Simulation Modelling Practice and Theory 17 (2009) 16181634

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Simulation Modelling Practice and Theory

journal homepage: www.elsevier.com/locate/simpat

Differential evolutionary algorithm for TCSC-based controller design

Sidhartha Panda *
Department of Electrical and Electronics Engineering, National Institute of Science and Technology, Berhampur, Orissa 761008, India

a r t i c l e i n f o a b s t r a c t

Article history: In this paper, a systematic procedure for modelling, simulation and optimal tuning the
Received 18 December 2008 parameters of a thyristor controlled series compensator (TCSC) controller, for the power
Received in revised form 30 May 2009 system stability enhancement is presented. The design problem of the proposed controller
Accepted 4 July 2009
is formulated as an optimization problem and differential evolution (DE) is employed to
Available online 9 July 2009
search for optimal controller parameters. A detailed analysis on the selection of objective
function and controller structure on the effectiveness of the TCSC controller is carried
Keywords:
out and simulation results are presented. The dynamic performance TCSC controller under
MATLAB/SIMULINK
Modelling and simulation
various loading and disturbance conditions are analyzed and compared. Finally, the pro-
Differential evolution posed design approach is extended to a multi-machine power system for simultaneous
Thyristor controlled series compensator design of multiple and multi-type controllers.
(TCSC) 2009 Elsevier B.V. All rights reserved.
Power system stability
Multi-machine system
Power system stabilizer

1. Introduction

Power system stability problem has been and continues to receive a great deal of attention over the years. Recently, with
the deregulation of the electricity market, power systems are expected to perform functions well beyond its original design
capacity with new loading and power ow conditions. The increase in utilization of existing power systems may get the sys-
tem operating closer to stability boundaries making it subject to the risk of collapse of power systems. Synchronous gener-
ator excitation control is one of the most important, effective and economic methods to enhance the stability of power
systems and to damp low-frequency electromechanical oscillations during disturbance conditions. Power system stabilizers
(PSSs) are now routinely employed in the industry in conjunction with generator excitation systems to enhance the system
damping and extend power transfer limits, thus ensuring secure and stable operation of the power system. However, the
excitation control is restrained by excitation current limit and the time constant of excitation windings and a power system
may not maintain the synchronism when a large fault occurs in the power system with generator excitation control only [1].
Recent development of power electronics introduces the use of exible ac transmission systems (FACTS) controllers in power
systems [2]. Subsequently, within the FACTS initiative, it has been demonstrated that variable series compensation is highly
effective in both controlling power ow in the lines and in improving stability [35]. Thyristor controlled series compensator
(TCSC) is one of the important members of FACTS family that is increasingly applied with long transmission lines by the util-
ities in modern power systems. It can have various roles in the operation and control of power systems, such as scheduling
power ow; decreasing unsymmetrical components; reducing net loss; providing voltage support; limiting short-circuit cur-
rents; mitigating subsynchronous resonance; damping the power oscillation and enhancing transient stability [68].

* Tel.: +91 9438251162.

E-mail addresses: panda_sidhartha@rediffmail.com, sidharthapandas@yahoo.com

1569-190X/$ - see front matter 2009 Elsevier B.V. All rights reserved.
doi:10.1016/j.simpat.2009.07.002
 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634 1619

In stability studies, the overall accuracy is primarily decided by how correctly the system is modeled. Over the years,
several TCSC models have been developed and used by the researchers depending on the applications [911]. The
PhillipsHeffron model is a well-known model for synchronous generators [12,13]. Traditionally, for the small signal stabil-
ity studies of a single-machine innite-bus (SMIB) power system, the linear model of PhillipsHeffron has been used for
years, providing reliable results [14]. However, linear models cannot properly capture complex dynamics of the system,
especially during major disturbances. The behavior underlying the performance of a synchronous machine during major
disturbances is represented by a set of non-linear differential equations. In addition to these, other equations describing dif-
ferent constraints introduced by the loads and/or network, the excitation system, mechanical control system, and installed
FACTS controller etc., are included. Thus the complete mathematical description of a power system becomes exceedingly
difcult. Linearized models give satisfactory results under small disturbance conditions. This presents difculties for design-
ing the FACTS controllers in that, the controllers designed to provide desired performance at small signal condition do not
guarantee acceptable performance in the event of major disturbances. In this paper TCSC controller is designed for large dis-
turbance condition. To optimize the TCSC-based controller parameters under the most severe three-phase fault conditions,
MATLAB/SIMULINK model of the power system with TCSC controller has been used.
In recent years, one of the most promising research eld has been Heuristics from Nature, an area utilizing analogies
with nature or social systems. These techniques are nding popularity within research community as design tools and prob-
lem solvers because of their versatility and ability to optimize in complex multi-modal search spaces applied to non-differ-
entiable objective functions. Differential evolution (DE) is a branch of evolutionary algorithms developed by Rainer Stron and
Kenneth Price in 1995 for optimization problems [15]. It is a population-based direct search algorithm for global optimiza-
tion capable of handling non-differentiable, non-linear and multi-modal objective functions, with few, easily chosen, control
parameters. It has demonstrated its usefulness and robustness in a variety of applications such as, Neural network learning,
Filter design and the optimization of aerodynamics shapes. DE differs from other evolutionary algorithms (EA) in the muta-
tion and recombination phases. DE uses weighted differences between solution vectors to change the population whereas in
other stochastic techniques such as genetic algorithm (GA) and expert systems (ES), perturbation occurs in accordance with
a random quantity. DE employs a greedy selection process with inherent elitist features. Also it has a minimum number of EA
control parameters, which can be tuned effectively [16,17].
In this paper, a comprehensive assessment of the effects of TCSC-based damping controller has been carried out. Two
types of TCSC-based controller structure namely a lead-lag (LL) and a proportionalintegral-derivative (PID) structure are
considered. The design problem of the proposed controllers is transformed into an optimization problem. The design objec-
tive is to improve the stability of a single-machine innite-bus (SMIB) power system, subjected to severe disturbances. Fur-
ther, for the optimization purpose, two objective functions namely integral square error (ISE) and integral of time-multiplied
absolute value of the error (ITAE) are considered. GA-based optimal tuning algorithm is used to optimally tune the param-
eters of these controllers for minimizations of ISE and ITAE. The proposed controllers have been applied, tested and com-
pared on a weakly connected power system. The dynamic performances of both the LL and PID structured TCSC
controller are analyzed at different loading conditions and under various disturbance condition. Further, the proposed ap-
proach is extended to a 3-generator system for simultaneous design of TCSC and power system stabilizers.

2. Modelling the power system under study

The SMIB power system with TCSC shown in Fig. 1 is considered in this study. The generator has a local load of admittance
Y = G + jB and a double circuit transmission line of total impedance Z = R + jX. In the gure VT and VB are the generator ter-
minal and innite-bus voltage, respectively, and XT is the reactance of the transformer.

2.1. Modelling the TCSC dynamics

It is well-known that the reactance adjusting of TCSC is a complex dynamic process. Effective design and accurate eval-
uation of the TCSC control strategy depend on the simulation accuracy of this process. Basically a TCSC consists of three com-
ponents: capacitor banks, bypass inductor and bidirectional thyristors. The ring angles of the thyristors are controlled to
adjust the TCSC reactance in accordance with a system control algorithm, normally in response to some system parameter

Tr. Line-1
VB
VT
XT Z = R + jX
TCSC

Generator Infinite-bus
Tr. Line-2
Y = G + jB

Fig. 1. Single-machine innite-bus power system with TCSC.

1620 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634

variations [18]. According to the variation of the thyristor ring angle (a) or conduction angle (r), this process can be mod-
eled as a fast switch between corresponding reactance offered to the power system.
Assuming that the total current passing through the TCSC is sinusoidal; the equivalent reactance at the fundamental fre-
quency can be represented as a variable reactance XTCSC. There exists a steady-state relationship between a and the reactance
XTCSC. This relationship can be described by the following equation [7]:

X 2C r sin r 4X 2C cos2 r=2 k tankr=2  tanr=2

X TCSC a X C  1
X C  X L p X C  X L k2  1 p
where XC is the nominal reactance of the xed capacitor, XL is the inductive reactance
p of inductor connected in parallel with
xed capacitor, r = 2(p  a) is the conduction angle of TCSC controller, k X C =X P is the compensation ratio.
Since the relationship between a and the equivalent fundamental frequency reactance offered by TCSC, XTCSC(a) is a un-
ique-valued function, the TCSC is modeled here as a variable capacitive reactance within the operating region dened by the
limits imposed by a. Thus XTCSCmin 6 XTCSC 6 XTCSCmax, with XTCSCmax = XTCSC(amin) and XTCSCmin = XTCSC(180) = XC. In this study,
the controller is assumed to operate only in the capacitive region, i.e., amin > ar, where ar corresponds to the resonant point,
as the inductive region associated with 90 < a < ar induces high harmonics that cannot be properly modeled in stability
studies [18].

2.2. Modelling the power system with TCSC

The generator is represented by the third-order model comprising of the electromechanical swing equation and the gen-
erator internal voltage equation. The state equations may be written as [19]:
x_ Pm  P e  Dx  1=M 2
d_ xb x  1 3
V T 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 damp-
ing coefcient, respectively; xb is the synchronous speed; VT is the terminal voltage; I is the current, d and x are the rotor
angle and speed, respectively.
The d-axis and q-axis components of armature current, I can be calculated as:
      
id Yd V B R2 X1 sin d
E0q  2 6
iq Yq Z e X 2 R1 cos d

where

Y d C 1 X 1  C 2 R2 =Z 2e ; Y q C 1 R1 C 2 X 2 =Z 2e ; C 1 1 RG  XB

C 2 RB XG; Z 2e R1 R2 X 1 X 2 ; R1 R  C 2 X 0d ; R2 R  C 2 X q

X 1 X Eff C 1 X q ; X 2 X Eff C 1 X 0d ; X Eff X  XTCSCa

The power Pe, the internal voltage E_ 0q and the terminal voltage VT can be expressed as:

Pe E_ 0q iq X q  X 0d id iq 7
E_ 0q EfdE0q X d X 0 id =T 0do 8
d
q
V T X q iq E0q  X d id 2
2
9

In the above equations, Efd is the eld voltage; T 0do is the open circuit eld time constant; Xd and X 0d are the d-axis reactance
and the d-axis transient reactance of the generator, respectively.
The simplied IEEE Type-ST1 excitation system is considered in this work. It can be described as:

E_ fd K A V ref  V T  Efd =T A 10

where KA and TA are the gain and time constant of the excitation system; Vref is the reference voltage.

2.3. Modelling the TCSC-based controller structure

Despite signicant strides in the development of advanced control schemes over the past two decades, the conventional
lead-lag (LL) structure controller as well as the classical proportionalintegral-derivative (PID) controller and its variants,
 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634 1621

Max.
0 0 + 1 X TCSC ()
1 + sTTCSC
+ Output
+
Min.
1 + sT3T 1 + sT1T sTWT
1 + sT4T KT
1 + sT2T 1 + sTWT Input
Two stage Washout Gain
lead-lag Block Block Block

Fig. 2. Lead-lag structure of TCSC-based controller.

Proportional

KP
Max.

+ 0 + 1 X TCSC ()
Input
1 / sK i
+
+
1 + sTTCSC
Integral Output
+ + Min.
du
KD
dt 0
Derivative

Fig. 3. PID structure of TCSC-based controller.

remain the controllers of choice in many industrial applications. These controller structures remain an engineers preferred
choice because of their structural simplicity, reliability, and the favorable ratio between performance and cost. Beyond these
benets, these controllers also offer simplied dynamic modelling, lower user-skill requirements, and minimal development
effort, which are issues of substantial importance to engineering practice [20,21]. In view of the above, both lead-lag and PID
structures are considered for analysis in the present study as a TCSC-based controller.
The LL and PID structures of TCSC-based damping controller, to modulate the reactance offered by the TCSC, XTCSC(a) are
shown in Figs. 2 and 3, respectively. The input signal of the proposed controllers is the speed deviation (Dx), and the output
signal is the reactance offered by the TCSC, XTCSC(a). The lead-lag structured controller consists of a gain block with gain KT, a
signal washout block and two-stage phase compensation blocks. The signal washout block serves as a high-pass lter, with
the time constant TWT, high enough to allow signals associated with oscillations in input signal to pass unchanged. From the
viewpoint of the washout function, the value of TWT is not critical and may be in the range of 120 s [1]. The phase compen-
sation block (time constants T1T, T2T, T3T and T4T) provides the appropriate phase-lead characteristics to compensate for the
phase lag between input and the output signals. The proportional, integral and derivative parameters of the PID controller
are KP, Ki and KD, respectively. In Figs. 2 and 3, r0 represents the initial conduction angle as desired by the power ow control
loop. The steady state power ow loop acts quite slowly in practice and hence, in the present study, r0 is assumed to be con-
stant during large disturbance transient period. The desired value of line reactance is obtained according to the change in the
conduction angle Dr. This signal is put through a rst 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(a). The effective reactance is
given by:
X Eff X  X TCSC a 11
where XTCSC(a) is the reactance of TCSC at ring angle a.
The value of ring angle a is changed according to the change in out put of TCSC controller Dr, as a = p  r/2 and
r = r0 + Dr, r0 being initial value of conduction angle.

3. Proposed approach

3.1. Problem formulation

In case of LL controller, the washout time constants TWT and the time constants T2T and T4T are usually prespecied
[14,20,22]. In the present study, TWT = 10 s and T2T = T4T = 0.1 s are used. The controller gain KT and the time constants T1T
and T3T are to be determined. In case of PID controller, the parameters KP, Ki and KD are to determined. During steady state
conditions Dr and r0 are constant. During dynamic conditions, conduction angle (r) and hence XTCSC(a) is modulated to im-
prove power system stability. The desired value of compensation is obtained through the change in the conduction angle
(Dr), according to the variation in Dx. The effective conduction angle r during dynamic conditions is given by:
1622 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634

r r 0 Dr 12

3.2. Objective function

In this study, two different objective functions are considered for optimization of LL and PID controller parameters. First is
integral squared error (ISE) and second is integral of time-multiplied absolute value of the error (ITAE), dened as follows:
Z t1
ISE e2 tdt 13
0
Z t1
ITAE tjetjdt 14
0

where e is the error signal and t1 is the time range of simulation.

In ISE, only error is considered and therefore no importance is given to time. But for the power system stability problems,
it is required that settling time should be less and also oscillations should die out soon. To this end, in ITAE, while performing
integration, time is multiplied with error so that oscillations die out sooner. In the present study, speed deviation Dx fol-
lowing a disturbance is taken as the error signal. 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 minimize this objective function in
order to improve the system stability. The problem constraints are the TCSC controller parameter bounds. Therefore, the de-
sign problem can be formulated as the following optimization problem:
Minimize J 15
Subject to

K min
T  K T  K max
T 16
T min max
1T  T 1T  T 1T 17
T min
3T  T 3T  T max
3T 18
Where J is the objective function (ISE or ITAE); K max
T , K min
T is the upper and lower bounds of gain; T max
iT , T min
iT is the upper and
lower bounds of time constants (i = 1, 3).

3.3. MATLAB/SIMULINK based model of system under study

In order to tune TCSC controller parameters, the MATLAB/SIMULINK model of the example power system is developed
using Eqs. (2)(12) as shown in Fig. 4. The SIMULINK model for calculation of id and iq is shown in Fig. 5. The relevant

D
Damping Delta
Power Id [id]
angle
Mechanical W0 Xtcsc id
power input 1
Electrical Initial speed -K- s
power output 1 Rotor Iq [iq]
Pmech 1/M Eq'
s speed 2*pi*f Integrator
[Pe] iq
1/M Integrator id & iq calculation

Tw.s T1T.s+1 T3T.s+1 1

Clock -K- Sig Xtcsc
Change over
Pe_Fault Switch for Pe Tw.s+1 T2T.s+1 T4T.s+1 Ttcsc.s+1
TCSC Xtcsc
Electrical controller gain Washout Two stage TCSC
Power before and Lag/Lead Sigma Sigma to M AX/M IN
delay
during fault Terminal Xtcsc
voltage Initial calculation
1/Tdo' conduction
[vt] Eq' angle
KA Efd 1
-K- s
Vref TA.s+1 Pe = iq*Eq' Electrical
Reference +(Xq-Xd')*id*iq power output
[id]
voltage Xd-Xd' f(u) [Pe]
[iq]
Xd-Xd' (Xd-Xd')id Mux Vt =sqrt ((Xq*iq)^2
. Xq-Xd' +((Eq'-Xd'*id))^2) Terminal voltage
[id]
Xq-Xd' f(u) [vt]

Fig. 4. SIMULINK model of SMIB with TCSC controller.

 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634 1623

Fig. 5. SIMULINK model for calculation of id and iq.

parameters and initial condition calculations are given in Appendix A and B, respectively. The objective function is evaluated
for each individual by simulating the example power system under the severe disturbance. The most severe situation where
a three-phase short-circuit fault occurs at the generator busbar terminal is considered in the present study for objective
function calculation.

4. Overview of differential evolution (DE) algorithm

Differential evolution (DE) algorithm is a stochastic, population-based optimization algorithm introduced by Storn and
Price [15]. DE works with two populations; old generation and new generation of the same population. The size of the pop-
ulation is adjusted by the parameter NP. The population consists of real valued vectors with dimension D that equals the
number of design parameters/control variables. The population is randomly initialized within the initial parameter bounds.
The optimization process is conducted by means of three main operations: mutation, crossover and selection. In each gen-
eration, individuals of the current population become target vectors. For each target vector, the mutation operation produces
a mutant vector, by adding the weighted difference between two randomly chosen vectors to a third vector. The crossover
operation generates a new vector, called trial vector, by mixing the parameters of the mutant vector with those of the target
vector. If the trial vector obtains a better tness value than the target vector, then the trial vector replaces the target vector in
the next generation. The evolutionary operators are described below [1517].

4.1. Initialization

For each parameter j with lower bound X Lj and upper bound X Uj , initial parameter values are usually randomly selected
uniformly in the interval [X Lj ; X Uj ].

4.2. Mutation

For a given parameter vector Xi,G, three vectors (Xr1,G Xr2,G Xr3,G) are randomly selected such that the indices i, r1, r2 and r3
are distinct. A donor vector Vi,G+1 is created by adding the weighted difference between the two vectors to the third vector as:

V i;G1 X r1;G F  X r2;G  X r3;G 19

where F is a constant from (0, 2).

4.3. Crossover

Three parents are selected for crossover and the child is a perturbation of one of them. The trial vector Ui,G+1 is developed
from the elements of the target vector (Xi,G) and the elements of the donor vector (Xi,G).Elements of the donor vector enter the
trial vector with probability CR as:
1624 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634


V j;i;G1 if randj;i  CR or j Irand
U j;i;G1 20
X j;i;G1 if randj;i > CR or jIrand
With randj,i  U (0,1), Irand is a random integer from (1, 2, . . . , D), where D is the solutions dimension i.e. number of control
variables. Irand ensures that Vi,G+1 Xi,G

X r1,G
Difference Vector
F . ( X r 2 ,G X r 3, G )

Vi,G+1 = X r1,G + F. ( X r2,G X r3,G )

X r 2 ,G

X r 2 ,G X r 3 ,G

X r 3,G

Fig. 6. Vector addition and subtraction in DE to generate a new candidate solution.

Start

Specify the DE parameters

Initialize the population

Gen.=1
Evalute the population

Create offsprings and evalute their fitness

No
Is fitness of offspring better than
fitness of parents ?

Yes Discard the

offspring in
Replace the parents by offsprings new population
in the new population

Yes
Size of new population <
Old population ?
Gen. = Gen+1
No

No
Gen. > Max. Gen ?

Yes
Stop

Fig. 7. Flow chart of proposed DE optimization approach.

 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634 1625

4.4. Selection

The target vector Xi,G is compared with the trial vector Vi,G+1 and the one with the better tness value is admitted to the
next generation. The selection operation in DE can be represented by the following equation:

U i;G1 iff U i;G1 < f X i;G
X i;G1 21
X i;G otherwise:
where i e [1, NP].
Fig. 6 shows the vector addition and subtraction necessary to generate a new candidate solution.

5. Results and discussions

5.1. Application of differential evolution

Implementation of DE requires the determination of six fundamental issues: DE step size function, crossover probability,
the number of population, initialization, termination and evaluation function. Generally DE step size (F) varies in the interval
(0, 2). A good initial guess to F is in the interval (0.5, 1). Crossover probability (CR) constants are generally chosen from the
interval (0.5, 1). If the parameter is co-related, then high value of CR work better, the reverse is true for no correlation
[23,24]. In the present study, a population size of NP = 20, generation number G = 200, step size F = 0.8 and crossover prob-
ability of CR = 0.8 have been used. Optimization is terminated by the prespecied number of generations for DE. One more
important factor that affects the optimal solution more or less is the range for unknowns. For the very rst execution of the
program, 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. The ow chart of the DE algorithm employed in the present study is given in Fig. 7.

5.2. Lead-lag structured TCSC controller

The lead-lag structure shown in Fig. 2 is rst considered as the TCSC-based controller. The controller parameters are opti-
mized considering both the objective functions ISE and ITAE. Optimization process is repeated 20 times and the controller
parameters are chosen corresponding to the best tness function obtained in the 20 runs. The bounds of unknown param-
eters of gain and time constants used in the present study and the optimized TCSC controller parameters obtained in for ISE
and ITAE are shown in Table 1. Figs. 8 and 9 show the convergence rate of ISE and ITAE, respectively, with the number of
generations. It may be noted that the higher converged values of ITAE is due to multiplication of time factor as indicated
in Eqs. (13) and (14), and it does not in any ways ascertain a poor response. The actual response must be observed through
the simulation results presented in the next section.
In order to verify the effectiveness of the proposed TCSC controller optimized using ISE and ITAE, simulation studies are
carried out. A 3-phase, self-clearing fault of 100 ms duration is applied at the generator terminal busbar at t = 1 s. The ori-
ginal system is restored upon the fault clearance. The system power angle response for the above contingency is shown in
Fig. 10. In Fig. 10 the response without the controller is shown with the dotted line with the legend NC; and the responses
with TCSC controller optimized using ISE and ITAE are shown with dashed line and solid line with legends ISE and ITAE,
respectively. It is clear from Fig. 10 that, without controller even though the system is stable, power system oscillations
are poorly damped. It is also clear that, proposed DE optimized TCSC controller signicantly suppresses the rst swing in
the power angle and provides good damping characteristics to low-frequency oscillations by stabilizing the system much
faster. Further, it is also obvious from Fig. 10 that, the performance of TCSC controller is better when the objective function
used is ITAE as compared with ISE. Figs. 11 and 12 show the responses of electrical power output of generator and the reac-
tance offered by the TCSC response for the above contingency. It can be observed from these results that, when ISE is used as
objective function oscillations remain for little longer time. In ITAE, however, we get improved damping with lower settling
time.
At this stage, studies are carried out to answer the pertinent question, Whether the proposed TCSC controller designed
under large disturbance condition work satisfactorily under the small perturbation? In order to answer this important ques-
tion, the dynamic performance of the system with proposed TCSC controller is examined under small disturbance conditions.

Table 1
Optimized lead-lag controller parameters for objective functions ISE and ITAE.

Parameters Gain Time constants

KT T1T T3T
Minimum range 20 0.01 0.01
Maximum range 100 0.5 0.5
ISE 77.2308 0.1566 0.0519
ITAE 68.2881 0.2736 0.0118
1626 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634

-3
x 10
5.55

5.5

5.45

convergence of ISE
5.4

5.35

5.3

5.25

5.2

5.15

0 20 40 60 80 100 120 140 160 180 200

Generations
Fig. 8. Convergence of ISE for lead-lag structured TCSC controller.

1.9
Convergence of ITAE

1.8

1.7

1.6

1.5
0 20 40 60 80 100 120 140 160 180 200
Generation
Fig. 9. Convergence of ITAE for lead-lag structured TCSC controller.

Fig. 10. Power angle response without and with control (ISE and ITAE) under 100 ms 3-phase fault disturbance with lead-lag structured TCSC controller.
 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634 1627

Fig. 11. Electrical power response without and with control (ISE and ITAE) under 100 ms 3-phase fault disturbance with lead-lag structured TCSC
controller.

Fig. 12. Variation of reactance offered by TCSC without and with control (ISE and ITAE) under 100 ms 3-phase fault disturbance with lead-lag structured
TCSC controller.

Fig. 13. Power angle response without and with control (ISE and ITAE) for 1 pu step increase in mechanical power input with lead-lag structured TCSC
controller.
1628 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634

The input mechanical power is increased by a step of 0.1 pu at t = 1 s. Fig. 13 shows the power angle response for the above
contingency. Fig. 13 illustrates the advantage of using ITAE over ISE as the objective function. The rst swing in power angle
is also slightly reduced with ITAE compared to ISE.

5.3. PID structured TCSC controller

As we have seen in section 5.2 that ITAE is better objective function than ISE; therefore the parameters of the PID con-
troller (shown in Fig. 3) are optimized using ITAE as objective function. The optimized parameters (obtained in 20 runs)
are shown in Table 2. Fig. 14 shows the convergence rate of ITAE with the number of generations for a PID structured TCSC
controller. Comparison of converged values of ITAE for lead-lag and PID (shown in Figs. 9 and 14) shows that, in case of lead-
lag structured TCSC controller, ITAE converges to a lower value than that of PID structured TCSC controller. So lead-lad struc-
ture should give a better response compared to the PID structure.
The performance of PID and lead-lag structured TCSC controller optimized using ITAE as objective function, are compared
by applying a severe disturbance. A 3-phase fault is applied at the generator terminal busbar at t = 1 s. and removed after
100 ms. The original system is restored upon the fault clearance. Figs. 15 and 16 show the system response for the above

Table 2
Optimized PID controller parameters using ITAE as objective function.

Parameters/objective function KP Ki KD
ITAE 71.5052 0.3295 0.1362

2.35

2.3
ITAE convergence

2.25

2.2

2.15

2.1
0 20 40 60 80 100 120 140 160 180 200
Generations
Fig. 14. Convergence of ITAE for PID structured TCSC controller.

Fig. 15. Power angle response with PID and lead-lag structured TCSC controller under 100 ms 3-phase fault disturbance using ITAE objective function.
 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634 1629

Fig. 16. XTCSC variation with PID and lead-lag structured TCSC controller.

Fig. 17. Power angle response with PID and lead-lag structure TCSC controller for 1 pu step decrease in mechanical power input using ITAE as objective
function.

contingency with PID and lead-lag structured TCSC controller. In these gures the response with PID structured TCSC con-
troller are shown in dotted line with legend PID and the response with lead-lad structured TCSC controller are shown in
solid line with legend Lead-lag. It is clear from Figs. 15 and 16 that the performance of lead-lag structured TCSC controller
is better then a PID structured TCSC controller.
The performance of PID and lead-lag structured TCSC controller optimized using objective function ITAE are compared
under small disturbance. The input mechanical power is decreased by a step of 0.1 pu at t = 1 s. Fig. 17 shows the power
angle response for the above contingency. It is clear form the simulation results that, a lead-lag structured TCSC controller
with ITAE as objective function provides best results compared to all other alternatives.

5.4. Extension to multi-machine system with multi-type controllers

The proposed approach is extended to a multi-machine power system with multiple controllers. The widely used Western
Systems Coordinating Council (WSCC) 3-machine, 9-bus system shown in Fig. 18 is considered [25]. The simplied IEEE
type-ST1A static excitation system has been considered for all three generators. The system data are given in Appendix C.
Further a TCSC is assumed to be installed in line from bus 7 to bus 8. Also, to deal with the simultaneous design of multiple
controllers, power system stabilizers (PSS) are assumed for machines 2 and 3.
The generators are represented by a ux-decay model. The differential-algebraic equations for the m machine, n bus sys-
tem with IEEE Type-I exciters are [25]:
ddi
xi  xs 22
dt
2Hi dxi
T mi  T ei  Di xi  xs 23
xs dt
0
dEqi
T 0doi E0qi  X di  X 0di Idi Efdi 24
dt
1630 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634

Gen2 Gen3
18.0 KV 8 13.8 KV
1.025 pu 7 9 1.025 pu
Z=0.0085+j0.072 Z=0.0119+j0.1008

Y=0+j0.0745 Y=0+j0.1045
2 3

Z=0.032+j0.161
163 MW Tap=18/230 Tap=13.8/230 85 MW

Z=0.039+j0.17
Y=0+j0.153

Y=0+j0.179
Z=j0.0625 Z=j0.0568
100MW
35 MVAR

5 6

Z=0.01+j0.085 Z=0.017+j0.092
Y=0+j0.088 Y=0+j0.079

Tap=16.5/230
4
125MW Z=j0.0576 90MW
50 MVAR 1 30 MVAR
Gen1
16.5 KV
Slack Bus 1.04 pu

Fig. 18. WSCC 3-machine, 9-bus system.

In this study, the loads are assumed to be constant impedance and converted to admittances as:
PLi  jQ Li
Li
y 25
V 2i
where i = 1, . . . , m.
Li , since loads are assumed as injected quantities.
There is a negative sign for y
The network equations for the new augmented network can be written as:
" # !" #
IA YAYB EA
26
0 YCYD VB

Since there is no current injection at the n network buses, theses buses can be eliminated resulting in:

IA Y A  Y B Y 1
D YC EA Y int EA 27
where the elements of the IA and EA are:

Ii Idi jIqi ejdi p=2 28

Ei Ei \di 29
The elements of the Y int are:

Y ij Gij jBij 30

Since the network buses are eliminated, the internal nodes are renumbered as 1, . . . , m for ease of notation. So the current
equation becomes:
X
m
Ii Y ij Ej 31
j1

The real power output of the internal node i can be written as:
X
m
Pei ReEi Ii  Ei Ej Gij cos dij Bij sin dij 32
j1

The 3-machine, 9-bus power system shown in Fig. 18, is modeled in the MATLAB/SIMULINK environment using
Eqs. (22)(32) as shown in Fig. 19. In Fig. 19 only one machine is shown and the other two machines have been modeled
in the similar manner.
 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634 1631

-K-

D1
Pm1

Pm1 -K- 1/s 1/s Del1

w1
Pa1
[Pe1]

Pe1
'
[e1] E1 del
id -K-
[d1] del1 I1 I
.
[e2] E2

., Vt1
[d2] del2
-K- |u| V tEfd
,
[e3] Clock1
E3 Terminal IEEE-1
.,. Voltage Excitor
[d3] del3 E1_ -K-
Switch1
,.,
[XTCSC] dE/dt
XTCSC

..,, After fault clearence 1/s

[e1] E1

"
[d1] del1 I1
E1 [e1]
..,,.
[e2] E2 Pe1
_ Re(u) [Pe1]
[d2] del2 u
Complex Pe
-
[e3] Clock2 Math
E3 E1_ Power
Function
--
[d3] del3 Switch5

'' During fault

Fig. 19. MATLAB/SIMULINK model for machine 1 in a 3-machine power system.

VSmax
sTWP 1 + sT1P 1 + sT3 P VS
K PS
Input 1 + sTWP 1 + sT2 P 1 + sT4 P Output
Gain VSmin
block Washout Two-stage
block lead-lag block

Fig. 20. Structure of the power system stabilizer.

Table 3
DE Optimized PSS and TCSC-based controller parameters for multi-machine system.

Parameters TCSC PSS 2 PSS 3

K 0.3881 8.0306 14.337
T1 0.0417 0.4157 0.203
T2 0.1 0.1 0.1
T3 0.198 0.1093 0.4396
T4 0.1 0.1 0.1
1632 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634

The lead structure of the TCSC-based controller shown in Fig. 2 is considered in the present study. The structure of the PSS
is shown in Fig. 20. A 3-phase fault is applied at bus 7 and cleared by permanent tripping of the line from bus 5 to bus 7. The
accelerating power of the nearest machine i.e. machine 2 is selected as the input signal to the TCSC-based controller. Accel-
erating powers of the individual generators are chosen as the input signals input signals to the PSSs. A washout time constant
of 2 s and all the denominator time constants of 0.1 s are considered for simultaneous designing of PSSs and TCSC controller.
The objective function J is expressed as:
Z t1
J jx2  x1 j  t  dt jx3  x1 j  t  dt 33
0

where x1, x2 and x3 are the rotor speed of machine 1, 2 and 3, respectively, and t1 is the time range of simulation.The
parameters of the PSSs and the TCSC-based controller are simultaneously tuned using DE technique as explained in Section
5.1. The parameters are optimized for the most severe conditions. The obtained parameters of TCSC-based controller and PSS
are shown in Table 3. To assess the effectiveness of the proposed controller, simulation studies are carried out. A 3-phase
fault of 100 ms duration is applied at bus 7. The fault is cleared by permanent tripping of the line between bus 5 to bus
7. The variations of the relative speed deviation of machines 2 and 3 with respect to machine 1 for the above contingency
are shown in Figs. 21 and 22, respectively. In these gures, the response without controllers is shown with dotted line and
the response with proposed PSS and TCSC controller is shown with solid line. It is clear from these Figs. that, the system is
unstable without control under this severe disturbance. It is also clear from the gures that with proposed controllers sta-
bility of the system is maintained and low-frequency oscillations are quickly damped out.

Fig. 21. Response of (x2  x1) for a 100 ms 3-phase fault at bus 7 cleared by line tripping.

Fig. 22. Response of (x3  x1) for a 100 ms 3-phase fault at bus 7 cleared by line tripping.
 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634 1633

6. Conclusion

This paper presents a systematic procedure for modelling, simulation and optimal tuning of TCSC controller for enhanc-
ing rotor angle stability of a power system. A MATLAB/SIMULINK model is presented for a single-machine innite-bus
power system installed with TCSC controller. Different controller structures, namely a lead-lag (LL) and a proportional
integral-derivative (PID) and objective functions namely integral square error (ISE) and integral of time-multiplied abso-
lute value of the error (ITAE) are considered. The design problem is transferred into an optimization problem and differ-
ential evolution algorithm is employed to search for the optimal TCSC controller parameters. The performance of the
proposed controllers under various disturbances are compared and analyzed. Simulation results show that ITAE is a better
objective function than ISE for optimization problems concerning TCSC controller design. Further, it is observed that lead-
lag structured TCSC controller where the controller parameters are optimized using ITAE as objective function, gives the
best system response compared to all other alternatives. Finally, the proposed modelling and design approach has been
extended to a 3-generator power system and power system stabilizers and the TCSC-based controller are simultaneously
designed.

Appendix A

System data for single-machine innite-bus power system: All data are in pu unless specied otherwise.
Generator:

M 8 s; D 4:4; X d 1:0; X q 0:8; X 0d 0:3; T 0do 5:044;

f 60; V T 1:0; Pe 0:9 pu; Q 0:1513 pu; d0 51:7960

Exciter (simplied IEEE type-ST1):

K A 10; T A 0:01 s:

Transmission line and transformer:

X 0:6; X T 0:1; Ra 0; G jB 0 j0:

TCSC controller:

T TCSC 15 ms; X TCSC0 0:3369; a0 1580 ; X C 0:5X; X P 0:25X C ; k 2; X TCSC max 0:8X; X TCSC min 0

Appendix B

Calculation of initial conditions

p
k X C =X L

X 2C r sin r 4X 2C cos2 r=2 k tankr=2  tanr=2

X TCSC a X C 
X C  X L p X C  X L k2  1 p

X Eff X T X TL  X TCSC a

0v1
u !2 q
P  jQ u V 2t C Vd
Bt 2
Ia ; V d Pe V t @ Pe Q e A; Vq V 2t  V 2d ; iq ;
V t Xq Xq

Pe  iq V q
id ; E0q Vq X 0d id ; V d V d X Eff iq ; V q V q  X Eff id ; Eq V T jX q Ia ; Efd Eq X d  X 0d id
Vd
1634 S. Panda / Simulation Modelling Practice and Theory 17 (2009) 16181634

Appendix C

System data for 3-machine bus power system: All data are in pu unless specied otherwise. Please see Ref. [25] for details.
H1 23:64; H2 6:4; H3 3:01; D1 =M1 0:1; D2 =M 2 0:2; D3 =M 3 0:3; X d1 0:146;
X d2 0:8958; X d3 1:3125; X 0d1 0:0608; X 0d2 0:1198; X 0d3 0:1813; X q1 0:0969;
X q2 0:8645; X q3 1:2578; T 0do1 8:96; T 0do2 6:0; T 0do3 5:89
Exciter (simplied exciter):
K A1 K A2 K A3 20; T A1 T A2 T A3 0:2 s

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