IEEE Sponsored 9th International Conference on Intelligent Systems and Control (ISCO)2015

State Estimation o/Power System Containing FACTS

Controller and PMU
Vasupalli Manoj
Assistant Professor, Power Engineering Dept.
GMRIT, Rajam
Srikakulam, India
jonam287@gmail.com

Venkatasubramanian Balaji Venkateswaran

Assistant Professor , EEE Dept.
GMRIT, Rajam
Srikakulam, India
balajivenkateswaran.v @gmail.com
Abstract-In recent days there is a significant use of Flexible
AC Transmission System (FACTS) devices for manipulating line
power flows to relieve congestion and optimize the overall grid
operation have increased. As a result, there is a need to integrate
the

FACTS

device

models

into

existing

power

system

applications. With the development of power system the scale

grids has become more and more complex. Global Positioning
System (GPS) -based synchronous Phasor Measurement Unit
(PMU) is a new high-precision device, which measure both
voltage phasors and current phasors. The use of PMU has made
great changes in power system. A comprehensive formulation of
the new state estimator incorporating conventional, as well as
PMU measurements with FACTS device is formulated. The
FACTS

device

Controller

used

(UPFC).

in
To

this

work

verify

the

is

Unified
new

Power

state

simulations on IEEE 14 bus system is performed.

Flow

estimator,

Index Terms- FACTS device, State Estimation, UPFC, PMU.

I.

INTRODUCTION

State Estimation is an important part in real-time power

system operations. It determines a best estimate of the current
actual power system state (voltages, angles, etc.) based on
available SCADA measurements, power system model and
other data. Power flows in the transmission lines,
transformers, and other equipment can then be derived. State
Estimation results' are used by subsequent network
contingency analysis, security enhancement, dynamic security
analysis (including voltage and transient stability), and other
applications. The processing of state estimation is based on a
given mathematical model of the lines and transformers and
other transmission devices (i.e. FACTS devices). However the
use of FACTS technology to enhance system controllability
and to increase power transfer limit by introducing power
electronic devices (at the proper places) of the existing AC
system is not longer valid with traditional SE method.
Phasor measurement units (PMUs) are finding increasing
use in modern power systems for a wide range of applications
such as the implementation of a wide area monitoring,
protection and control (WAMPAC) system, post disturbance
analyses and system model development and validation. A
PMU, when placed at a bus, can measure the voltage phasor at
that bus, as well as the current phasors in the lines connected

to that bus. In case the system is completely observable by

only PMU measurements, a linear estimator can be used to
obtain the states. However, such a measurement system will
need a large number of PMUs for a large system, which may
not be technically and economically feasible in near future.
The current practice is to install PMUs in an incremental
fashion, in conjunction with conventional measurements such
as the power flow and power injection measurements. The
conventional state estimator provides the estimates of the
power system states, i.e. bus voltages and angles, on the basis
of measurements obtained from the supervisory control and
data acquisition (SCADA) system. Usually, a weighted least
squares (WLS) estimator is used to find the best estimates of
the states.
In [1], [2] an Interior point algorithm is used to formulate
the modified state estimation of a power system including
UPFC. In [3] Weighted Least Square estimation is modified
for a power system including IPFC. In [4] Weighted Least
Square estimation is modified with a different formulation of
lacobian matrix. In [5] new method for state estimation
modifying the conventional state estimation is formulated. In
[6] SCADA and PMU measurements are combined and a new
state estimation for power system is formulated. In [7] a linear
state estimation is formulated with PMU measurements. In [8]
a new algorithm has been put out based on the high precision
of the PMU measurements as the equality constraints to the
power system. In [9] optimal placement of PMU with various
cases has been discussed. In [1] state estimation of power
system with FACTS device is discussed.
In this paper a new state estimator is therefore needed to
fmd the best (in the least-squares sense) estimates of the states
when the measurement set consists of conventional as well as
PMU measurements incorporating with FACTS device. There
are kinds of FACTS devices for example thyristors switched
series capacitors (TCSC), thyristor switched phase shifting
transformer (TCPST), static var compensator (SVC), static
compensators (STATCOM), unified power flow controller
(UPFC) and etc. However due to the complexity and
versatility in controlling the power flows, UPFC is selected for
this work.

978-1-4799-6480-2/15/$31.00 2015 IEEE

IEEE Sponsored 9th International Conference on Intelligent Systems and Control (ISCO)2015
11. STEADY STATE MODEL OF UPFC

One of the many purposes of using a FACTS device is to

reroute power flows by way of controlling the effective
impedance of a line, voltage magnitude of a chosen bus or the
phase shift between two buses in the system. Among the many
different types of FACTS devices, this work concentrates on
the UPFC which is capable of simultaneously controlling the
voltage magnitude as well as the active and reactive power
flows. The UPFC converters are assumed lossless in this
model. This implies that there is no absorption or generation
of active power by the two converters and the active power
demanded by the series converter at its output is supplied from
the AC power system by the shunt converter via the common
DC link. The DC link capacitors voltage, Vdc remains constant.
Hence, the active power supplied to the shunt converter Psh
must be equal to the active power demanded by the series
converter F,e at the DC link. Then F'h and F,e must be
constrained as
(1)
This UPFC constraint should be included in the estimation
equations. Steady-state model of the UPFC including the
transmission line is shown in Figure 2. This model consists of
one series voltage source V.le in addition to one shunt voltage
source V sh and their source impedances Z se and Z sh,
respectively.

The current phasors of the shunt and the series voltage sources
are:
Ish

(Vsh- Vk) Ysh

(2)

[se

(V k + V se- V In ) . Y km

(3)

Where Ysh = 1 / Zsh and Y km = 1 / Z km . The apparent power

flow through branch k-m and m-k can be expressed as
(4)
(5)
Where I Ian
Ise- Ish and I mk - /., e. The apparent
powers of the shunt and the series voltage sources are given
by
=

S .,h

Vsh

Sse

Vse

1 se

sh

=
=

P,h + jQ,h

(6)

P,e + jQse

(7)

A. Power Injection Model ofUPFC

Power injection model of UPFC consist of one
controllable series injected voltage source and one
controllable shunt injected current source. The equivalent
circuit of UPFC placed in the line between bus k and bus m is
shown in Figure 3.
V

Vk

se

Ykm

-+

be
Ish

Fig. 1.

Steady state modelfor UPFC

Fig.

The quantities in Figure 2 are defmed as follows:

V k and V m are the bus voltage phasors at bus
respectively.

In Figure 3,

k and m,

J'I

2.

Yk7l1

UPFC Equivalent circuit

Gkm + jBkm is the line admittance. The

controllable series injected voltage source and controllable

shunt
injected
current
source
are
defined
as
respectively.

Vsh and V se are the voltage phasors of the shunt and the
series voltage sources, respectively;

Let

1 sh

1 k and 1 m , denote the additional injection currents to the

buses k and m, respectively by using UPFC. Then

Z.lh and Zse are the impedance of the shunt and the series
voltage sources, respectively;

b )V se+l sh
l k =-(Ykm + j...

and 1 se are the current phasors of the shunt and the series
voltage sources, respectively;

Zline is the impedance of transmission line.

P,h and PIe are real the power of the shunt and the series

voltage sources, respectively.

=[-(Ykm + j be). VseLBse +lshLBsh

2

(8)

IEEE Sponsored 9th International Conference on Intelligent Systems and Control (ISCO)2015
The power flow equations can be derived to the relations:
Mk

[VkI,h cos(Bk -B,h)]

- VkV:Se[Gkm cos(Bk - Bsc) + (Bkm + be)sin(Bk - Bse)]

2

a
ap
ap
a
F=
G= Q N= Q
aB '
av '
aB '
av

(12)

The jacobian matrix for the nodal injected power from a

UPFC located between bus k and bus m should be modified.
Based on equation 9, the following additional elements of the
jacobian matrix owing to the injections of the UPFC at bus k
and bus m, between where the UPFC is installed, can be
derived as follows:

I1.Qk =[VkIsh sin(Ok -O,h)]

be
.
-VkV,AGkm sm(O
k -O,e)-(Bkm + )COS(Ok -O,e)]
2
B
Mm =[VmV,JGhn COS( k -O,e)
+Bkm sin(Om -Ow)]
I1.Qm =[V;nV,e[Gkm sin(Ok -O,e)
- Bhn cos(Bm - B,.J]

M=

(9)

The UPFC injection model is shown in Figure 4.

(13)

Mi = M -[Vk1,h sin(Ok -O,h)]

Fig. 3.

UPFC Power injection model.

+VkV,JGkm sin(Ok -O,.e)-(Bkm +

; ) cos(Ok -O,.e)]

Fk = F +1,,, cos( Ok -O,.h)

Ill. PROBLEM STATEMENT

A.

Problem Formulationfor Power System with UPFC

In order to estimate the state of power system containing

UPFC, the measurement equations for the nodal injected
powers of the UPFC buses should be modified as:
An
Pu
k = pkO +tiL
k

-V,JGkm cos(Ok -O,.e)+(Bkm+

; ) sin(Ok -O,J]

G =Gfk+[Vk1,h COS(Ok -O,h)]

-VkV,JGkm COS(Ok -O,e)+(Bkm +

; )sin(Ok -O,.e)]

N =Nfk +I,h sin(Bk -B,h)

QY =Qf +!1Qk
An
Pmu = pmO +tiL
m
(10)
Q/;; =Q/ + I1.Qm
Where, Mk, I1Qk I1Pm and I1Q m are defined in equation
'

9; the superscript "U" denotes the injected power with UPFC;

and the superscript ''0'' denotes the injected power without
UPFC. Other measurement equations remain unchanged.
The linearised system model based on Newton-Raphson
algorithm, written in matrix form is:

(11)

-V,AGkm sin(Ok -B,e)

b
-(Bkm + e )cos( Bk -O,e)]
2
When

(14)

k ic m,

aPk al1.Pk
u
Mkm =Mkn1 +l1Mkm = --+--=Mkm
aOm aOm
P

a k aMk
U
Fkm = Fkm+ I1.Fkm =--+--= Fkm
an an

o +I1.G = aQk + al1.Qk =Go

GU =Ghn
kn,
kn,
kn,
a o m ao m

aQk al1.Qk
u =Nkm
+I1.Nkm = --+
Nkm
=Nkm
aVm aVm
--

11() and 11 V are vectors of incremental changes in nodal

voltages. M, F, G, N denotes the basic elements in the
jacobian matrix and corresponds to partial derivatives of the
real and the reactive powers with respect to the phase angles
and the magnitudes of the nodal voltages

(15)

The elements in the jacobian matrix remain unchanged.

Also, for bus m k,
=

apm aMm
U
Mmm = Mmm+l1Mmm = --+-aOm aOm

IEEE Sponsored 9th International Conference on Intelligent Systems and Control (ISCO)2015
Where

YIj = GIj + jBIj

The real part of the injected current at bus i is expressed as:

I; =Vi (Gu cos f); -Bo sin f)i)

,cu/

(16)

I VI (GIj cos f)} -BIj sin f)})

j=1;}",;

(20)

From which we can write following equations:

and the imaginary part of the injected current at bus i is

M;:m = Mm -VmV,JGhn sin(f)m -f),J

-Bkm COS (f)m -f),-e)]

expressed as:

I;rmag =Vi (G;; sin f); +B;i cos f);)

n

F:!n, = Fm +V,-JGkm cos(f)m -f),J

+Bkm sin(f)m -f),-e)]

I V/(GIj sin f)} +BIj cos f)})

}=1;}",;

(21)

Adding phasor measurements, due to the use of PMU, to an

existing system which already contains m measurements, the

G/m =Gm +VmV,AGkm cos(f)m -f)_,-e)

+Bhn sin(f)m -f),J]

jacobian matrix is augmented with added rows corresponding

to the partial derivatives of the voltage magnitude and voltage
phase angle with respect to both voltage magnitude and phase
angle.

N;m =Nm +V,.J Ghn sin(f)m -f),-e)

-Bkm cos(f)m -f),-e)]

(17)

Whenm ic k,

apm aMm
0
0
U
Mmk = Mmk +i1Mmk =-- +--= Mmk
af)k af)k
p
a
0
m aMm
0
U
Fmk = Fmk + i1Fmk = -- +--= Fmk
aVk aVk
aQm ai1Qm
0
0
U
Gmk =Gmk +i1Gmk = -- + --- =Gmk
af)k
af)k

i =j
i *- j

af)WMU
=0
av

, Vi

aviFMU
=0
af)

, Vi

DV>?MU
8V

8Qm 8!1Qm
U
Nmk =Nmk +Mmk =
=Nmk
+
8Vk
k
0

af);PMU
=
af)

(22)
(23)

(24)

i=j

i;j:. j

( 25)

(18)

B. Problem Formulation for Power System with PMU

and also with the partial derivatives of real and imaginary

parts of the injected current with respect voltage magnitude
and its phase angle.

Let the injected current at bus i is shown in Figure 5.

Fig

5_

Injected current at bus i

The phasor currents at bus i are expressed as:

n

I; =ViY;i + I YIj v}
}=!
}"'i

(19)

al lRt:./lL
-----+
af)

(26)

al 'RJi..1L
-----+
av

(27)

IEEE Sponsored 9th International Conference on Intelligent Systems and Control (ISCO)2015
aI;lMAG
a(};
al Inw;

aI;nw;
al 11M1G

---

a(}

av;
al Inw;
av.J

TABLE I

--- =

V; (G;; COS (); - B;; SIn (); )

VJ (Gf/ cos ()J - Bf/ sm
. ()J )

(G;; SIn (); +B;; COS ();)

+B COS(}.)
=(G sin().
J
J
lJ

Bus
No

Voltage
Magnitude
(Without
UPFC)

Voltage
Magnitude
(With
UPFC)

Voltage
Magnitude
(With
PMU)

1.0646

1.0651

1.0670

Voltage
Magnitude
(With
PMUand
FACTS)
1.0665

1.0483

1.0489

1.0507

1.0506

(28)

(29)

IJ

The structure of the modified measurement jacobian for a

power system containing conventional measurements as well
as PMU measurements with facts device will be as follows:

ESTIMATED VOLTAGE MAGNITUDES

1.0093

1.0100

1.0118

1.0478

1.0349

1.0365

1.0373

1.0332

1.0316

1.0355

1.0340

1.0498

1.0667

1.0689

1.0690

1.1143

1.0473

1.0488

1.0496

1.0394

1.0569

1.0585

1.0592

1.0492

1.0383

1.0396

1.0560

1.0560

10

1.0429

1.0441

1.0453

1.0388

11

1.0549

1.0558

1.0572

1.0411

12

1.0542

1.0550

1.0565

1.1202

13

1.0502

1.0512

1.0526

1.0870

14

1.0373

1.0383

1.0397

1.0642

TABLE 11 ESTIMATED REAL POWER FLOW

H(x)

Line

Pij
(Without
lIPFC)

Pij(With
lJPFC)

Pij (With
PMlJ)

1-2

0.0488

0.0487

0.0507

0.0494

1-5

0.2734

0.2640

0.2681

0.2543

Pij (With
PMlJand
FACTS)

2-3

0.0765

0.0854

0.0675

-0.1204

2-4

-0.1215

-0.1222

-0.1193

-0.1374

2-5

0.2556

0.2592

0.2576

0.2641

3-4

0.2551

0.2539

0.2568

0.1515

4-5

0.0522

0.0501

0.0528

0.0321

4-7

-0.2216

-0.2219

-0.2223

-0.2201

variances. These measurements are typically given in terms of

4-9

-0.5648

-0.5657

-0.5944

-0.4725

variance or standard deviation on the magnitude and angle.

5-6

0.1707

0.1863

0.1679

0.0528

Here the co variances of the PMU measurements are assumed

6-11

-0.0164

-0.0216

-0.0161

-0.1331

to be unity.

6-12

-0.1557

-0.1584

-0.1559

-0.1915

The covariance matrix of state estimation algorithm is a

diagonal matrix where its elements are the measurement

IV SIMULATION RESULTS

Studies were carried out on IEEE 14 bus system to

evaluate the performance of the proposed method. The UPFC
is placed in the line 6-12. The modeling equations of UPFC
were taken from [2]. The measurement values for IEEE 14
bus system are taken from [5]. The PMU measurements of
voltage phasors and current phasors are taken from the power
flow analysis using Newton-Raphson method. The simulation
results are summarized in Tables 1, 2, 3. The Simulations
were carried in MATLAB simulation software.

6-13

-0.0852

-0.0859

-0.0854

-0.0942

7-8

-0.0539

-0.0539

-0.0539

-0.0539

7-9

-0.0619

-0.0632

0.0004

0.0929

9-10

0.0379

0.0379

-0.0131

-0.0458

9-14

-0.1518

-0.1521

-0.1851

-0.1922

10-11

0.0286

0.0269

0.0285

-0.0160

12-13

-0.0323

-0.0319

-0.0323

-0.0519

13-14

-0.1268

-0.1264

-0.1269

-0.1597

TABLE III

Line
1-2

ESTIMATED REACTIVE POWER FLOW

Qij
(Without
UPFC)
-0.0030

Qij(With
UPFC)
-0.0029

Qij
(With
PMU)
-0.0037

Qij (With
PMUand
FACTS)
-0.0031

IEEE Sponsored 9th International Conference on Intelligent Systems and Control (ISCO)2015
1-5

-0.4046

-0.3888

-0.4234

-0.4003

2-3

-0.4314

-0.4307

-0.4343

-0.3616

2-4

-0.1149

-0.1159

-0.1094

-0.1951

2-5

-0.1474

-0.1622

-0.1523

-0.1766

3-4

-0.2180

-0.2250

-0.2169

-0.0048

4-5

-0.0731

-0.0764

-0.0731

-0.0894

4-7

-0.1764

-0.1754

-0.1759

-0.2679

4-9

-0.7909

-0.7952

-0.4648

-0.2130

5-6

-0.4868

-0.4778

-0.4917

-0.5678

6-11

-0.0118

-0.0153

-0.0116

-0.2958

6-12

-0.1707

-0.1778

-0.1701

-0.2333

6-13

-0.1159

-0.1193

-0.1156

-0.1765

Universities

Power

Engineering

Conference,

[4]

Nursyarizal

Mohd

Nor,

Ramiah

Jegatheesan,

with

FACTS

International

Devices."

[5]

with

Unified

Power

[6]

"Combined

Measurements

for

use
Power

Performance Enhancement,"

of

SCADA

System
in Proc.

[7]

Proc. 3rd IEEE International Symposium on Circuits and

Systems, Texas,2008, pp. 2817-2820.

[8]

Defu Ni, Bing Yu, Weimin Zhang and Weiguo Gong, "A

0.0007
-0.0072

-0.0418
-0.0377

9-14

-0.1497

-0.1500

-0.3295

-0.2671

10-11
12-13

0.0127
-0.0444

0.0122
-0.0436

0.0127
-0.0443

-0.0071
-0.0983

Evolution

13-14

-0.1029

-0.1022

-0.1027

-0.1459

Management, December 13-15. 2012.

New Algorithm for Power System State Estimation with

PMU

CONCLUSION

the

IEEE

Bologna PowerTech Conference, Bologna, June 23-26,

2003.
Bei XU and Ali Abur, "State Estimation of Systems With

UPFCs Using the Interior Point Method," IEEE Trans. on

Power Systems, vol. 19, pp. 1635-1641, August 2004.
V. Ramachandran and C. Venkatesh kumar.

"Simulation and State Estimation of Power Systems with

Flow

Controller,"

presented

on

Optimal

Placement

Algorithm,"

of

PMU

International

using

Differential

Conference

on

Emerging Trends in Electrical Engineering and Energy

Bei XU and Ali Abur, "State Estimation of Systems with

Power

Conference

Venkateswaran V.B., Kala V.S.C., "Observability Analysis

and

REFERENCES

Interline

International

August 19-22. 2011.

[9]

There is a gradual penetration of PMUs in the power system

containing FACTS device this paper discusses a state
estimation method, integrating FACTS device and PMU
measurements into the classical state estimation for
perfonnance enhancement. The methodology is validated by
the results on the simulation of IEEE 14 bus system. Several
comparisons are made with and without UPFC and PMU and
the combination of PMU and FACTS device in a system. The
modification of Jacobian matrix represent in this paper could
be said a successful method by comparing the results obtained.

Gomathi.

Measurements,"

Mechatronics Science, Electric Engineering and Computer,

The simulation results shown in Tables I, 11, III compare

the estimated voltages, estimated real power flow and reactive
power flow of power system with UPFC and without UPFC
and also the results of estimated voltages with PMU and the
power system containing conventional measurements as well
as PMU measurements along with UPFC.

[3]

International

Yunzhi Cheng, Xiao Hu and Bei Gou, "A New State

-0.0190
0.0066

[2]

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PMU

Estimator

Estimation Using Synchronized Phasor Measurements," in

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0.0066

at

and

State

Youth Conf. on Energitics, Portugal,2011, pp. 1-6.

7-9
9-10

presented

Controller"

Paula S. Castro Vide, F. P. Maciel Barbosa and Isabel M.

Ferreira,

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Devices,"

Flow

DRPT2008 6-9 Nanjing, China, April. 2008.

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FACTS

on

SUN Guo-qiang and WEI Zhi-nong, "Power System State

Estimation

-0.0058

Embedded

Conference

Electrical Engineering and Informatics, June 17-19. 2007.

-0.0058

[1]

"WLS

modification Power System State Estimation Embedded

7-8

V.

Ireland,

August 23- September 3, 2010.

at

the

BIBILOGRAPHY
Venkatasubramanian 8alaji Venkateswaran
received B. E degree in Electrical & Electronics
Engineering from Anna University, Chennai,
India in 2011 and M.Tech degree from SRM
University in Power Systems, in 2013. His
research
interest
includes
Power
System
Optimization, Power System Distribution, Power
System State Estimation, Power System Stability.
Currently he is working as Assistant Professor in
the Department of Electrical and Electronics
Engineering, GMR Institute of
Technology,
Rajam, Andhra Pradesh, India-532127

Vasupalli Manoj born in 1988, in India. He

received B.Tech degree in Electrical &
Electronics Engineering from JNTU, Kakinada,
India in 2010 and M.Tech degree from GITAM
University in Power Systems & Automation, in
2012. His research interest includes HVDC
Transmission and Protection, Applications of
Power Electronics to Power Systems, Power
System Operation & Control, and Power System
Stability & Analysis.
Currently he is working as Assistant Professor in the Department of Power
Engineering, GMR Institute of Technology, Rajam, Andhra Pradesh, India532127.