C.

Srinivasa Rao / International Journal of Engineering Science and Technology

Vol. 2(12), 2010, 6954-6962

ADAPTIVE NEURO-FUZZY BASED

INFERENCE SYSTEM FOR LOAD
FREQUENCY CONTROL OF
HYDROTHERMAL SYSTEM UNDER
DEREGULATED ENVIRONMENT
C.SRINIVASA RAO
EEE Department, G.Pulla Reddy Engineering College,
Kurnool, Andhra Pradesh, 518002, India
csr_bit@yahoo.co.in
http://gprec.ac.in

Abstract :
This paper presents the analysis of Load Frequency Control (LFC) of a two-area hydrothermal system under
deregulated environment by considering Adaptive Neuro-Fuzzy Inference System (ANFIS). Fixed gain
controllers for LFC are designed at nominal operating conditions and fail to provide best control performance
over a wide range of operating conditions. So, in order to keep system performance near its optimum, it is
desirable to track the operating conditions and use updated parameters to compute control gains. Open
transmission access and the evolving of more socialized companies for generation, transmission and distribution
affects the formulation of AGC problem. So the traditional LFC two-area system is modified to take into
account the effect of bilateral contracts on the dynamics. A control scheme based on ANFIS, which is trained by
the results of off-line studies obtained using genetic algorithm, is proposed in this paper to optimize and update
control gains in real-time according to load variations. The efficiency of the proposed method is demonstrated
through computer simulations.
Keywords: Load Frequency Control; ANFIS; Hydrothermal system; Deregulation.

1. Introduction
Large scale power systems are normally composed of control areas or regions representing coherent group of
generators. In a practically interconnected power system, the generation normally comprises of a mix of
thermal, hydro, nuclear and gas power generation. However, owing to their high efficiency, nuclear plants are
usually kept at base load close to their maximum output with no participation in the system automatic generation
control (AGC). Gas power generation is ideal for meeting the varying load demand. Gas plants are used to meet
peak demands only. Thus the natural choice for AGC falls on either thermal or hydro units. Literature survey
shows that most of earlier works in the area of AGC pertain to interconnected thermal systems and relatively
lesser attention has been devoted to the AGC of interconnected hydro-thermal system involving thermal and
hydro subsystem of widely different characteristics. Concordia and Kirchmayer [1] have studied the AGC of a
hydro-thermal system considering non-reheat type thermal system neglecting generation rate constraints.
Kothari, Kaul, Nanda [2] have investigated the AGC problem of a hydro-thermal system provided with integral
type supplementary controllers. It is to be appreciated that in a realistic situation, the system works in the
continuous mode whereas the controllers work in the discrete mode. Perhaps Nanda, Kothari and Satsangi [3]
are the first to present comprehensive analysis of AGC of an interconnected hydrothermal system in continuous-
discrete mode with classical controllers.
Under deregulated environment the power system structure changed in such a way that would allow the
evolving of more specialized industries for generation (Genco), transmission (Transco) and distribution (Disco).
A detailed study on the control of generation in deregulated power systems is given in [4]. The concept of

ISSN: 0975-5462 6954

 C.Srinivasa Rao / International Journal of Engineering Science and Technology
Vol. 2(12), 2010, 6954-6962

Cpf11 Cpf12
+ +
Cpf21 + Cpf22
p.u load of + p.u load of
Disco 1 Disco 2
Cpf31 Cpf32
+ +

Cpf41 + + Cpf42

B 1 1
R1 R2 PD1(s )
Thermal area

+ - + -
ANFIS 1 1 1  sK r Tr + K p1
controller a
- 1  s Tg 1  s Tt 1  s Tr 1  s T p1
+
+ +
+
- +
Demand of
1 1 1  sK r Tr discos in
a
- 1  s Tg 1  s Tt 1  s Tr area 1 to
+ Gencos in
area 2

+ +
+ 2  T12
s
- -
+ + -1 Demand of
- 1 1  sTR 1 - sTw discos in
a area 2 to
1  s T1 1  s T2 1  0.5s Tw Gencos in
-1
- area 1

+ + ++
ANFIS - 1 1  sTR 1 - sTw KP2
controller a 1  s T2 1  0.5s Tw 1  s TP 2
1  s T1 +
+ - -
+
Hydro area
1 1 PD 2 (s )
B R3 R4

Cpf13 Cpf14
+ +
Cpf23 + Cpf24
p.u load of + p.u load of
Disco 3 Disco 4
Cpf33 Cpf34
+ +

Cpf43 + Cpf44

Figure 1: Two area hydrothermal AGC block diagram under deregulated scenario

independent system operator (ISO) as an unbiased coordinator to balance reliability with economics has also
emerged [5, 6].
Fixed gain controllers are designed at nominal operating conditions and fail to provide best control performance
over a wide range of operating conditions. Therefore, to keep system performance near its optimum, it is
desirable to track the operating conditions and use updated parameters to compute the control gains. The
prominent feature of fuzzy and neural network based schemes is that they provide a model-free description of
control systems and do not require model identification. In this paper a control scheme based on ANFIS, which
is trained by the results of off-line studies, obtained using genetic algorithm has been proposed. Separate ANFIS
networks have been used for both thermal and hydro systems. The simulations are carried out in presence of the

ISSN: 0975-5462 6955

 C.Srinivasa Rao / International Journal of Engineering Science and Technology
Vol. 2(12), 2010, 6954-6962

Generation Rate Constraint (GRC) because ignoring GRC leads to nonrealistic results. In view of this the main
objectives of the present paper are the following:-
1. To consider an interconnected hydrothermal system under deregulated environment and to evaluate
dynamic responses.
2. To present a systematic and comprehensive approach for designing ANFIS based controller.
3. To analyze the dynamic performance obtained with the above two control strategies, i.e. ANFIS based
controller and PI controller (dual mode controller)

2. Dynamic Mathematical Model

The Load Frequency System (LFC) system investigated is composed of an interconnection of two areas under
open market system. Area 1 comprises of a reheat system and area 2 comprises of hydro system. Fig. 1 is the
block diagram of two-area hydrothermal system under open market scenario where ACE of each area is fed to
the corresponding controller. The accurate control signal is generated for every incoming ACE at that particular
t

load change. A performance index given by J     f12    f 22  Ptie
2

12 has been considered to compare
0
the performance of dual mode controller and ANFIS controller.

3. Proposed Control Scheme

3.1. Dual mode Scheme

As mentioned earlier, fixed gain controllers are designed at nominal operating conditions and fail to provide best
control performance over a wide range of operating conditions. The well designed integral controller alone can
bring the steady state error to zero but the speed of the response of the system becomes slow resulting high
overshoot and settling time. The overshoot is reduced and the speed of the response improves by using only
proportional controller. It is obvious that the presence of the proportional controller is highly required at
transient to make system response faster thus reducing the overshoot. But only the proportional controller fails
to bring the steady state error to zero. So there is need to present both the integral and proportional controller. In
view of the above context, it seems appropriate to combine discontinuous control with the continuous mode of
control. When the error is large one control strategy might be chosen and for sufficiently small error another
control strategy might be chosen. It is thus a discontinuous mode of operation. When the error is sufficiently
small and remains small the control structure is not changed. It is called as continuous mode of operation. The
main objective of introducing the discontinuous mode is to bring the error from a large value to within a small
pre-specified bound.

3.1.1. Discontinuous Mode

The control law employed during the transient period, i.e., the discontinuous mode, is switched between Eqn (1)
and Eqn (2) depending on the magnitude of error signal i.e., ACE (t ) . For ACE (t )   the output of the
controller is
Pc (t )   K p  ACE (t ) (1)
Where
Pc (t ) = output signal of the controller
 = constant indicating the specified limit of error signal
K p = proportional controller
And, for ACE (t )  
Pc (t )   K i  ACE (t ) dt (2)
Based upon the above mentioned facts, the dual concept is introduced here in the following way. The
proportional controller will act during the transient period when the error  ACE  is sufficiently larger, whereas
the integral controller would be the better option when the error is small. The proposed control scheme is shown
in Fig 2. For the proposed control scheme, the control law is taken as follows
Pc1   K p1 ACE1 t  , for  ACE1    1 (3)
Pc1   K i1  ACE1 t dt  , for  ACE1    1 (4)

ISSN: 0975-5462 6956

 C.Srinivasa Rao / International Journal of Engineering Science and Technology
Vol. 2(12), 2010, 6954-6962

Pc 2   K p 2 ACE 2 t  , for  ACE 2    2 (5)

Pc 2   K i 2  ACE 2 t dt  , for  ACE 2    2 (6)

ACE t  if ACE t   
ACE t 
else

If
action
else action

K p

+
Ki +
  P c (t )
s

Figure 2: Block diagram of dual mode controller

3.1.2. Continuous Mode

When the error signal remains within the specified limit, i.e., ACE (t )   , the system will operate in the
continuous mode. The integral control strategy is best suited to meet the requirements when the system enters
the continuous mode.

4. ANFIS Methodology
Advanced control based on artificial intelligent techniques is called intelligent control. Fuzzy logic is also
another artificial intelligence technique to apply human like thinking to a system. A fuzzy system can be
designed to emulate human deductive thinking that is, the process people use to infer conclusions from what
they know. Fuzzy Logic Control (FLC) is a rule-based controlling technique. The structure of the FLC
resembles that of a knowledge-based control except that the FLC utilizes the principles of fuzzy set theory in its
data representation and its logic. The basic configuration of FLC is simply represented in four parts, as shown in
Fig 3.

Knowledge base

Data Rule
Base Base

Crisp Fuzzy Fuzzy Crisp

Inputs Fuzzifier Inference Defuzzifier Outputs
engine

Fuzzy Logic Control

Figure 3: Schematic diagram of fuzzy building blocks

For large power systems consisting of several control areas and many Gencos, the optimization process may
take a long time which is not desirable for online control actions. Thus, ANFIS is used to decrease the
optimization time. The first step in ANFIS involves training the ANFIS. Since data is needed for training the
ANFIS, large amount of data is collected by considering load changes ranging from 0 to 0.1 p.u MW. The load
changes which have been considered for getting the data are 0.02, 0.05, 0.08 and 1.0. Each of this load is

ISSN: 0975-5462 6957

 C.Srinivasa Rao / International Journal of Engineering Science and Technology
Vol. 2(12), 2010, 6954-6962

presented to the system and using the dual mode controller which has been optimized by PSO, the data is
collected. The inputs to the ANFIS considered are ACE (t ) and ACE (t ) whereas the output is the
corresponding signal to the governor from the dual mode controller. The structure of ANFIS considered is
shown in Figure 4. Finally the training set consists of 4000 elements. Since the system considered is a
hydrothermal system, separate ANFIS structures have been considered for both thermal and hydro areas.
Layer 1 Layer 2 Layer 3 Layer 4 Layer 5

MIN 1

MIN N 2
O
R
MIN M 3
X A
L
MIN I 4
Z
A
T 5
f
MIN Σ
I
O
MIN N 6

Y MIN 7

MIN 8

MIN 9

Figure 4: Structure of ANFIS Considered

The layers shown in Figure 4 can be defined as follows:

Layer 1: Every node in this layer contains membership functions.
Layer 2: This layer chooses the minimum value of two input weights
Layer 3: Every node of these layers calculates the weight, which is normalized.
Layer 4: This layer includes linear functions, which are functions of the input signals.
Layer 5: This layer sums all the incoming signals.

5. Results and Discussions

The proposed ANFIS controller is applied to a two area hydrothermal thermal system under deregulated
scenario. For comparative study between dual mode controller and ANFIS controller, the same values of the
system parameters are considered here as input values. Each Genco participates in AGC as defined by following
area participation factors (apfs):
apf1 =0.5, apf2 =0.25, apf3 =0.25, apf4 =0.5, apf5 =0.25, apf6 =0.25. Coefficients that distribute ACE to several
m
Gencos are termed as “ACE participation factors” (apfs). It should be noted that  apf j  1 , where m is the
j 1
number of Gencos. The Discos contract with the Gencos as per the following Disco participation matrix. The
disco participation matrix(DPM) in this work is taken as follows:

ISSN: 0975-5462 6958

 C.Srinivasa Rao / International Journal of Engineering Science and Technology
Vol. 2(12), 2010, 6954-6962

 0 .1 0 .0 0 .3 0 .4 
 0.0
 0 .1 0 .0 0.2 
DPM =  0.3 0 .4 0 .1 0 .0 
 
 0.2 0 .0 0 .2 0 . 1
 0.2 0 . 3 0 . 0 0 . 1
 
0.2 0.2 0.4 0.2 

A step load disturbance of 0.04 p.u MW is considered in either of the areas (Fig 5-7). Table 1 shows the
performance of the ANFIS controller with respect to Peak time, Overshoot and Settling time when it is
compared with Dual mode controller. It can be seen from the table that the performance of ANFIS controller is
better than the performance of Dual mode controller.

Table 1: Comparison of performance of system with dual mode controller

Thermal Area Hydro Area

Peak Settling Peak
Overshoot Overshoot Settling
Time Time Time
(Hz) (Hz) Time (sec)
(sec) (sec) (sec)

With Dual mode

0.27 0.00396306 0.51 0.355 0.00464758 1.68
controller

With ANFIS
0.265 0.00387634 0.49 0.34 0.0045496 1.625
controller

% Improvement 1.85 2.188 3.92 4.22 2.10 3.27

Where % Improvement is given by

  parameter with Dual mod e controller  parameter with ANFIS controller  
   100
 parameter with Dual mod e controller 
 
Table 2 shows the value of performance index of the system during base case and contract violation case for
both the controllers. It can be seen that the performance index of the system is less when an ANFIS controller is
used rather than dual mode controller.
Table 2: Comparison of Performance Index Values

Performance Index Value

(Base case)
ANFIS controller 7.099  10 6
Dual mode controller 9.094  10 6

Figure 8 shows the comparison between the performance index of the system due to both controllers.

ISSN: 0975-5462 6959

 C.Srinivasa Rao / International Journal of Engineering Science and Technology
Vol. 2(12), 2010, 6954-6962

Figure 5: Variation of Frequency and tie line power deviations

ISSN: 0975-5462 6960

 C.Srinivasa Rao / International Journal of Engineering Science and Technology
Vol. 2(12), 2010, 6954-6962

Figure 6: Generation of Gencos in thermal area

Figure 7: Generation of Gencos in hydro area

ISSN: 0975-5462 6961

 C.Srinivasa Rao / International Journal of Engineering Science and Technology
Vol. 2(12), 2010, 6954-6962

Figure 8: Comparison of performance index of the system

6. Conclusions
A new control scheme for AGC based on Adaptive Neuro-Fuzzy Inference System (ANFIS) under deregulated
scenario has been proposed. The performance of this new proposed scheme has also been compared with
another technique called as dual mode controller whose gains have been optimized by particle swarm
optimization. The conventional design approach requires a deep understanding of the system, exact
mathematical models, and precise numerical values whereas a basic feature of this ANFIS based controller is
that the rules can be created through the training mechanism employed in neural networks thus evolving a fuzzy
system. The time consumed for computing optimal gains using PSO directly is too much for real-time control
and is not practical. However, the trained ANFIS response time is reasonable and practical. The simulation
results show that the proposed ANFIS based controller yields improved control performance than the dual mode
controller.

7. Appendix
All the notations carry the usual meanings
(a) System data
T p1 , T p 2 = 20s; K p1 , K p 2 = 120 Hz/p.u.Mw; Pr1 , Pr 2 = 1200 Mw; Tt = 0.3s; Tg = 0.08s, Tw = 1s;
Tr  5s , T1  41.6 s , T2 =0.513s; R1 , R2 = 2.4Hz/pu Mw; T12 = 0.0866s; B1 , B2  0.4249p.u Mw/Hz;

Acknowledgement
The author sincerely acknowledges the financial support provided by G.Pulla Reddy Engineering
College(Autonomous): Kurnool, Andhra Pradesh, India for carrying out the present work.

References
[1] C. Concordia and L.K.Kirchmayer, “Tie-Line Power and Frequency Control of Electric Power System - Part II”, AIEE Transaction,
vol. 73, Part- 111-A, April 1954, pp. 133-146.
[2] M.L.Kothari, B.L.Kaul and J.Nanda, “Automatic Generation Control of Hydro- Thermal system”, journal of Institute of
Engineers(India), vo1.61, pt EL2,oct 1980, pp 85-91
[3] J.Nanda, M.L.Kothari, P.S.Satsangi, “Automatic Generation Control of an Interconnected hydrothermal system in Continuous and
Discrete modes considering Generation Rate Constraints”, IEE Proc., vol. 130, pt D, No.1 , Jan. 1983, pp 455- 460.
[4] Robert P. Schulte, “Automatic generation Control modification for present demands on interconnected power systems”, IEEE Trans.
On Power Systems, August 1996,pp. 1286- 1291.
[5] Jayant Kumar, Kah-Koeng and Gerald Sheble, “AGC simulator for price based operation Part1”, IEEE Transactions on Power
Systems, vol.12,no.2, May 1997,pp. 527-532.
[6] Jayant Kumar, Kah-Hoeng and Gerald Sheble, “AGC simulator for price based operation part- 2”, IEEE Transactions on Power
Systems, Vol.12, no. 2, May1997, pp 533-538.
[7] Bjorn H.Bakken and OvesGrande, “Automatic generation control in a deregulated environment”, IEEE Transactions on Power
Systems, vol.13, no.4, Nov1998,pp. 1401-1406.

ISSN: 0975-5462 6962

 C.Srinivasa Rao / International Journal of Engineering Science and Technology
Vol. 2(12), 2010, 6954-6962

[8] C.Srinivasa Rao, S.Sivanagaraju, P Sangameswara raju, “Automatic Generation Control of TCPS based Hydrothermal System
under Open Market Scenario:A Fuzzy Logic Approach” International Journal of Electrical Power and Energy Systems 31(2009), pp
315-322
[9] “Dynamic Models for steam and Hydro Turbines in Power system studies,”IEEE committee report”, Transactions in Power Apparatus
& Systems, Vol.92,No.6,Nov./Dec.1973,pp.1904-915.

ISSN: 0975-5462 6963