 12 14 16 18
0
0.05
0.1
0.15
0.2
Time (s)
G
E
N
C
O

1

(
p
u

M
W
)
Without TCSC
With TCSC
(a) Deviation in power output of GENCO-1
0 2 4 6 8 10 12 14 16 18
0
0.05
0.1
0.15
0.2
Time (s)
G
E
N
C
O

2

(
p
u

M
W
)
Without TCSC
With TCSC
(b) Deviation in power output of GENCO-2
Fig. 11. Deviation in generation (DPG1 and DPG2) of GENCOs in area-1 for case-3.
0 2 4 6 8 10 12 14 16 18
0
0.05
0.1
0.15
0.2
0.25
Time (s)
G
E
N
C
O

3

(
p
u

M
W
)
Without TCSC
With TCSC
(a) Deviation in power output of GENCO-3.
0 2 4 6 8 10 12 14 16 18
0
0.05
0.1
0.15
0.2
0.25
Time (s)
G
E
N
C
O

4

(
p
u

M
W
)
Without TCSC
With TCSC
(b) Deviation in power output of GENCO-4
Fig. 12. Deviation in generation (DPG3 and DPG4) of GENCOs in area-2 for case-3.
M. Deepak, R.J. Abraham/ Electrical Power and Energy Systems 65 (2015) 136145 143
Inclusion of TCSC in the existing system enables better perfor-
mance in terms of settling time and faster response.
Fig. 13 shows the variation in incremental change of the per-
centage compensation (Dk
c
) of TCSC for the deregulated power sys-
tem with unilateral, bilateral and contract violation cases. It may
be noted that, the TCSC reactance varies in accordance with tie-line
power ow deviations.
Conclusion
An attempt has been made to damp out the area frequency
oscillations and tie-line power ow after a sudden load demand
using TCSC. A linearized model of the TCSC has been proposed
and used to study its effect in load following. Extensive analysis
is done for AGC scheme considering unilateral transactions, bilat-
eral transactions, and contract violation. Genetic Algorithm has
been used to tune the integral gain settings of both areas with
and without TCSC considering a quadratic performance index for
the above three scenarios. It is found that in all the cases, the area
frequency error becomes zero at the steady state. Performance of
AGC has been improved in terms of settling time, peak overshoot,
damping, etc., with the use of TCSC in all the three cases. It is found
that actual values of generations and tie-line power exchanges of
GENCOs obtained from simulations are matching with the corre-
sponding calculated (desired) values. Hence a Thyristor Controlled
Series Compensator (TCSC) can be used effectively for load follow-
ing in a deregulated power system.
Appendix A
1. System Data [29]
K
P1
K
P2
120 Hz=pu MW
T
P1
T
P2
20 s
R
1
R
2
R
3
R
4
2:4 Hz=pu MW
B
1
B
2
B
3
B
4
0:42249
T
G1
T
G2
T
G3
T
G4
0:08 s
T
T1
T
T2
T
T3
T
T4
0:42 s
T
R1
T
R2
10 s;
K
R1
K
R2
0:5
P
r1
P
r2
1200 MW
X
12
10 X
T
12
0:0866
d
0
30
0
2. TCSC Data [22]
K
TCSC
2
T
TCSC
0:02 s
Appendix B
State space equations of the two area system
_
Df
1
t
1
T
P1
Df
1
t K
P1
DP
G1
t K
P1
DP
G2
t
K
P1
DP
D1
t K
P1
DP
tie
t
_
DP
G1
t
1
T
R1
DP
G1
t
1
T
R1

K
R1
T
T1
_ _
DP
R1
t
K
R1
T
T1
DP
T1
t
_ _
_
DP
G2
t
1
T
R2
DP
G2
t
1
T
R2

K
R2
T
T2
_ _
DP
R2
t
K
R2
T
T2
DP
T2
t
_ _
_
DP
R1
t
1
T
T1
DP
T1
t DP
R1
t
_
DP
R2
t
1
T
T2
DP
T2
t DP
R2
t
_
DP
T1
t
1
T
G1

1
R
1
Df
1
t DP
T1
t apf
11
u
1
t
_
cpf
11
DP
L1
cpf
12
DP
L2
cpf
13
DP
L3
cpf
14
DP
L4
_
_
DP
T2
t
1
T
G2

1
R
2
Df
1
t DP
T2
t apf
12
u
1
t
_
cpf
21
DP
L1
cpf
22
DP
L2
cpf
23
DP
L3
cpf
24
DP
L4
_
_
Df
2
t
1
T
P2
Df
2
t K
P2
DP
G3
t K
P2
DP
G4
t K
P2
DP
D2
t
a
12
K
P2
DP
tie
t
_
DP
G3
t
1
T
T3
DP
T3
t DP
G3
t
_
DP
G4
t
1
T
T4
DP
T4
t DP
G4
t
_
DP
T3
t
1
T
G3

1
R
3
Df
2
t DP
T3
t apf
21
u
2
t cpf
31
DP
L1
_
cpf
32
DP
L2
cpf
33
DP
L3
cpf
34
DP
L4
_
_
DP
T4
t
1
T
G4

1
R
4
Df
2
t DP
T4
t apf
22
u
2
t cpf
41
DP
L1
_
cpf
42
DP
L2
cpf
43
DP
L3
cpf
44
DP
L4
_
_
DP
0
tie
t
2pT
12
1 k
c

Df
1
t Df
2
t
_
Dk
c
t
K
TCSC
T
TCSC
Df
1
t
1
T
TCSC
Dk
c
t
DP
tie
t
J
0
1 k
c

2
DP
0
tie
t Dk
c
t
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