A Comparative Analysis of the Interaction
between Different FACTS and HVDC
Liangde Xu, Ping Dong, Member, IEEE, and Mingbo Liu
Abstract--SVC and TCSC, two different types of FACTS
devices, play an important role in power systems. The interaction
between SVC/TCSC and HVDC may impose negative influence
on power systems. Taking IEEE 3-machine 9-bus AC/DC hybrid
system as a test system, the relationship between connection type
of FACTS and interaction is investigated, and the steady-state
and dynamic relative gain array (RGA) methods are adopted to
compare the interaction between TCSC (series type) and HVDC
with that between SVC (parallel type) and HVDC in the different
cases, such as changing electrical distance and DC transmission
power. The sensitive frequency which occurs in the RGA peak
value point is found. Results show that the interaction between
FACTS and HVDC varies with electrical distance, DC
transmission power and frequency, which can provide technical
support for configuring FACTS devices.
Index Terms--Flexible AC transmission system (FACTS);
High Voltage Direct Current (HVDC); Static Var Compensator
(SVC) ； Thyristor Controlled Series Compensator (TCSC) ;
Relative Gain Array( RGA) ; Interaction analysis.
I. INTRODUCTION
H IGH Voltage Direct Current (HVDC) and flexible AC
transmission system (FACTS), which introduces power
electronics technology and modern control theory into AC/DC
hybrid transmission system, become an important means to
enhance transmission capacity , controllability and stability of
power systems [1]. In accordance with their connection type,
FACTS devices can be divided into series type, parallel type
and integrated type. The series FACTS, like thyristor
controlled series compensator (TCSC), is commonly used in
regulating power flow, while the parallel FACTS such as
static var compensators (SVC) is used for regulating node
voltage. All kinds of FACTS devices used in practical
application have shown excellent performance and broad
application prospects. However, with the aggravation of
power system complexity, crossing-coupling between the
control channels of HVDC and FACTS may impose negative
influence on power systems [1]. Therefore, the interaction and
coordination between different type of FACTS and HVDC
need to be solved.
This work is supported by National Natural Science Foundation of China
(51107042) and Fundamental Research Funds for the Central Universities
(2011ZM0017).
LD.Xu, P.Dong and M.B.Liu are with the Department of Electric Power
Engineering, South China University of Technology, 510641, Guangzhou,
China. L.D.Xu,Email:xld1130@126.com; P.Dong,Email: epdping@
scut.edu.cn; M.B.Liu,Email: epmbliu@scut.edu.cn.
978-1-4673-2729-9/12/$31.00 ©2012 IEEE
A lot of studies indicate that the interaction between
control channels exists in concurrent operation of HVDC and
FACTS devices. In [2], the interaction between HVDC and
SVC in Hydro Quebec power grid was investigated by time-
domain simulation method and root locus method. The result
shows that the interaction is observable only if very fast SVC
response is to be applied, and only when SVC operates nearby
full capacitive state. In [3-4], it was further pointed out that
there may exist a strong interaction between HVDC and SVC
in a tightly coupled AC/DC hybrid power systems when the
short-circuit ratio of AC system is in a low level. In [5], the
relative gain array (RGA) method was introduced as a steady-
state measurement of interactions, which was adopted to
investigate a two-area power system with HVDC and SVC.
However, the influence of system frequency has not been
considered.
This paper builds mathematical model of IEEE 3-machine
9-bus AC/DC system including series/parallel FACTS devices
installed. Then the steady state RGA and dynamic RGA
methods are adopted to analyze all kinds of factors affecting
the interaction between FACTS and HVDC.
II. MATHEMATICAL MODEL
Fig. 1 shows an IEEE 3-machine 9-bus AC/DC system [6,
7] .The DC line is connected between buses 7 and 8. All
generators are represented by third-order models and the
excitation system is described as a first-order process [8].
⎧ dδ
⎪ dt = (ω − 1)ω0
⎪
⎪T d ω = P − [ E ′ i − ( X ′ − X )i i ] − D(ω − 1)
⎪⎪ j dt m q q d q d q
⎨ dE ′ (1)
⎪T ′ q
= E fd − Eq′ − ( X d − X d′ )id
⎪ d 0 dt
⎪ dE
⎪T fd
= − E fd + K A (Vref − Vgt )
⎩⎪
e
dt
2 2
uq = Eq' − X d' id − Ra ⋅ iq ud = X q iq − Ra ⋅ id Vgt = ud + uq
, ,
The DC transmission system is composed by two AC/DC
converters as shown in Fig. 2 [9]. The DC current Idc and the
extinction angle γ are controlled by PI regulators. The HVDC
system’ equations are depicted as follows:
 ⎧ represent node current, V represents node voltage. Based on
⎪U Rdc = 3 2 mRU R cos α − 3 X tR I dc Eq. (1)-Eq. (5), the mathematical model of the AC DC hybrid
⎪ π π system can be described as Eq. (6).
⎪
⎪U Idc = 3 2 mI U I cos γ − 3 X tI I dc
⎪ π π ⎧ dx
⎪ = f ( x , y , u)
⎪ ⎨ dt (6)
⎨ R = Rdc dc
P U I , Q R = R
P tan φ (2)
⎪⎩ 0 = g ( x, y, u)
⎪
⎪ PI = −U Idc I dc , QI = PI tan φ
''

⎪ U Rdc U Idc
Where x represents state variables, y represents algebra
⎪cos φ ' ≈ , cos φ '' ≈ variables, u represents control variables. Linearizing Eq. (6)
⎪ 3 2 3 2 and eliminating algebra variable Δy, then it is converted into
⎪ m RU R mI U I
⎩ π π Eq. (7) [10].

⎧ Δx& = AΔx + BΔu

⎨ (7)
⎩ΔY = C Δx + DΔu
Based on Eq. (7), the transfer function is given:

Y(s)
G(s) = = C(sI − A)−1 B + D (8)
U(s)

Fig.1 3-machine 9-bus AC/DC system

III. THE APPLICATION OF RGA
RGA method, proposed by Bristol in 1966 [11], is used
U R 1: m R X U U X m :1 U I
for quantitative analysis of the interaction between different
tR Rdc Idc I
R
control loop in multi-variable control system, and so as to
tI
dc

α γ
arrive the best pairing of control system. Based on the relative
P > 0, Q > 0 P < 0, Q > 0
R R I gain of the system, RGA is defined by the ratio of
I

Fig.2 HVDC transmission system uncontrolled gain (all other loops open) and controlled gain
(all other loops closed).
SVC, as a parallel FACTS device, can be described as a The closed-loop control system constituted by SVC and
parallel capacitor or reactance, which injects or absorbs HVDC is installed as shown in Fig. 5, and a similar closed-
reactive power from power system. SVC model is given as Eq. loop control system constituted by TCSC and HVDC can be
(3). constructed as shown in Fig. 6.
I svc = U svc ⋅ jBsvc (3)
U svc α VRdc
Bsvc
I svc Vsvc

Bsvc
Fig. 5 The closed-loop control system consisting of SVC and HVDC
Fig.3 Steady-state model of SVC

Series FACTS TCSC can be described as a variable α VRdc

reactance, which is shown in Eq. (4).
X t csc Pt csc
U t csc = I t csc ⋅ jX t csc (4)
U t csc
U1 U2

Fig. 6 The closed-loop control system consisting of TCSC and HVDC

X t csc Except for FACTS devices, other parameters of the two
Fig.4 Steady-state model of TCSC studied systems are the same. In Fig.5, this paper chooses the
firing angle α and the SVC equivalent susceptance BSVC as the
Power network can be described by admittance matrix, control variables, while chooses the VRdc (the dc voltage at the
which is shown in Eq. (5). rectifier side) and Vsvc (the voltage of bus installed with SVC)
I = YV (5) as the output variables.
A similar selection of the variables can be applied in
Where Y stands for the nodal admittance matrix, and I
another control system, as shown in Fig. 6. Choose the firing HVDC is calculated respectively with different electrical
angle α and the TCSC equivalent impedance Xtcsc as the distance. The calculation results are shown in Table 1.
control variables, VRdc (the dc voltage at the rectifier side) and TABLE I
STEADY-STATE RGA ANALYSIS BETWEEN HVDC AND SVC/TCSC
Ptcsc (the active power flow of the line at which the TCSC is
connected) as output variable. SVC RGA TCSC RGA
Position (HVDC and SVC) Position (HVDC and TCSC)
Take SVC for example, based on the control system
shown in Fig. 5, the RGA matrix of the studied system can be ⎡0.6472 0.3528⎤
Bus5-Bus4 ⎢ ⎥
formed as Eq. (8): ⎡ 1.0004 −0.0004⎤ ⎣0.3528 0.6472⎦
Bus4 ⎢−0.0004 1.0004 ⎥
α Bsvc ⎣ ⎦ ⎡0.8234 0.1766⎤
Bus4-Bus6 ⎢ ⎥
⎣0.1766 0.8234⎦
VRdc ⎡ λ11 λ12 ⎤ (8)
RGA =
Vsvc ⎢⎣ λ 21 λ 22 ⎥⎦
⎡0.6472 0.3528⎤
Bus4-Bus5 ⎢ ⎥
⎡ 1.0092 −0.0092⎤ ⎣ 0.3528 0.6472 ⎦
Bus5 ⎢−0.0092 1.0092 ⎥
Where ⎣ ⎦ ⎡ 1.6935 −0.6935⎤
Bus5-Bus7 ⎢ ⎥
(∂ΔVRdc / ∂Δα ) ΔB ⎣−0.6935 1.6935 ⎦
=0
λ11 = svc
（9） ⎡0.8234 0.1766⎤
(∂ΔVRdc / ∂Δα ) ΔV Bus4-Bus6 ⎢ ⎥
svc = 0
⎡0.9859 0.0141⎤ ⎣0.1766 0.8234⎦
Bus6 ⎢ 0.0141 0.9859⎥
Hence, according to the definition, RGA’s elements λ11 ⎣ ⎦ ⎡ 0.8888 0.1112 ⎤
measures the effect that the control channel of SVC/TCSC has Bus6-Bus9 ⎢ ⎥
⎣0.1112 0.8888 ⎦
on the gain of the control channel of HVDC. In addition, the
⎡ 0.8888 0.1112 ⎤
RGA matrix can be obtained by the transfer function G(s) as Bus6-Bus9 ⎢ ⎥
⎡0.9780 0.0220⎤ ⎣ 0.1112 0.8888 ⎦
shown in Eq. (10). Bus9 ⎢0.0220 0.9780⎥
⎣ ⎦ ⎡0.8797 0.1203⎤
RGA = G(s) ⊗ (G(s) ) -1 T
（10） Bus9-Bus8 ⎢ ⎥
⎣ 0.1203 0.8797 ⎦
According to Eq. (10), when s =jw=0, G(0) represents the ⎡ 1.0895 −0.0895⎤ ⎡ 1.6935 −0.6935⎤
Bus7 ⎢−0.0895 1.0895 ⎥ Bus7-Bus5 ⎢−0.6935 1.6935 ⎥
stable-state relationship of the input and output of multi- ⎣ ⎦ ⎣ ⎦
variable system. RGA obtained in this situation describes the
⎡0.9680 0.0320⎤ ⎡0.8797 0.1203⎤
interaction between FACTS and HVDC in steady systems. Bus8 ⎢0.0320 0.9680⎥ Bus8-Bus9 ⎢ 0.1203 0.8797 ⎥
Take s=jω=j2πf, the RGA matrix of the system G(s) in any ⎣ ⎦ ⎣ ⎦
frequency could be calculated [12]. Furthermore, From Table 1, the steady-state RGA diagonal elements of
characteristic frequency, occurred in the RGA peak value, HVDC and series SVC, parallel TCSC are all close to 1.
could be identified, which provides quantitative information According to the nature of the RGA matrix, it could be drawn
for the study of interaction between the controllers. that the interaction between SVC/TCSC and HVDC is not
According to the value of the steady-state RGA diagonal great and the system will not be severely affected.
elements or dynamic RGA curve, the size of interaction could For SVC, the RGA diagonal elements locate in the range
be determined and the interaction between HVDC and series of 0.96-1.09, while the RGA diagonal elements of TCSC are
TCSC, parallel SVC could be compared. Judgments are based within the range of 0.64-1.70. It is shown that the RGA values
on the following: of TCSC are further away from 1 than these of SVCs. For
1) If the steady-state RGA diagonal elements are equal to example, the RGA element with SVC installed on the Bus-4 is
1, there is no interaction between FACTS devices and HVDC. 1.0004, while the corresponding RGA elements of TCSC in
The greater the element values deviates from 1, the greater similar electrical distance are 0.6472 and 0.8234. Therefore,
interaction exists. If the RGA element is negative, the system the interaction between HVDC and the series TCSC is greater
is an unstable system because of coupling effect [13]. than the interaction between HVDC and SVC.
2) The more the dynamic RGA curve peaks appear, the To further observe the relationship of RGA elements and
greater the peak deviated from 1, the stronger interaction electrical distance, three cases that SVC is located respectively
between FACTS and HVDC exists. in Bus7, Bus5 and Bus4 is investigated. The RGA diagonal
3) If 0 <λii <1, then the interaction increases the gain of elements are all greater than 1 in above three cases, which
control channel; if 1 <λii, the interaction reduces the gain of means that interaction changes in the same direction and it is
control channel. comparable. Similarly, the cases that TCSC installed in line
Bus5-Bus4, Bus4-Bus6 and Bus9-Bus6 are selected. The trend
IV. THE APPLICATION OF RGA of RGA elements with the increasing electrical distance is
shown in Fig. 7 (Abscissa represents the electrical distance
A. Change of electrical distance increases).
DC line is connected between bus 7 and bus 8, as shown in In addition, it is clearly observed that the steady state RGA
Fig.1. The steady-state RGA matrix of SVC/ TCSC and diagonal elements of two different types FACTS devices,
SVC and TCSC, are both biased in favor of 1 with the
increase of electrical distance, which indicates that the HVDC与 SVC
interaction size is decreasing. 1.1

RGA diagonal elements

B. Change of DC Transmission Power 1

DC transmission power largely reflects the relative 0.9

strength of AC and DC system. The interaction between HVDC与 TCSC
0.8
FACTS devices, which is connected to AC/DC system is
naturally influenced by DC power. Therefore, the interaction 0.7
between HVDC and SVC/TCSC could be comparably
analyzed by changing the size of DC transmission power. SVC Bus-7 Bus-5 Bus-4
TCSC Bus 5—Bus 4 Bus 4—Bus 6 Bus 6—Bus 9

Fig.7 The relationship between interaction and electrical distance

DRGA DRGA DRGA

Pdc=107MW Pdc=107MW Pdc=107MW
Bus-7 Bus-5 Bus-4
2.5 Pdc=120MW 2.5 Pdc=120MW 2.5 Pdc=120MW
Pdc=70MW Pdc=70MW Pdc=70MW
2 2 2

1.5 1.5 1.5

1 1 1

0.5 0.5 0.5

0 1 2 3 0 1 2 3 0 1 2 3
Frequency(Hz) Frequency(Hz) Frequency(Hz)
DRGA DRGA DRGA
Pdc=107MW Pdc=107MW Pdc=107MW
Bus-8 Bus-9 Bus-6
2.5 Pdc=120MW 2.5 Pdc=120MW 2.5 Pdc=120MW
Pdc=70MW Pdc=70MW Pdc=70MW
2 2 2

1.5 1.5 1.5

1 1 1

0.5 0.5 0.5

0 1 2 3 0 1 2 3 0 1 2 3
Frequency(Hz) Frequency(Hz) Frequency(Hz)
Fig.8 The dynamic RGA curve of SVC and HVDC in system frequency range 0-3Hz

DRGA DRGA DRGA

Bus7—Bus5 Bus5—Bus4 Bus4—Bus6

10 10 10

5 5 5

0 0 0
0 1 2 3 0 1 2 3 0 1 2 3
Frequency（ Hz） Frequency（ Hz） Frequency（ Hz）
DRGA DRGA

Bus6—Bus9
Bus9—Bus8
Pdc=107MW
10 10
Pdc=120MW
Pdc=70MW
5 5

0 0
0 1 2 3 0 1 2 3
Frequency（ Hz） Frequency（ Hz）
Fig.9 The dynamic RGA curve of TCSC and HVDC in system frequency range 0-3Hz

Based on Eq. (10), the dynamic RGA matrix which
describes the interaction between SVC/TCSC and HVDC at
any system frequency can be calculated. Since the frequency
of low frequency oscillation is generally in the range of 0.2-
2.5Hz [14], the DC transmission power is set as 70MW,
107MW (normal conditions), and 120MW. Fig.8 and Fig.9
show the dynamic RGA curve between SVC/TCSC and
HVDC in the range of 0-3Hz.
From Fig.8, the dynamic RGA curve amplitude distributes
in 0.9-2.5 in different DC transmission power, while most
frequency curves are gentle and very close to 1. In Fig.9, the
dynamic RGA curve of TCSC and HVDC are largely deviated
from 1 and there are more peaks. In addition, the maximum
peak value is 15. Thus, according to the dynamic RGA curves,
the interaction between HVDC and the series TCSC is greater
than that between HVDC and parallel SVC.
In Fig.8 and Fig.9, for each SVC or TCSC installation
location, compare the dynamic RGA curve under different DC
power transmission. It could be easily found that dynamic
RGA curve tends to be gentle and is basically equal to 1 with
the decrease of the DC power, which means that the
interaction between SVC/TCSC and HVDC greatly reduced.
Among which, the reduction of the interaction between TCSC
and HVDC is more significant. It is because that TCSC, series
FACTS device, is used to regulate the line power flow, while
parallel FACTS SVC is applied to regulate the node voltage.
Therefore, TCSC is more sensitive to the change of the DC
transmission power. The interaction between TCSC and
HVDC is impacted greater by DC power.
Each dynamic RGA curve peak corresponds to a system
sensitive frequency. Under that frequency the interaction
between SVC/TCSC and HVDC is greater. In Fig.8, compare
the various SVC installations, the system sensitive frequency
is 1.3Hz, which means the interactions of SVC and HVDC
have all increased in different degrees. Compared to SVC,
TCSC has more system sensitive frequency. For Pdc=
107MW, system sensitive frequencies are 0.2Hz, 0.6Hz,
0.8Hz, 1.3Hz, and the sensitive frequencies changed with the
changes of DC power. It is illustrated that the series FACTS
TCSC and HVDC have stronger coupling degree.
In addition, Fig. 8 also shows the dynamic RGA curve
tends to be gentle and close to 1 with the increase of electric
distance (e.g. comparing Buses 7, 5 and 4), under different
DC power . Compared to that, TCSC, due to its sensitivity to
the DC power, the relationship of its interaction with HVDC
and the electrical distance is not obvious
V. CONCLUSION
This paper concerns the interaction between different type
of FACTS and HVDC. Based on the model of 3-machine 9-
bus AC/DC hybrid system, steady-state and dynamic RGA
analysis for comparing the size of the interaction between
series TCSC, parallel SVC and HVDC is carried out. Analysis
results reveal that:
1) TCSC, used for regulating the line power flow, is more
sensitive with the change of DC power, and it has strong
5
coupling degree with HVDC. Compared to that, the
interaction between HVDC and SVC which is parallel type is
smaller.
2) According to comparison the interaction between SVC
and HVDC with that between TCSC and HVDC by changing
the electrical distance and DC power, the RGA peaks and the
corresponding system frequency are investigated. The analysis
reveals that, with the increasing of electrical distance and the
decreasing of DC power, the interaction between different
FACTS and HVDC decreases.
VI. ACKNOWLEDGMENT
The authors would like to thank the support of the National
Natural Science Foundation of China 51107042 and the
Fundamental Research Funds for the Central Universities
(2011ZM0017).
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