Int. J. Energy Technology and Policy, Vol. 5, No.

4, 2007 457

Damping power system oscillations by genetically

optimised PSS and TCSC controller

Sidhartha Panda* and Ramnarayan Patel

Indian Institute of Technology
Department of Electrical Engineering
Roorkee 247667, Uttaranchal, India
E-mail: speeddee@iitr.ernet.in
E-mail: ramnpfee@iitr.ernet.in
*Corresponding author
Abstract: This paper presents a procedure for modelling and simultaneous
tuning of parameters of Thyristor Controlled Series Compensator (TCSC)
controller and Power System Stabiliser (PSS) in a power system to damp power
system oscillations. First, a simple transfer function model of TCSC controller
is developed and the parameters of TCSC and PSS are simultaneously
optimised. Genetic Algorithm (GA) is employed for optimisation of the
parameter-constrained non-linear optimisation problem. The results obtained
from simulations are presented to validate the effectiveness of the proposed
approach. The approach is effective for the tuning of multiple controllers in
a power system so that they operate in a coordinated manner. Further, the
simulation results show that the proposed TCSC controller is also effective in
damping a range of small disturbance conditions in the power system. Further,
the TCSC controller is found to be robust and ensures stability of the power
system for different operating conditions.
Keywords: power system stability; Thyristor Controlled Series Compensator
(TCSC); Power System Stabiliser (PSS); simultaneous tuning; Genetic
Algorithm (GA); low frequency oscillations.
Reference to this paper should be made as follows: Panda, S. and Patel, R.
(2007) Damping power system oscillations by genetically optimised PSS
and TCSC controller, Int. J. Energy Technology and Policy, Vol. 5, No. 4,
pp.457474.
Biographical notes: Sidhartha Panda received his ME degree in Power
Systems Engineering from University College of Engineering, Burla,
Sambalpur University, India in 2001. Currently, he is a Research Scholar in the
Electrical Engineering Department of Indian Institute of Technology Roorkee,
India. In the past, he was an Associate Professor in the Department of Electrical
and Electronics Engineering, VITAM College of Engineering, Andhra Pradesh,
India and Lecturer in the Department of Electrical Engineering, SMIT,
Orissa, India. His areas of research include power system transient stability,
power system dynamic stability, FACTS, optimisation techniques, distributed
generation and wind energy.
R.N. Patel is working as a faculty in the Electrical Engineering Department of
the Indian Institute of Technology Roorkee, India. He received his PhD degree
from the Indian Institute of Technology, Delhi in the year 2003. He has
published many papers in reputed international journals/conferences. His main
research interests are in the areas of power system transient stability, power
system dynamics and optimisation, application of intelligent controls and
modelling and simulation.

Copyright 2007 Inderscience Enterprises Ltd.

458 S. Panda and R. Patel

1 Introduction

Damping of power system oscillations is one of the main factors in the secure and stable
operation of a power system. Low-frequency oscillations are observed when large power
systems are interconnected by relatively weak tie lines. These oscillations may be
sustained and grow to cause system separation if no adequate damping is available
(Kundur, 1994). On the occurrence of a fault, the output power of the machine increases
or decreases drastically, depending on the location of the machine in the power system,
while the input mechanical power remains constant. The difference between the
mechanical power input and the electrical power output enters into the rotor and, thus, the
machines accelerate or decelerate (Padiyar, 1996). The energy drawn from the critical
machines immediately after the fault clearance significantly affects the stability of the
power system. This electrical energy drawn from the machines depends on the network
conditions, and by changing the network parameters immediately after the fault
clearance, the energy drawn from the critical machines can be increased or decreased.
The recent development of power electronics introduces the use of Flexible AC
Transmission System (FACTS) controllers in power systems. FACTS controllers are
capable of controlling the network condition in a very fast manner and this unique feature
of FACTS can be exploited to improve the stability of a power system (Hingorani and
Gyugyi, 2000). Thyristor Controlled Series Compensator (TCSC) is one of the important
members of the FACTS family, which is increasingly being applied by the utilities in
modern power systems with long transmission lines. It can have various roles in the
operation and control of power systems, such as scheduling power flow; decreasing
unsymmetrical components; reducing net loss; providing voltage support; limiting
short-circuit currents; mitigating Subsynchronous Resonance (SSR); damping the power
oscillation; and enhancing transient stability. The applications of TCSCs for power
oscillation damping and stability enhancement can be found in several references
(Mattavelli et al., 1997; Li et al., 2000; Del Rosso et al., 2003; Abdel-Magid and Abido,
2004). Most of these proposals are based on small disturbance analyses that required
linearisation of the system involved. However, linear methods cannot properly capture
complex dynamics of the system, especially during major disturbances. This presents
difficulties for tuning the FACTS controllers in that the controllers tuned to provide the
desired performance at small-signal conditions do not guarantee acceptable performance
in the event of major disturbances.
Power System Stabilisers (PSS) are now routinely used in the industry. The problem
of PSS parameter tuning in the presence of FACTS controllers is a complex exercise, as
uncoordinated local control of FACTS devices and PSS may cause destabilising
interactions. To improve overall system performance, many researches were done on the
coordination between PSS and FACTS Power Oscillation Damping (POD) controllers
(Sanchez-Gasca and Chow, 1996; Pourbeik and Gibbard, 1998). Some of these
methods are based on the linearised power system models and others on complex
non-linear simulations, based on the small signals. Cai and Erlich (2005) applied a
sequential quadratic programming-based optimisation algorithm to coordinate multiple
controllers simultaneously.
Genetic Algorithm (GA) is becoming popular for solving the optimisation problems
in different fields of application, mainly because of their robustness in finding an optimal
solution and ability to provide a near-optimal solution close to a global minimum. Unlike
strict mathematical methods, the GA does not require the condition that the variables in
 Damping power system oscillations 459

the optimisation problem be continuous and different; it only requires that the problem to
be solved can be computed. GA employs search procedures based on the mechanics of
natural selection and survival of the fittest. The GAs, which use a multiple-point instead
of a single-point search and work with the coded structure of variables instead of the
actual variables, require only the objective function, thereby making searching for a
global optimum simpler (Goldberg, 1989). The advantage of using GA is evident, as it
finds its application in a number of papers for optimisation problems (Mishra et al., 2002;
Abido, 2005; Mok et al., 2005). The GA optimisation technique has an apparent benefit
as it adapts to irregular search spaces of an optimisation problem. Therefore, in the
present work GA is employed to simultaneously tune the parameters of the PSS and
TCSC controllers.
It is well known that the reactance adjusting of TCSC is a complex dynamic process.
Effective design and accurate evaluation of the TCSC control strategy depend on the
simulation accuracy of this process. This paper presents a simple transfer function model
of the TCSC in the MATLAB/SIMULINK environment. The GA-based optimal tuning
algorithm is used to coordinate TCSC controller and PSS simultaneously. By minimising
the objective function in which the influences of both PSS and TCSC controllers are
considered, interactions among these controllers are improved. Therefore, the overall
stability performance of the power system is improved. Simulation results show the
advantages of using the modelling and tuning method when performing control and
stability analysis in a power system involving the TCSC controller.
The paper is organised as follows. Section 2 gives a brief introduction of the TCSC
and its conventional control schemes. A power system model and the components used
for this study are presented in Section 3. In Section 4, the transfer function model of the
TCSC controller is designed and the application of GA to search for the optimal
parameters is discussed. In Section 5, a sample power system is used as a case study to
illustrate the effectiveness of the proposed methodologies, and non-linear simulation
results are given.

2 Thyristor Controlled Series Compensator (TCSC)

2.1 TCSC control schemes
A conventional TCSC control generally consists of three control schemes (Zhou and
Liang, 1999), namely the steady-state power flow control, the transient control and the
POD control loop.
The steady-state power flow loop controls the flow of power. It acts quite slowly
in practice and hence, in the present study it is assumed to be disabled after a
large disturbance.
The TCSC Transient Stability Controller acts initially, following a large disturbance,
to give a maximum compensation for a pre-set time. It is open loop, pre-programmed and
responds to major system disturbances.
The POD control is a transfer function-based linear control scheme. It consists of
a measurement-amplification link, a washout link and multistage lead-lag links. The
structure of the TCSC POD control loop is shown in Figure 1. It consists of a gain block
with gain KP, a signal washout block and two-stage phase compensation blocks. The
phase compensation block (with time constants T1, T2, T3 and T4) provides the
460 S. Panda and R. Patel

appropriate phase-lead characteristics to compensate for the phase lag between input and
output signals. The signal washout block serves as a high-pass filter, with the time
constant TW, high enough to allow signals associated with oscillations in input signals to
pass unchanged. The output of lead-lag blocks is subject to variable limits based on the
TCSC reactance capability. A finite delay caused by the firing controls and the natural
responses of the TCSC is modelled by a lag circuit having a time constant TTCSC of
typically 1520 ms (Mathur and Verma, 2002). The output is the resulting reactance
XTCSC offered by the TCSC controller.

Figure 1 TCSC power oscillation damping controller

Max.

sTW 1 + sT1 1 + sT3 1 X TCSC

+
KP
1 + sTW 1 + sT2 1 + sT4 0 +
1+ sTTCSC
+

Gain Washout Two-stage

0 Min.
block block lead-lag block

2.2 Modelling TCSC dynamics

The main circuit of a TCSC is shown in Figure 2. It consists of three components:
capacitor banks C, bypass inductor L and bidirectional thyristors T1 and T2. In Figure 2,
iC and iL are the instantaneous values of the currents in the capacitor banks and inductor,
respectively; iS the instantaneous current of the controlled transmission line; v is the
instantaneous voltage across the TCSC. Control of the TCSC is achieved by the firing
angle signal , which changes the fundamental frequency reactance of the compensator.
There exists a steady-state relationship between the firing angle and the reactance
XTCSC(). This relationship can be described in the following equation (Mathur and
Verma, 2002):
X 2C + sin
X TCSC () = X C
(X C X P )
(1)
4 X 2C cos2 ( / 2) (k tan(k / 2) tan( / 2))
+
(X C X P ) (k 2 1)

where:
XC = Nominal reactance of the fixed capacitor C
XP = Inductive reactance of inductor L connected in parallel with C
= 2( ) = Conduction angle of TCSC controller

XC
k = = Compensation ratio
XP
 Damping power system oscillations 461

Since the relationship between and the equivalent fundamental frequency reactance
offered by TCSC, XTCSC(), is a unique-valued function, the TCSC is modelled here
as a variable capacitive reactance within the operating region defined by the limits
imposed by . Thus XTCSCmin XTCSC XTCSCmax, with XTCSCmax = XTCSC(min) and
XTCSCmin = XTCSC(180) = XC. In this paper, the controller is assumed to operate only in
the capacitive region, i.e., min > r, where r corresponds to the resonant point, as the
inductive region associated with 90 < < r induces high harmonics that cannot be
properly modelled in stability studies.

Figure 2 Configuration of a TCSC

iS iC C iS

T1

iL L
T2

3 Power system modelling

3.1 Generator
The generator is represented by the third-order model comprising the electromechanical
swing equation and the generator internal voltage equation. The state equations may be
written as (Yu, 1983):
1
= [PM Pe D( 1)] (2)


= b ( 1) (3)

vt = vd + jvq (4)
i = id + jiq (5)
where PM and Pe are the input and output powers of the generator respectively; M and D
are the inertia constant and damping coefficient respectively; b is the synchronous
speed, and and are the rotor angle and speed respectively.
The generator power can be expressed in terms of the d-axis and q-axis components
of armature current, i, and terminal voltage, vt, as:
Pe = vd id + vq iq (6)
462 S. Panda and R. Patel

The internal voltage, eq ' equation is:

1
eq ' = [ E fd eq ' ( x d xd )id ] (7)
Tdo '

Here, Efd is the field voltage; Tdo' is the open-circuit field time constant; xd and xd' are the
d-axis reactance and the d-axis transient reactance of the generator, respectively.

3.2 Exciter and PSS

The IEEE Type-AC4A excitation system is considered in this work. The excitation
system model is given in Figure 3 (Kundur, 1994). The excitation system stabilisation is
provided in the form of a series lead-lag network, with time constants TC and TB. The
time constants associated with the regulator and firing of thyristors is represented by TA.
The overall gain is represented by KA.

Figure 3 IEEE Type-AC 4A excitation systems

VS
VIMAX VRMAX
+
VC _ E fd
1 + sTC KA
1 + sTB 1 + sTA
+
Vref VIMIN VRMIN

A widely used conventional lead-lag PSS is considered in this study. Its structure is
shown in Figure 4. It consists of a gain block, a signal washout block and two-stage phase
compensation block. In this structure, TWS is the washout time constant and is the
speed deviation. In this study a washout time constant of 10 s is used. Also, two similar
phase compensator blocks are considered so that T1S = T3S and T2S = T4S. So the stabiliser
gain KS and time constants T1S and T2S remain to be determined.

Figure 4 Conventional power system stabiliser

sTWS 1 + sT1S 1 + sT3S VS

KS
1 + sTWS 1 + sT2S 1 + sT4S

Gain Washout Two-stage

block block lead-lag block
 Damping power system oscillations 463

4 Problem formulation
4.1 TCSC structure
The commonly used lead-lag structure shown in Figure 2 is chosen in this study. The
transfer function of the TCSC controller is:
sTw 1 + sT1 1 + sT3
u = KP y (8)
1 + sTw 1 + sT2 1 + sT4
where u and y are the TCSC controller output and input signals, respectively, KP the
stabiliser gain, TW the washout time constant, and T1, T2, T3, and T4 the stabiliser time
constants. In this structure, Tw is usually pre-specified and is taken as 10 s. Also, two
similar lead-lag compensators are assumed so that T1 = T3 and T2 = T4. The controller
gain KP and time constants T1 and T2 are to be determined. In this study, the input signal
of the proposed TCSC controller is the speed deviation , and the output is TCSC
reactance, XTCSC(). The desired value of line reactance is obtained according to
the change in the conduction angle . This signal is put through a first-order lag
representing the natural response of the controller and the delay introduced by the
internal control which yields the reactance offered by the TCSC, XTCSC(). The effective
transfer reactance between the generator and the infinite bus XEff is the difference
between the total inductive reactance (i.e., the reactance of the transmission line XL, plus
the reactance of the transformer XT) and the capacitive reactance XTCSC(). So XEff is
given by:
X Eff = X L + X T X TCSC () (9)

The value of is changed according to the change in conduction angle , as

= /2 and = 0 + , 0 being the initial value of the conduction angle. As the
network parameters change owing to the fault and its subsequent clearing, the updated
values of XEff is used in the simulation.

4.2 Objective function

It is worth mentioning that the TCSC Transient Stability Controller is designed to
minimise the power angle deviation after a large disturbance so as to improve the
transient stability.
Therefore, the objective can be formulated as the minimisation of a non-linear
programming problem expressed as follows:
t1
J = [ (t, x)]2 dt (10)
0

where (t, x) denotes the power angle deviation for a set of controller parameters x
(note that here x represents KP, T1, T3, KS, T1S, T3S: the parameters of both TCSC and
PSS), and t1 is the time range of the simulation. With the variation of the parameters x,
the (t, x) will also be changed. For objective function calculation, the time-domain
simulation of the non-linear power system model is carried out for the simulation period.
It is aimed to minimise this objective function in order to improve the system response in
terms of the settling time and overshoots.
464 S. Panda and R. Patel

4.3 Optimisation problem

In this study, it is aimed to minimise the proposed objective function J. The problem
constraints are the TCSC and PSS controller parameter bounds. Therefore, the design
problem can be formulated as the following optimisation problem:
Minimise J (11)
subject to:
K min
P K P K max
P

T1min T1 T1max

T2min T2 T2max

K Smin K S K Smax

T1Smin T1S T1Smax

T2Smin T2 S T2max
S (12)

The proposed approach employs real-coded GA to solve this optimisation problem and
search for the optimal set of the TCSC controller and PSS parameters.

4.4 Genetic Algorithm (GA)

GA has been used for optimising the parameters of the control system that are complex
and difficult to solve by conventional optimisation methods. GA maintains a set of
candidate solutions called population and repeatedly modifies them. At each step, the GA
selects individuals from the current population to be parents and uses them to produce the
children for the next generation. Candidate solutions are usually represented as strings of
fixed length, called chromosomes. A fitness or objective function is used to reflect the
goodness of each member of the population. Given a random initial population, GA
operates in cycles called generations, as follows:
Each member of the population is evaluated using a fitness function.
The population undergoes reproduction in a number of iterations. One or more
parents are chosen stochastically, but strings with higher fitness values have higher
probability of contributing an offspring.
Genetic operators, such as crossover and mutation, are applied to parents to
produce offspring.
The offspring are inserted into the population and the process is repeated.
The designer has the freedom to explicitly specify the required performance objectives
in terms of time-domain bounds on the closed-loop responses. The fitness function
comes from time-domain simulations, which is the power system stability programme.
Using each set of controllers parameters, the time-domain simulation is performed
and the fitness value is determined. Good solutions are selected and by means of the
 Damping power system oscillations 465

GA operators, new and better solutions are achieved. This procedure continues until a
desired termination criterion is achieved. Although the chances of GA giving a local
optimal solution are very few, sometimes getting a suboptimal solution is also possible.
In the present study, GA is employed for the optimal tuning of TCSC and PSS
parameters x so as to minimise the objective function J. Owing to difficulties of binary
representation when dealing with continuous search space with a large dimension, the
proposed approach has been implemented using Real-Coded Genetic Algorithm (RCGA).
A decision variable xi is represented by a real number within its lower limit ai, and upper
limit bi, i.e., xi [ai, bi]. The normalised geometric ranking, which is one of the ranking
methods, is used as a selection function to select individuals in the population for the next
generations. Also, arithmetic crossover as the crossover function and non-uniform
mutation as mutation operators are adopted. The parameters of the controller are tuned
for the most severe conditions. The critical fault clearing time (TFC), i.e., the maximum
time duration for which the disturbance may act without the system losing its capability
to recover a steady-state (i.e., stable) operation, is used to tune the parameters. The
computational flowchart of the proposed design approach is shown in Figure 5.

Figure 5 Flowchart of the proposed optimisation approach

Start

Set initial TFC

Initialise population
Gen.= 0
Non-linear time domain simulation
of power system model
Gen.= Gen.+1
Objective function evaluation
GA operators
No Gen.>Max.
Gen.?
Decrease TFC
Yes

No
System stable?

Yes
End
466 S. Panda and R. Patel

5 Simulation results

In order to show the advantages of modelling the TCSC controller dynamics and tuning
its parameters in the way presented in this paper, simulation studies are carried out for
a simple single-machine infinite-bus power system with a TCSC. The generator is
equipped with a PSS and the system has a TCSC installed in the transmission line as
shown in Figure 6, where XT and XL represent the reactance of the transformer and the
transmission line, respectively, and VT and VB are the generator terminal and infinite-bus
voltage respectively. The relevant parameters are given in the Appendix. The operating
point considered is:
PM = 0.9 pu, VB = 1.0 pu, 0 = 1550, 0 = 36.90
For the purpose of optimisation of Equation (11), routines from the Genetic Algorithm
Optimisation Toolbox (GAOT) were used. For different problems, it is possible that the
same parameters for GAOT do not give the best solution, and so these can be changed
according to the situation. In Table 1 the parameters for GAOT optimisation routines are
given. The description of these operators and their properties can be found in the work of
Houck et al. (1995). One more important point that affects the optimal solution more or
less is the range for unknowns. For the very first execution of the programme, a wider
solution space can be given and after getting the solution one can shorten the solution
space nearer to the values obtained in the previous iteration. Bounds for unknown
parameters of gains and time constants used in the present study are shown in Table 2,
where Tn and Td are the numerator and denominator time constants of all the lead-lag
blocks of the TCSC controller and PSS, respectively, KP and KS are the gains of TCSC
controller and PSS, respectively. Optimisation is terminated by the pre-specified number
of generations. The best individual of the final generation is the solution.

Figure 6 Single-machine infinite-bus power systems with a TCSC controller

XC VB
Vt
G C
T1
XT L XL
XP T2

XTCSC

Table 1 Typical parameters used by the GA

Name Value (type)

Number of generations 100
Population size 50
Type of selection Normal geometric [0.08]
Type of crossover Arithmetic [2]
Type of mutation Non-uniform [2 100 3]
Termination method Maximum generation
 Damping power system oscillations 467

Table 2 Bounds of unknown variables

Gains Time constants

Parameters KP KS Tn Td
Minimum range 20 10 0.1 0.04
Maximum range 80 50 0.7 0.4

The optimisation was performed with the total number of generations set to 100. The
maximum value of fault clearing time TFC as obtained by the algorithm presented in
Figure 5 is found to be 0.26 s. The obtained parameters of PSS and the TCSC controller
are shown in Table 3. The performance of the optimised controllers was tested by
non-linear simulations of the power system with severe disturbance. In the simulation, the
most severe situation where a three-phase short-circuit fault occurs at the generator
busbar terminal at t = 0 s is considered. The original system is restored upon the
clearance of the fault. The TCSC controller considered here consists of a TCSC which
acts initially to give a maximum compensation, and then the control action is switched to
the POD controller.

Table 3 Optimal parameters obtained by GA

Parameter KP T1 = T3 T2 = T4 KS T1S = T3S T2S = T4S

Value 58.9439 0.6624 0.3223 44.2925 0.3179 0.0884

The response of the power angle with respect to time for the cases without and with
genetically optimised TCSC controller is shown in Figure 7, for a fault clearing time of
TFC = 0.26 s. It is clear from Figure 7 that the example power system loses synchronism
without the TCSC controller.

Figure 7 Response of power angle with and without TCSC controller

The responses of relative speed, the real power of the generator, the accelerating power,
the reactance offered by TCSC and the terminal voltage with respect to time are shown in
Figures 812.
468 S. Panda and R. Patel

Figure 8 Response of speed with TCSC controller

Figure 9 Response of electrical power output of generator

Figure 10 Response of accelerating power

 Damping power system oscillations 469

Figure 11 Variation in XTCSC

Figure 12 Variation in generator terminal voltage

To assess the damping characteristics of the TCSC controller, a small disturbance in

mechanical power input is applied after the steady state has been reached at 10 s. The
input mechanical power is increased by a step of 10% at t = 10 s and the disturbance is
removed at t = 15 s. Figures 13, 14 and 15 show the variation in speed, electrical power
output and the terminal voltage of the generator with respect to time for the cases with
and without the TCSC controller, where it is clear that simultaneous coordinated tuning
of the PSS and TCSC controller is more effective in damping low-frequency oscillations.
470 S. Panda and R. Patel

Figure 13 Variation in speed for a step disturbance in PM (mechanical power) input

Figure 14 Variation in electrical power output of generator for a step disturbance in PM

(mechanical power) input

Figure 15 Variation in generator terminal voltage for step disturbance in mechanical power input
 Damping power system oscillations 471

The performance of the TCSC controller for a disturbance in reference voltage is also
considered. The reference voltage is increased by a step of 10% at t = 10 s and the
disturbance is removed at t = 18 s. Figures 16 and 17 show the deviation in speed and
electrical power output of the generator with respect to time for the cases with and
without the TCSC controller, which indicates the effectiveness of the TCSC controller in
damping low-frequency oscillations.

Figure 16 Variation in speed for a step disturbance in reference voltage setting

Figure 17 Variation in electrical power output of generator for a step disturbance in reference
voltage setting

Next, in order to study the robustness of the PSS-and-TCSC coordinated controller,

different operating conditions are considered. A three-phase fault is applied at the
generator busbar terminal at t = 0 s and cleared after 100 ms. Further, it is assumed that
the system has two parallel lines and after fault clearance one of the lines is tripped off.
472 S. Panda and R. Patel

The variation in power angle with respect to time for various operating points is shown in
Figure 18. It is clear from Figure 18 that the genetically optimised TCSC controller is
robust and ensures stability for variations in operating conditions.

Figure 18 Response of power angle with different operating points

6 Conclusion

A power system with TCSC and PSS has been considered in this paper. An algorithm for
the simultaneous coordinated tuning of TCSC controller and PSS to enhance the power
system stability is proposed. The minimisation of the rotor angle deviation following a
severe disturbance is formulated as an optimisation problem and the optimal PSS and
TCSC controller parameters are obtained by means of GA. To avoid adverse interactions
and optimise the overall system performance, the parameters of the TCSC controller and
PSS are simultaneously tuned. Non-linear simulation results have proved that with the
obtained controller settings, the system will be stable for the maximum possible fault
clearing time and power system oscillations will be well damped. The results also show
that the power system oscillations are well damped under large and small disturbances.
Different small disturbances like increase/decrease in mechanical power input and
reference voltage settings are considered to show the effectiveness of the proposed TCSC
controller to damp low-frequency oscillations. Further, it is observed that the proposed
TCSC controller is robust and its performance is satisfactory for the variation in
operating conditions.
The proposed approach needs a time-domain dynamic simulation for each candidate
set of parameters for objective function evaluation. The simulation approach would be
very challenging for a realistic large-scale power system. Further, to determine the most
severe fault condition for tuning, extensive contingency analysis needs to be carried out
for a realistic large-scale power system.
 Damping power system oscillations 473

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474 S. Panda and R. Patel

Appendix

System data: All data are in pu unless specified otherwise.

Generator: H = 4.0 s., D = 4.4, Xd = 1.0, Xq = 0.6, Xd = 0.3, Tdo = 5.044, Ra = 0
Exciter: (IEEE Type AC 4A): KA = 200, TA = 0.04 s, TC = 1.0 s, TB = 12 s, VRMAX = 5.64,
VRMIN = 4.53, VIMAX = 1.0, VIMIN = 1.0
Transmission line and Transformer: (XL = 0.6, XT = 0.1)XT = 0.0 + j0.7
PSS: T1S = T3S, T2S = T4S, TWS = 10 s
TCSC controller: TTCSC = 15 ms, 0 = 1550, XTCSC0 = 0. 4603, k = 2, T1 = T3, T2 = T4,
TWS = 10 s, XMAX = 0.8 XT, XMIN = 0.