Wide area control in electric power systems

incorporating FACTS controllers: Review

Aaron Esparza Gurrola

Juan Segundo-Ramrez

Ciro Nun ez Gutierrez

Universidad Autonoma
de San Luis Potos
aaron.esparza@alumnos.uaslp.edu.mx

Universidad Autonoma
de San Luis Potos
juan.segundo@uaslp.mx

Universidad Autonoma
de San Luis Potos
calberto@uaslp.mx

AbstractWide area monitoring systems (WAMS) together

with phasor measurement units (PMUs) are the key to implement
wide area control systems (WACS). WACS are responsible of
achieving different control objectives from signals and measurements taken of a wide area network. Control objectives
can be focused on a large region of the network or part
of it. Furthermore, exible ac transmission systems (FACTS)
are devices that allow to implement the control laws designed
and developed from measurements of WAMS/PMU. This paper
presents a review of the current state of the art of WACS
incorporating FACTS devices, specically, the different FACTS
congurations, applications and control used.
Index TermsWide area control systems, wide area monitoring
systems, exible ac transmission systems, power system control,
phasor measurement unit.

I. I NTRODUCTION
In recent decades several blackouts in regions and whole
countries have occurred, which have led to important research
efforts looking to investigate their causes and at the same time,
try to prevent future events [1][3]. A common conclusion in
those research works is that monitoring systems of electrical
network must be improved. A key element to achieve this
goal is the wide area measurement system (WAMS), and
more specically the phasor measurement units (PMUs) or
synchrophasors. Many PMUs have been installed in power
systems around the world [3][7]. The PMUs were initially
used for monitoring task, then were included in the area of
protection, and recently are being incorporated in the control
area. Due to the high sampling rate and accuracy, it was
possible to close the control loop not only locally, but in wide
area, introducing in this way the wide area control systems
(WACS).
Wide area control systems are responsible of achieving
different control objectives through signals and measurements
taken of a wide area network. Control objectives can be
focused on a large region of the network or part of it. In
addition, the control signals could be sent to one or more
devices, in the case of multiple control actuators. The WACS
are in charge of coordinating control actions for each device.
Generally, wide area control is 3 to 20 times more efcient
than local control, depending on the network and the control
location [8].
Use of WAMS and WACS have, among others, the following benets:
Improve the understanding of the dynamic networks
behavior.

Increase transmission capacity due to more accurate and

reliable monitoring of the limits and capabilities.
Increase control performance based on better information
feedback.
Implement coordinated actions of stabilization in case of
major disturbances that affect large part of the network.
On the other hand, FACTS devices are capable of controlling voltage and power ow in ways that were not possible
before the advent of this technology. These devices are widely
used to improve the voltage prole or alleviate overloaded
lines. Applications of FACTS devices have been widely studied and their positive impacts on the overall operation of
power systems are well known [9], [10]. FACTS devices can
be used to increase the transmission capacity, improve the
stability and dynamic performance or ensure a better power
qualify in modern power systems. Their main capabilities
are the reactive power compensation, voltage control and
power ow control. Because of FACTS are controlled by
power electronic devices, FACTS have a quick response to
the assigned control actions [11] and its control has to follow
their multi-functional capabilities in normal and emergency
situations. The investment in FACTS could be justied by the
enhancement of stability and primarily by the increment of
transmission capability.
There are different FACTS devices that allow wide area
control. The selection of the device to be used depends
primarily on the particular control objectives. Among the most
commonly used are: static var compensator (SVC), thyristor
controlled series capacitors (TCSC) and high voltage direct
current (HVDC). Even though the inuence of a FACTS
device is not limited to the bus or line where it is placed,
its impact on distant lines and buses is reduced but not
insignicant. Reference [12] uses sensitivity analysis to dene
a region including lines and buses on which the inuence of
a FACTS device is signicant.
The three following sections present a review of the state
of the art of different congurations of FACTS devices used
in WACS: shunt devices are presented in Section II, series
devices in Section III and others FACTS devices in Section
IV. Finally, conclusions are presented in Section V.

II. S HUNT DEVICES

A. SVC
The Static Var Compensator (SVC) is a shunt FACTS
device. The shunt devices are primarily for reactive power

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compensation and therefore for voltage control. SVC also can

compensate active power oscillations with voltage amplitude
modulation. The SVC is one of the most used devices in
WACS. Originally was used to increase the transmission line
capacity and for voltage regulation but now, it is involved in
transient stability improvement and damping of power system
oscillations. Wide area controls focused to damp out interarea oscillations using any device are reviewed in [13]. In
[14], [15] is presented a power oscillation control using wide
area measurements. Its main objective is to analyze the design
of multiple FACTS devices to enhance the stability of power
system with considering time delay of wide area signals. PMU
measurements are used to obtain feedback signals for supplementary control of a large SVC unit. Performance comparison
between a traditional model based approach (MBPOD) and
a data driven indirect adaptive control method (IAPOD) is
presented. Despite of IAPOD requires very limited knowledge
about the detailed system model, it has a similar performance
to MBPOD.
Another advantage that wide area measurements offers is
the coordination of several devices. The coordination could
be between a FACTS device with other types of components
or FACTS devices. The coordinated control generates through
remote signals a control signal for each device in order to
achieve the control objective. Contribution [16] implements a
coordinated control with a SVC and a power system stabilizer
(PSS). In addition, it analyzes the effects of time delays on the
proposed control. A controller that coordinates the excitation
system of synchronous generator and SVCs auxiliary inputs is
presented in [17]. The coordinating control laws compensate
interactions between generators, and between generators and
SVCs. In [18] a control coordination strategy based on constrained optimization applicable to secondary voltage control
in power systems which have FACTS (SVC and STATCOM)
controllers is presented. The objective of the secondary voltage
control is to determine the optimal set of controllers voltage
references to minimize the difference between the magnitudes
of voltages at the load nodes in the system and their specied
or target voltage values.
In reference [19] a control of several FACTS devices is
proposed. In this reference, it is used a coordinated secondary
control loop that generates set-points for the primary FACTS
controllers. Global information is used to ensure that several
SVCs work together in the benet of the whole power system.
A coordinated stabilizer design to fully exploit the potential
of SVCs damping inter-area power oscillations is shown in
[20]. The objective of this study is to increase the transfer
limits between areas. Reference [12] uses a SVC with a control
strategy based on optimal power ow. The authors of [21]
[23] present a real-time wide area controller that is specically
aimed to improve the dynamic security in the small-signal
sense. This real-time control strategy shows how the MultiProny analysis can be successfully applied for detecting the
proximity and onset of small-signal stability phenomena.
Many controllers do not consider the impact of the communication delays existing in wide area signals despite its importance. Communication delays may degrade the performance
and even result in the instability of the whole system. These
communication delays can typically vary from tens to several

hundred of milliseconds. The impact of phasor data latency in

wide area monitoring and control is analyzed in [24], [25]. In
this case the adverse effects of delayed and uncompleted input
data is analyzed and it is suggested an architecture to mitigate
data quality issues. In a later contribution [26], a case study
demonstrating the dependency of wide area measurement
and control (WAMC) application reliability on supporting
information communications technology (ICT) system architectures focused on data delay and losses is presented. This
work proposes a generic ICT architecture, enabling efcient
WAMC systems implementation in terms of data quality.
Contribution [27] proposes a networked predictive controller
for the synthesis of a wide area damping controller of a SVC
to provide optimal control and compensate communication
delays effectively. In other contribution related with time delay
[28], the design of multiple control strategies to enhance the
stability of power system considering time delay of wide area
signals is analyzed. In [29] a latency compensation technique
for SVC is presented. The controller was designed based
on TS fuzzy approach, and the power oscillation modes are
monitored by a modied extended Kalman Filter.
Genetic algorithm (GA) is proposed in [30] to design
effective wide area FACTS controller in order to decrease the
adverse effect of time delay. Additionally, in order to analyze
these effects, Pade approximation and eigenvalue analysis
method are proposed. The authors of [31] propose a fault
tolerant control (FTC) to ensure an acceptable performance
level even in case of loss of remote signals, where the term
fault is referred as loss of remote signals. The objective is
to tackle this problem in terms of its adverse impact on
the dynamic response of the system. Other problem to be
considered are communications failures; in [32] is presented
an approach to build a resilient control in response to these
problems. The simulation results demonstrate that presented
controls provide supplementary damping regardless of whether
the system suffers a communication failure or not, improving
the stability performance.
B. STATCOM
Static synchronous compensator (STATCOM) is one of the
key FACTS controllers. The advantage of a STATCOM is
that the reactive power provision is independent of the actual
voltage at the connection point. STATCOM is also used as
power oscillations damping controller. In reference [33] an
approach of combining FACTS and WAMS technologies for
damping inter-area low-frequency oscillations and enhance
transfer capability of interconnected power systems is proposed. A coordinated design of AVR, PSS and STATCOM
controllers using a bacterial foraging algorithm (BFA) is presented in [34]. The parameters of the controllers are optimized
simultaneously using the BFA to minimize the tness function.
Another coordinated control with STATCOM and the unied
power ow controller (UPFC) is shown in [35]. A three stage
nonlinear control scheme is proposed for damping inter-area
oscillations. The method uses the frequencies of the generators
as the feedback data for the control system. In [36] a fuzzy
damping control design for damping swing mode using a
STATCOM and global stabilizing signals is presented. The

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proposed controller for the STATCOM effectively enhances

the angular stability of the multimachine network.
The integration of new power generation systems as wind
farm is also considered by researchers. In [37] a coordinated
and hierarchical control is performed with synchronous generators; wind farm converters and a STATCOM. A state feedback
control law is proposed and tuned through an optimal quadratic
technique. Another related work is [38], where a wide area
coordinating neurocontrol (WACNC) with PSS, wind farm
and multiple FACTS devices (STATCOM, SSSC) is presented.
Each local controller receives remote control signals from the
WACNC as external inputs to improve wide dynamic and
transient performance of the power systems.
III. S ERIES DEVICES
A. TCSC
The thyristor controlled series capacitor (TCSC) is a series
connected FACTS device. The TCSC address specic dynamic
problems in transmission systems. It increases damping when
large electrical systems are interconnected. The TCSC high
switching speed capability provides a mechanism for controlling line power ow, which permits to increase the loading
of existing transmission lines, and allows rapid readjustment
of line power ow in response to various contingencies [11].
TCSCs have been commonly used for local power ow control
in tie lines in practical applications. Power ow is controlled
over the alteration of the switching angle of the thyristors.
A TCSC damping controller design is shown in contribution [39]. The use of multiple input signals for the design
of PSS and TCSC controllers is illustrated. Other damping
controller with TCSC is shown in [40]. The paper presents
an application of a normalized H loop-shaping technique
for design and simplication of damping controllers in the
linear matrix inequalities (LMI) framework. In [41] a wide
area oscillation damping control based on FACTS controllers
is presented. The approach consists of a reduced model of
the system into coherent clusters using synchrophasors. From
power measurement in [42] is shown an algorithm to construct
a control signal to be applied to TCSC or PSS. The damping
algorithm is based on phasor measurement. Another paper
that shows benets of combining PMU and TCSC controller
in order to stabilize the system is presented in [43]. An
energy based control is used in this work. In reference [44] is
presented a simple adaptive tuning method based on residue
approach for power oscillations damping control, applied to
TCSC and UPFC. An inter-area mode oriented pole shifting
method with coordination of control efforts is proposed to tune
power oscillation damping controllers under multiple operating
conditions [45], also an effective index is proposed to measure
the control efforts. In [46] a controller based on the kinetic
energy of the machines (Lyapunov Theorem) is presented
to address the rst swing and damping stability based on
wide area measurements. It is shown that in danger of angle
separation or critical machines the controller can provide a
good rst swing stability performance.
A control architecture to improve the system performance
in a low-bandwidth is presented in [47]. Although a high
sampling rate is better, in adverse cases, where it is no

possible a high sampling rate, this control is a solution.

An eigenstructure-bases performance index to measure the
dynamic performance and the control efforts is proposed in
[48]. Also, a tuning scheme based on this index is proposed
for coordinating controllers such as PSS and TCSC to damp
out inter-area oscillations.
As in SVC, also with TCSC time delay is considered. A
centralized multivariable control algorithm is designed using
remote signals with time delay in [49]. The proposed controller
is implemented in a real time simulator. In reference [50]
is used a TCSC with a phase-plane fuzzy logic control
to improve the stability against time delays. This control
is compared with a lead-lag controller. Simulation results
demonstrate that the lead-lag controller had a poorer stability
performance than the proposed controller. A new approach to
continuous compensation for time-varying delay is proposed
in [51]. Knowledge of computed latency is used in the implementation of a phasor power oscillation damping controller.
B. SSSC
The static synchronous series compensator (SSSC) is a
solid-state voltage source inverter, injects an almost sinusoidal
voltage, of variable magnitude in series with the transmission
line. Most of the injected voltage, which is in quadrature with
the line current, emulates an inductive or a capacitive reactance
in series with the transmission line.
A robust wide area damping control with a SSSC has
been proposed in [52]. Such control considers time delay
in its design and can efciently utilize the global signals
of WAMS, and implement the direct feedback control to
enhance the stability of a large power system. In contribution [53] an optimal wide area monitor and wide area
coordinating neurocontroller (WACNC) is designed by using
the dual heuristic programming (DHP) method and a radial
basis function neural network that identies the input-output
dynamics of the nonlinear power system.
IV. OTHERS FACTS DEVICES IN WACS
A. HVDC
High voltage direct current (HVDC) is added to this review,
because such installations are fullling all criteria to be a
FACTS-device, which is mainly the full dynamic controllability. HVDC systems are excellent means to reduce congestions
in critical grids. In contribution [3] the congestion is alleviated
and the voltage regulation in the corridor is performed by using
of an optimal power ow (OPF) based controller. Two sequential approaches to prevent voltage instability are proposed in
[54]. The rst approach utilizes synchrophasors in order to
establish when the system is leading to a voltage instability
and also to trigger the operation of HVDCs to relieve the
systems stress. The second approach is used to ensure that
HVDCs will operate securely when their transfer is pushed
towards the maximum transferable power level. A singleinput-multiple-output linear state space model of the actual
power system is established and validated across a range of
operating conditions. The performance of two control designs
based on state-feedback and an optimization based approach
is compared for a range of operating conditions [55].

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The HVDC damping control has signicant advantages

in damping inter-area oscillations in China Southern Power
Grid (CSG). HVDC links act as ties for grids in different
areas, which can suppress inter-area oscillations directly and
signicantly. For example, the authors of [56], [57] present the
design, implementation and commission of a coordinated wide
area adaptive damping control (WADC) system through the
modulations of multiple HVDC links in CSG. Other work on
CGS is [58], where a systematic methodology for placement
and integration of wide area measurements in HVDC damping
modulation is developed for large-scale AC/DC power systems. A concept observed center of inertia (OCOI) of power
grid is described. Another example, but now in a part of the
Swiss transmission grid is shown in [59]. The paper outlines
the general approach of WACS architecture suitable to fulll
the coordinated control requirements based on optimal power
ow as central objective. In [60], an adaptive wide area control
method based on federated Kalman lter is proposed to damp
out inter-area oscillations.
Coordinated control is also implemented with HVDC. An
approach presented in contribution [61] coordinates the control
of several HVDC links with the aim of increasing the damping
of power oscillations using global steady-state independent
signals from WAMS. A systematic and practical means to
design the multiple HVDC damping control system is provided
in [62]. The wide area feedback signals that have good
observability of inter-area modes are rstly preselected by an
index based on residue analysis. Then the interactions between
the candidate control loops are investigated by relative gain
array (RGA) analysis. According to the RGA results, a suitable
input-output pairing for multiple HVDC damping controller
is determined. Finally, the damping controller parameters are
optimized by time-domain simulations. Coordinated control
of network controllers with optimal power ow and damping
control with embedded HVDC is presented in [63]. Different
control objectives such as loss minimization, voltage prole or
damping control are applied. A robust coordination approach
for the controller design of multiple HVDC and others FACTS
wide area controls is presented in [64]. This approach is
based on the robust control theory and is formulated as a
standard problem of multiobjective mixed H2 /H outputfeedback control with regional pole placement. Finally in [65],
the authors present a coordinated control of power oscillation
damping (POD) using wind power plants and HVDC systems.
The proposed POD controller includes transmission timedelay compensation and it shows that multiple wind farms
in wide-area controllers can damp out inter-area oscillations
effectively.
Considering the inevitable time delay in wide area feedback
control signals transmitted by WAMS, the improved linear
matrix inequality (LMI) method is applied to design the
robust supplementary damping controller associated to the
HVDC converter pole-control in [66]. Also, the authors of
[67] present a wide area measurement-based HVDC robust
stabilizing control strategy, taking a transmission delay of the
wide area feedback signals involved into consideration. The
designed controller can effectively damp out LFO modes of
large-scale AC/DC power systems. In [68], time delay effects

on WADC are analyzed from the view of frequency domain. A

new stability criterion is proposed to calculate the time delay
tolerance based on Pade approximation. Other article where
time delay is considered is [69], the paper demonstrates the
use of voltage source converter high voltage direct current
(VSC-HVDC) and wide area controllers to improve power
system stability. VSC-HVDC uses vector control and has
a supplementary controller. Wide area controller with time
delay compensation regulates the excitation of generator. The
parameters of the controllers are optimized simultaneously by
using particle swarm optimization.
B. UPFC
The unied power ow controller (UPFC) is a series-shunt
FACTS device. The UPFC is able to control simultaneously
or individually all the parameters ( voltage, phase angle, and
impedance) affecting power ow in the power system. This
FACTS device combines the two features of two other FACTS
devices: STATCOM and SSSC.
A real-time corrective control scheme, based on the exploitation of WAMS and UPFC controllers, is presented in
[70]. The corrective actions is implemented when transient
instability is detected. The design and implementation of an
optimal neurocontroller for a UPFC is shown in [71]. Wide
area signals are used to provide auxiliary control to a UPFC
in order to achieve enhanced damping of system oscillations.
The neurocontroller provides auxiliary signals to the real and
reactive power references of the UPFC series inverter.
In reference [72] an optimal placement for UPFCs and an
optimal method for the selection of global measurements in
a wide area controlled network for the purpose of damping
power system oscillations. A new performance index is introduced to provide a method to compare different candidate
placements in terms of the damping they can provide. In a
post work [73] a simple method is proposed as a guideline
for dynamic placement of UPFCs and output measurements
selection for proper estimation of the states in the system.
The method is based on nding the table of most dominant
branches in terms of their inuence on inter-area modes.
The utilization of a reduced scale model is a tool, which
permits a fast verication of critical congurations or algorithms. The advantages of the PMU and UPFC have been
demonstrated in [74] on a reduced scale model. The detection
of power oscillations, an approach for the utilization of a wide
area monitoring system for state estimation and the application area of coordinated control of power ow controllers is
presented.
C. DPFC
The dynamic power ow controller (DPFC) is a hybrid device consisting of a standard phase shifting transformer (PST)
with a tap-changer, a number of series-connected thyristor
switched capacitors, reactors (TSC/TSR) and a mechanically
switched shunt capacitor (MSC). The latter is optional depending on the system reactive power requirements. In [75] an
approach to evaluate the benets of an autonomous wide area
control as coordination method for a fast power ow control is
presented. DPFC is introduced together with its control scheme
and the coordination method.

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V. C ONCLUSION
This paper presents a detailed review of wide area control
systems that incorporate FACTS devices for different applications. WAMS have allowed the implementation of WACS on
power systems. The recent WACS application using FACTS
shows the control capacity of these devices to improve the
dynamic and steady state performance of power networks.
Most of the applications found in this review are related
with damping power systems oscillations, but also it is shown
applications with other control objectives, such as, maximize
power transfer and enhance power system behavior minimizing undesirable effects when including renewable energy. In
case of multiple control objectives, coordinated control in
WACS is a good option because some devices can be in charge
in one objective control and remaining devices with others
objectives and effectively perform all objectives. Wide area
control still have many challenges to be done, and FACTS
devices can be a solution to face them as is presented in this
review.
From the viewpoint of control theory is necessary to impulse
time delay research in WACS in order to be considered in the
control design stage. In this way, real time simulators are a
useful tool to develop and testing the designed control laws.
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