International Journal of Engineering & Technology IJET Vol: 9 No: 10
TCSC Control of Power System oscillation and
Analysis using Eigenvalue Techniques
M.W. Mustafa. MIEEE ,Nuraddeen Magaji, IEEE Student Memberand Z. bint Muda
Universiti Teknologi Malaysia, Department of Power Engineering, Johor Bahru, Malaysia
nmagaji2000@yahoo.com
Abstract—TCSC devices are used to improve real power and
eliminate line loses in ac systems. An additional task of TCSC
is to increase transmission capacity as result of power
oscillation damping. In this paper eigenvalue-based methods for
analysis and control of power system oscillations using TCSC
have been developed. The characterization of power system
oscillations using the eigenvalues and eigenvectors of the state
matrix is detailed. Design of power system damping controllers
using residue method is addressed for two area four machine
systems. The result shows the effectiveness of the method used
Keywords—TCSC, Power system oscillations, linear models,
eigenvalues, eigenvectors, participation factors and residue.
I. INTRODUCTION
he concept of flexible ac transmission systems is made
Tpossible by the application of high power electronic
devices for power flow and voltage control [l]. In
addition a number of TCSC devices have already been
installed to aid power system dynamics which help to
mitigation a low frequency oscillations often arise
between areas in a large interconnected power network
[2].
Eigenvalue sensitivities are one important outcome of the
modal analysis and control of oscillatory behaviour and
dynamic stability in power systems. The pioneering work
[3] considers the local oscillation of a single machine by
means of a transfer function model. The usually complex
pattern of oscillations in a large power system can be
studied through linear, time invariant, state-space models
based on the perturbations of the system state variables
from their nominal values at a specific operating point
Power system oscillations occur due to the lack of
damping torque at the generators rotors. The oscillation
of the generators rotors cause the oscillation of other
power system variables (bus voltage, bus frequency,
transmission lines active and reactive powers, etc.).
Power system oscillations are usually in the range
between 0.1 and 2 Hz depending on the number of
generators involved in [4]. Local oscillations lie in the
upper part of that range and consist of the oscillation of a
single generator or a group of generators against the rest
of the system. In contrast, inter-area oscillations are in the
lower part of the frequency range and comprise the
oscillations among groups of generators. In addition,
power system oscillations exhibit low damping compared
to oscillations found in other dynamic systems: an
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oscillation of 10% damping is commonly accepted as
well damped. To improve the damping of oscillations in
power systems, supplementary control laws can be
applied to existing devices. These supplementary actions
are referred to as power oscillation damping (POD)
control
This paper reviews the basic concepts of eigenvalue
analysis of linear systems. The physical meaning of
eigenvalues, eigenvectors, participation factors, residues
and controllability and observability indices will be
introduced and illustrated in small scale power systems.
This technique has been successfully used in location and
tuning of power system stabilizers [5] and FACTS
devices.
The application of sensitivity measures to the design of
power system damping (POD) controllers has been
applied to TCSC. The design method utilizes the residue
approach; this presented approach solves the optimal
sitting of the TCSC device, selection of the proper
feedback signals and the controller design problem [6].
II.LINEAR SYSTEM ANALYSIS TOOLS IN POWER SYSTEMS
Low frequency electromechanical oscillations range from
less than 1 Hz to 3 Hz other than those with sub-
synchronous resonance (SSR) [6,15]. Multi-machine
power system dynamic behavior in this frequency range
is usually expressed as a set of non-linear differential and
algebraic (DAE) equations. The algebraic equations result
from the network power balance and generator stator
current equations. The initial operating state of the
algebraic variables such as bus voltages and angles are
obtained through a standard power flow solution. The
initial values of the dynamic variables are obtained by
solving the differential equations
A. Eigenvalues, Eigenvectors and Modes
Let us start from the mathematical model a dynamic
system expressed in terms of a system of non-linear
differential equations:
x&= F ( x, t ) (1)
If this system of non-linear differential equations is
Linearized around an operating point of interest x=x0, it
results in:
International Journal of Engineering & Technology IJET Vol: 9 No: 10
Δx&= AΔx(t ) (2)
A meaningful solution method of (2) is based on the
eigenvalues and eigenvectors of the state matrix A. An
eigenvalue λi of the state matrix A and the associated
right vi and left wi eigenvectors are defined according to:
Avi = λi vi
In a matrix with all distinct eigenvalues (not a necessity
but it is easier to understand when it is so), all the right
eigenvectors and eigenvalues can be expressed as a
compact matrix expression
AV = VA (3)
Where,
V = ( v1 ,v2 ..... vn −1 vn , )
(4)
Λ= diag ( λ1 λ2 ...λn-1 ,λn )
Pre-multiplying both sides of (3) by V-1 gives
V −1 AV = Λ (5)
A similar expression holds for the left eigenvectors W
such that
WA = ΛW (6)
Where
W = [ ω1t ,ω2t ..... ωnt −1 ωnt ]t (7)
-l
Post-multiplying both sides of (6) by W , gives
WAW −1 = Λ (8)
The transformed physical state variables (x) can be put
into modal variables (2) with the help of eigenvector
matrices V and W
x = Vz
(9)
z = Wx
In power system literature, the right eigenvector matrix v
is known as the mode shape matrix, that is, eigenvector vi
is known as the ith mode shape, corresponding to
eigenvalue λi. The mode shape provides important
information on the participation of an individual machine
or a group of machines in one particular mode.
solution of (2) can be expressed in terms of the
eigenvalues and eigenvectors of the state matrix as:
N
Δx(t) = Ve Λt WΔx(0) = ∑ vi eλi t [w iT Δx(0)] (10)
i =1
The analysis of equation (10) allows drawing the
following conclusions:
i. The system response is the combination of the
system response to each of the N modes.
ii. The eigenvalues determine the system stability.
A real positive (negative) eigenvalue determines
exponentially increasing (decreasing) behavior.
A complex eigenvalue of positive (negative) real
part results in a increasing (decreasing)
oscillatory behavior.
iii. The components of the right eigenvector vi
measure the relative activity of each variable in
the ith mode.
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iv. The components of the left eigenvector wi
weight the initial conditions in the i-th mode
B. Participation factors
It is natural to suggest that the significant state variables
influencing a particular mode are those having large
entries corresponding to the right eigenvector of λi. The
participation factor of the j-th variable in the k-th mode is
defined as the product of the j-th's components of the
right vjk and left wki eigenvectors corresponding to the k-
th mode [7]
Pjk =W jkVkj (11)
The product W jkVkj is a dimensionless measure which is
called participation factor. In other words, they are
independent on the units of the state variables. In
addition, both the sum of the participation factors of all
variables in a mode and the sum of the participation of all
modes in a variable are equal to one. Other interesting
measure is the subsystem participation. The subsystem
participation is the magnitude of the sum of the
participation factors of the variables that describe a
subsystem in a mode.
C. Modal controllability and observability factors
The effectiveness of control in power system can be
indicated through controllability and observability
indices. This is important as control cost is influenced to
a great deal by the controllability and observability of the
plant. These issues are addressed through modal
controllability and observability
1) Controllability index
Assume that an input Δu(t) and an output Δy(t) of the
linear dynamic system (2) have defined
Δx(t)
& = AΔx(t) + BΔu(t)
(12)
Δy(t) = CΔx(t)
The application of a linear transformation defined by the
eigenvectors of the state matrix to the system as described
by (12) results in: equation (13):
Let v and w be the right and left eigen vector matrices of
A, respectively. If eigenvalues of A are distinct, then wTv
= I, where wT is conjugate transpose of w and I is the
identity matrix. Substituting Δx =wΔz in (12), we obtain
Δz(t)
& = w T AwΔz(t) + w T BΔu(t)
(13)
Δy(t) = cwΔz(t)
Equation (13) can be written for kth eigen mode as
m
Δz&( t ) = λ k Δz k ( t ) + ∑ w Tk Bi Δvi ( t ) (14)
i =1
Where wk is the left eigenvector corresponding to kth
mode and Bi is the ith column vector of matrix B. From
(14), one can find the controllability of kth eigen mode
with respect to the ith input. The controllability index
(CI) of an ith input to the kth mode [8] is defined as
CIi = w Tk Bi (15)
International Journal of Engineering & Technology IJET Vol: 9 No: 10
The input i, for which the value of wkT Bi is maximum, is
considered the suitable parameter to be controlled for
affecting the kth eigen mode to maximum extent.
2) Observability index
The observability index (cvi) of an ith input to the
kth mode is defined as
OIi = Ci wk (16)
The study of equations (15) and (16) leads to the
following conclusions:
i. CIi Measures the controllability of the mode
associated to the variable x i ( t ) from the input
Δu( t ) .In other words, if the mode λ i can be
controlled from the input Δu( t )
ii. OIi Measures the observability of the mode
associated to the variable x i ( t ) form the
output Δy( t ) . In other words, if the mode λ i
can be observed from the variable Δy( t )
Therefore, a mode can be controlled if only if it is
controllab
D. Residues
Considering (12) with single input and single output
(SISO) and assuming D = 0, the open loop transfer
function of the system can be obtained by
Δy( s )
G( s ) =
Δu( s ) (17)
= C( sI − A )−1 B
The transfer function G(s) can be expanded in partial
fractions of the Laplace transform of y in terms of C and
B matrices and the right and left eigenvectors as
N
Cφψ B
G( s ) = ∑ i i
i =1 ( s − λi )
(18)
N
Ri
=∑
i =1 ( s − λi )
Each term in the denominator, Ri, of the summation is a
scalar called residue. The residue Ri of a particular mode
i gives the measure of that mode’s sensitivity to a
feedback between the output y and the input u; it is the
product of the mode’s observability and controllability.
Figure 4 shows a system G(s) equipped with a feedback
control H(s). When applying the feedback control,
eigenvalues of the initial system G(s) are changed. It can
be proven, that when the feedback control is applied, the
shift of an eigenvalues can be calculated by
Δλi = Ri H( λi ) (19)
It can be observed from (19) that the shift of the
eigenvalue caused by the controller is proportional to the
magnitude of the corresponding residue. For a certain
mode, the same type of feedback controls H(s), regardless
of its structure and parameters can be tested at different
locations. For the mode of the interest, residues at all
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49
locations have to be calculated. The largest residue then
indicates the most effective location to apply the
feedback control.
III TCSC MODEL
Thyristor-controlled series capacitor (TCSC) is a series
FACTS device which allows rapid and continuous
changes of the transmission line impedance It has great
application potential in accurately regulating the power
flow on a transmission line, damping inter-area power
oscillations, mitigating sub synchronous resonance (SSR)
and improving transient stability.
A typical TCSC module consists of a fixed series
capacitor (FC) in parallel with a thyristor controlled
reactor (TCR) as shown in figure 1. The TCR is formed
by a reactor in series with a bi-directional thyristor valve
that is fired with an angle ranging between 900 and 1800
with respect to the capacitor voltage [9]
The model to be adopted for any device in power systems
analysis must be in accordance with the type of study
involved and the tools used for simulation. Since this
work is concerned with the application of the TCSC for
stability improvement, the TCSC model used must rely in
the assumptions that are typically adopted for transient
stability analysis, i.e., voltages and currents are
sinusoidal, balanced, and operate near fundamental
frequency.
In [9], a TCSC model suitable for voltage and angle
stability applications and power flows studies is
discussed. In that model, the equivalent impedance Xe of
vc
c
itcr
ltcr
TCR α
Fig. 1 TCSC Model
v POD
Kr
α max
+ Pkm +
α0 1 α B
− KP +
KI B ( xc ,α )
Pref s Tr s+1
−
α min
Fig. 2 small-signal dynamic model of TCSC
the device is represented as a function of the firing angle
α, based on the assumption of a sinusoidal steady-state
controller current. The TCSC is modeled here as a
variable capacitive reactance within the operating region
defined by the limits imposed by the firing angle α. Thus,
Xemin ≤ Xe ≤ Xemax, with Xemax = Xe(αmin) and Xemin =
Xe(180o) = XC, where XC is the reactance of the TCSC
capacitor. (In this paper, the controller is assumed to
operate only in the capacitive region, i.e. αmin > αr, where
International Journal of Engineering & Technology IJET Vol: 9 No: 10 50

αr corresponds to the resonant point, as the inductive washout time constant, Tw, is usually equal to 5-10 s.
region associated with 90o < α < αr induces high The lead –lag parameters can be determined using the
harmonics that cannot be properly modelled in stability following equations:
studies [10]. The dynamic model characteristics of the ϕcomp = 1800 − arg( Ri ) (25)
TCSC are assumed to be modeled by a set of differential
equations as follows [11] and model in figure 2.
x&1 = ( α 0 + K r v POD -x 1 )/Tr (20) ⎛ϕ ⎞
1-sin ⎜ comp ⎟
x&2 = K I (Pkm -Pref ) (21) T ⎝ mc ⎠
α c = lead = (26)
Where α 0 = K P (Pkm -Pref ) + x2 (22) Tlag ⎛ ϕcomp ⎞
1+sin ⎜
⎝ mc ⎟⎠
The state variable x1=α0, for firing angle model of TCSC.
The PI controller is enabled only for the constant power 1
flow operation mode [11]. According to D Jovic [12 ] the Tlag = , Tlead =α c Tlag (27)
value of susceptance B is given as:
ωi α c
Where arg(Ri) denotes phase angle of the residue Ri, ωi
is the frequency of the mode of oscillation in rad/=sec,
mC is the number if compensation stages (usually mC =
2). The controller gain K is computed as a function of the
Yref ( s ) e Y ( s)
u
G(s)
+
- 1 sTw 1 + sTlead 1 + sTlead
KP 1 + sTm 1 + sTlag
1 + sTw 1 + sTlag
H (s)

desired eigenvalue location λides according to equation 26:

( ) (
B( α ) = π k x4 -2k x2 + 1 cos k x (π − α ) / ⎡⎣ xC π k x4 cos k x (π − α )
K=
λi − λd
(28)
-π cos k x (π − α ) − 2k x4α cos k x (π − α ) + 2k x2α cos k x (π − α ) (23) Ri H1 ( λi )
-k sin 2α cos k x (π − α ) + k sin 2α cos k x (π − α )
4
x
2
x

)
− 4k x3 cos 2 α sin k x (π − α ) -4k x2 cos α sin α cos k x (π − α ) ⎤⎦ VI EIGENVALUE ANALYSIS OF POWER
SYSTEMS
Where k X=XC/XL., The limits of the controller are given
The concepts detailed in the previous section will be
by the firing angle limits, which are fixed by design.
illustrated considering two small-scale power systems.
The size of these systems allows the computation of all
A TCSC POD Controller Design eigenvalues and eigenvectors of the state matrix without
Supplementary control action applied to TCSC devices to employing advance techniques due to small sizes of the
increase the system damping is called Power Oscillation system.
Damping (POD). Since TCSC controllers are located in A Analysis of single machine connected to an
transmission systems, local input signals are always infinite bus with TCSC
preferred, usually the active or reactive power flow
through TCSC device or TCSC terminal voltages. Figure The case of a single generator connected to an infinite
3 shows the considered closed-loop system where G(s) bus is considered first with and without TCSC. The
represents the power system including TCSC devices and generator model contains accurate representations of the
H(s) TCSC POD controller synchronous machine, the excitation and the speed-
In order to shift the real component of λi to the left, SVC
POD controller is employed. That movement can be j0.5
j0.15
achieved with a transfer function consisting of an
amplification block, a wash-out block and mc stages of
lead-lag blocks. We adapt the structure of POD controller 2200MVA Et EB
given in [13, 9] , i.e. the transfer function of the TCSC P j0.93
Q
POD controller is
mc
1 sTw ⎛ 1 + sTlead ⎞ governing systems. It has been assumed that the generator
H ( s) = K * * ⎜ ⎟⎟
1 + sTm 1 + sTw ⎜⎝ 1 + sTlag (24) is equipped with a static excitation system [14]. A
⎠ thyristor controlled series capacitor is connected between
= KH1 ( s) bus 2 and 3 as shown in figure 5.
The linear model of this system is described by 11 state
Where K is a positive constant gain and H1 is the transfer variables. The synchronous machine, the TCSC and the
function of the wash-out and lead-lag blocks. The exciter are described respectively by 6, 3 and 2 state

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International Journal of Engineering & Technology IJET Vol: 9 No: 10 51

variables. The eigenstructure of the state matrix contains

3 pairs of complex eigenvalues and 5 real eigenvalues
which are detailed in tables I and I1 respectively.
Eigenvalues accurately determine linear systems stability:
this system is close to instability due to the presence of a
poorly damped oscillatory mode. However, if the
connections between eigenvalues and state variables are
sought, participation factors have to be used. Table III 8
Egenvalue of two area four machine test system

details the participation of the generator subsystems: rotor

dynamics, synchronous machine, exciter, and TCSC in all 6

modes. Table III clearly indicates that the poorly damped 4

oscillatory mode (eigenvalues 1 and 2) is associated to
the rotor dynamics and that the other oscillatory mode 2

(eigenvalues 3 and 4) describes the interaction between

Imag
0
the synchronous machine and the exciter. The mode
associated to the rotor dynamics is also known as -2
electromechanical mode. Table III also shows that three
-4
exponential modes are associated to the machine (damper
windings), other two to TCSC and the remaining mode to -6
the exciter. The slower modes correspond to the TCSC
dynamics whereas the fastest mode is associated to the -8
-80 -70 -60 -50 -40 -30 -20 -10 0
exciter Real

Fig.7 Eigenvalue of two area test system

B Power system stabilizer
Design of power system stabilizers or power oscillation TABLE I
damper (POD) in case of FACT can also be addressed COMPLEX EIGENVALUES OF SMIB WITH TCSC
using eigenvalue methods. Eigenvalue sensitivities with
respect to the parameters of the stabilizer provide a first Mode Eigenvalue Frequency Dampi
No. (Hz) ng %
order approximation of the eigenvalue movement in the
complex plane when those parameters are varied. 1,2 -13.494 2.7541
Precisely, the residue of the transfer function between the ±17.304i 61.5
stabilizers output (reference of the excitation system, 3,4 -0.257±6.772i 1.0777 3.8
ΔVr) and the stabilizer input (speed, Δ w, terminal
voltage, ΔVt , electric power, ΔPg) indicates the TABLE II
magnitude and direction of the eigenvalue movement in REAL EIGENVALUES OF SMIB WITH TCSC
the complex plane when a static controller is considered MODE Eigenvalue TIME CONSTANT (S)
able. Table IV contains the residues of transfer functions NO
relevant in stabilizer design corresponding to the 5 14658.0 0.0001
electromechanical mode. The phase of the residue 6 -1000.0 -0.0010
informs about the phase compensation required at the 7 -78.9 -0.0127
eigenvalue frequency so the phase of the eigenvalue 8 -22.5 -0.0445
sensitivity becomes 1800 and the magnitude of the 9 -1.9 -0.5382
residue determines the gain required to achieve the 10 -0.2 -5.0531
desired damping. A speed stabilizer requires almost 900 11 -1.0 -1.0000
of phase compensation whereas accelerating power or
electric power stabilizers do not require phase the excitation systems. The synchronous machine modes
compensation. The gain of the speed stabilizer will be are in between.
greater than the gains of either accelerating or electric From the table V, we see that the system is stable. There
power stabilizers. are four rotor angle modes. There mode shapes are
described by the component of the right eigenvector
C Analysis of two areas four machine with TCSC corresponding to the generator speed
In this study, a two area interconnected four machine V DESIGN OF TCSC POD CONTROLLER
power system shown in Fig.6 is considered. The system USING RESIDUE METHOD
consists of four machines arranged in two areas inter-
connected by a weak tie line [14]. The uncontrolled system, Fig.6, has one inter-area
Figure 7 contains a plot of the eigenvalues in the complex oscillatory mode characterized by λ = -0.1211 ± j3.7559
plane. Three pairs of poorly damped eigenvalues are with damping ratio ζ= 3.22%. According to Table VII,
found. They result to be associated to the rotor dynamics. the bus 8 has the largest residue and therefore the most
The slowest eigenvalues are associated to the speed- effective location of the SVC and to apply the feedback
governing systems whereas the fastest are associated to control. Using the method presented in

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 International Journal of Engineering & Technology IJET Vol: 9 No: 10 52

TABLE III TABLE IV

EIGENVECTOR AND NORMALIZED PARTICIPATION FACTOR CORRESPONDING RESIDUE CORRESPONDING TO LOCAL MODE -0.257-J6.772
POOR MODE -0.29835+J7.8548 Transfer function Residue Phase
S/ Right Left Particip Participation angle
N eigenvect eigenvector ation state ΔP -56.15- 133.27 67.150
g
or factor
ΔV r
1 -0.09 – -1.8*10-7 0.4715 Machine
j0.55 +j1.8*10-17 9 angle δ1 Δω -0.1252 + 0.0585i -25.044

2 0.012 – -214- 0.4715 Machine

ΔV r
j0.0015 j2.25*10-16 9 speed ω1 Δ V1 0.0429 - 0.0087i -11.46
3 0.016 - -151 +j1.66 0.0095
ΔV r
q-axis
j0.016 *10-15 9 damper e′q
TABLE V
4 -0.028 - 5.81 + j0.0 0.0188 COMPLEX EIGENVALUE OF TWO AREA FOUR MACHINE
d-axis
j0.008 6 TEST
damper e′d
Frequen
5 0.026+ 34.58 0.0029 q-axis Mode cy Damping
j0.022 +j45.61 2 damper e′′q No. Complex Eigenvalue (Hz) ratio %
1,2 -12.3267±j 20.5784 0.08 99.99
6 -0.047- 34.58 -j45.61 0.0246 d-axis 3,4 -12.0224 ±j19.9823 0.08 99.99
j0.07 6 damper e′′d
5,6 -15.2167±j15.8377 0.53 97.97
7 -0.004 - 0.16 -j0.067 0.0006 Exiter v m
j0.00 7,8 -14.8232 ±j 5.6141 0.43 -98.63
8 0 0.16 +j0.067 0 Exiter v r1
9,10 -1.7779 ±j 6.4726 1.20 10.05
9 0.7553 0.12 + j0.0 0.0004 Exiter v f
5 11,12 -1.9176±j 6.7494 1.16 10.23
10 -0.029 - -2.28*10-6 0.0001 x1 of Tcsc
j0.32 +j2.09*10- 13,14 -0.11727±j 3.6383 0.60 3.22
19
11 -0.0096 + 0 0.0000 15,16 -5.1493±j 0.04188 0.10 99.72
x 2 of Tcsc
0.0003i 4
17,18 -0.07742±j .22111 0.09 99.76

Section 3, POD controller parameters are calculated in TABLE VI

order to shift the real part of the oscillatory mode, to the PARTICIPATION OF THE GENERATORS IN THE ELECTROMECHNICAL
left half complex plane. The obtained transfer function MODES OF THE TWO AREA TEST SYSTEM

for the SVC POD controller is

Mode Eigenvalue G1 G2 G3 G4
1 10 s 1 + 0.1329 s 1 + 0.1329 s No.
H ( s) = K * * *
1 + 0.1s 1 + 10 s 1 + 0.4325 s 1 + 0.4325s 9,10 0.7647 0.011 0.042 0.41 0.55
Eigenvalue of our interest moves form the original ±7.5680i 45 9 007 216
location λ = -0.1211 ± j3.7559 to the desired location 0.7514 0.411 0.536 0.02 0.01
11,12 ±7.3036i 04 42 767 232
λd= -0.745 ± j3.638 to give about 20% damping as:
0.1211 0.246 0.141 0.34 0.24
13,14 ±3.7559i 13 99 591 344
λi − λd
K= = 25.8963 TABLE VII
Ri H1 ( λi ) SITING INDICES OF TCSC FOR TWO AREA FOUR MACHINE
TEST

VI SIMULATION RESULTS Mode residues of the transfer function

The effectiveness of the proposed method of POD ΔP/Δkc
designed was tested on two- area four -machine systems. TCSC Normalised Residue
location |Ri|
The analysis results for the two systems are presented in
tables I to IX. 6-7 0.001
A three phase fault is applied for second test model at the 5-6 0.735
7-8 1.000
bus 8 and cleared after 74ms. The original system is
9-8 0.181
restored upon the fault clearance. The transient stability 10-9 0.000
performances of the system with TCSC without POD and 11-10 0.788
TCSC with POD controller are shown in figures 8-11.
The TCSC with damping controller stabilizes system as The authors would like to express their appreciation to
can be seen from figure 8-11.The oscillations of the the Universiti Teknologi Malaysia (UTM) and Ministry
system from figure 8 to 11 also are well damped with of Science Technology and Innovation (MOSTI) for
POD controller. funding this research
ACKNOWLEDGMENT

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International Journal of Engineering & Technology IJET Vol: 9 No: 10 53

CONCLUSION Tr = 10 ms, XL = 0.2, XC=0.1,.Kc=50%

Kr=10, TW = 10 s, αMAX =3.1416, αMIN =- 0.314
This paper has reviewed methods for analysis and control
of power system oscillations with TCSC device based on
the eigenstructure of the state matrix of the linear model
of the power system. Residue-based methods also provide REFERENCES
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-50 without POD controller power systems’, IEEE Trans. Power Syst., 1995, 10, (3), pp.
-100
with POD controller
1401–1407
-150
[8] E. Acha, C. Fuerte-Esquivel, H. Ambriz-Perez and C. Angeles-
0 5 10
Time(s)
15 20 25
Camacho. FACTS Modelling and Simulation in Power Networks,
John Wiley & Sons LTD, England, 2004.
Fig.8 Active power flow with and without POD in line 7-8
Fault at bu 8
[9] C. A. Cañizares and Z. T. Faur, “Analysis of SVC and TCSC
20
Controllers in Voltage Collapse ,” IEEE Trans. Power Systems,
10
Vol. 14, No. 1, February 1999, pp. 158-165.
0 [10] G. Hingorani and L. Gyugyi, Understanding FACTS: Concepts
3)

and Technology of Flexible AC Transmission Systems, IEEE

1-G

-10
Angledeviaton(G

-20 Press, 1999.

-30
[11] Federico Milano, Power System Analysis Toolbox Documentation
-40 without POD
for PSAT version 2.0.0 β, March 8, 2007
with POD
[12] D.Jovcic, G.N.Pillai "Analytical Modelling of TCSC Dynamics"
IEEE Transactions on Power Delivery, vol 20, Issue 2, April 2005,
-50

-60
0 2 4 6 8 10
Time(s)
12 14 16 18 20
pp. 1097-1104
[13] Y.H. Song and A.T. Johns. ‘’Flexible AC Transmission Systems’'.
Fig.9 Angle response of G1
Faut at bus8 IEE Power and energy series, UK, 1999.
50 [14] Kundur P. Power system stability and control. New York, USA:
McGraw- Hill; 1994.
0 [15] Bikash Pal , Balarko Chaudhuri “ Robust Control in power
System” Springer Science+Business Media, Inc.USA 2005
Reactive power in MVar

-50
[16] J. Perez-Arriaga, G.C. Verghese, F.C. Schweppe, “Selective
Modal Analysis with Applications to Electric Power Systems. Part
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Problem”. IEEE Transactions on Power Apparatus andsystems,
Without POD
Vol. PAS-101, No. 9, September 1982, pp. 3117-3134
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With POD [17] Einar, V.L., and Joe, H.C.: ‘Concepts for design of SVC
controllers to damp power swings’, IEEE Trans. Power Syst., 1995,
-200
0 2 4 6 8 10 12 14 16 18 20 10, (2), pp. 948–954
Time (s)

Fig.10 Reactive power response for Bus 7

Fault is applied at bus 8

10

5
Speed deiation in rad/s

-5

-10

-15
Without POD
With POD

-20
0 5 10 15 20
Time(s)

Fig11 speed response of G1

APPENDIX
TCSC data

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