Electric Power Systems Research 73 (2005) 177185

Analysis and assessment of STATCOM-based damping stabilizers

for power system stability enhancement
M.A. Abido

Electrical Engineering Department, King Fahd University of Petroleum and Minerals, KFUPM Box # 183, Dhahran 31261, Saudi Arabia
Received 1 April 2004; received in revised form 6 July 2004; accepted 10 August 2004
Available online 1 December 2004
Abstract
Power systemstability enhancement via STATCOM-based stabilizers is thoroughly investigated in this paper. This study presents a singular
value decomposition (SVD)-based approach to assess and measure the controllability of the poorly damped electromechanical modes by
STATCOM different control channels. The coordination among the proposed damping stabilizers and the STATCOM internal ac and dc
voltage controllers has been taken into consideration. The design problem of STATCOM-based stabilizers is formulated as an optimization
problem. For coordination purposes, a time domain-based multiobjective junction to improve the system stability as well as ac and dc voltage
regulation is proposed. Then, a real-coded genetic algorithm (RCGA) is employed to search for optimal stabilizer parameters. This aims to
enhance both rotor angle stability and voltage regulation of the power system. The proposed stabilizers are tested on a weakly connected
power system with different disturbances and loading conditions. The nonlinear simulation results show the effectiveness and robustness
of the proposed control schemes over a wide range of loading conditions. It is also observed that the proposed STATCOM-based damping
stabilizers extend the critical clearing time (CCT) and enhance greatly the power system transient stability.
2004 Elsevier B.V. All rights reserved.
Keywords: Power system stability; Low frequency oscillations; Statcom and genetic algorithms
1. Introduction
Since 1960s, low frequency oscillations have been ob-
served when large power systems are interconnected by rel-
atively weak tie lines. These oscillations may sustain and
grow to cause system separation if no adequate damping is
available [13].
Although PSSs provide supplementary feedback stabiliz-
ing signals, they suffer a drawback of being liable to cause
great variations in the voltage prole and they may even result
in leading power factor operation under severe disturbances.
The recent advances in power electronics have led to the
development of the exible alternating current transmission
systems (FACTS) [4]. Generally, a potential motivation for
the accelerated use of FACTS devices is the deregulation en-
vironment in contemporary utility business. Along with pri-

Corresponding author. Tel.: +966 3 8604379; fax: +966 3 8603535.

E-mail address: mabido@kfupm.edu.sa.
mary function of the FACTS devices, the real power owcan
be regulatedtomitigate the lowfrequencyoscillations anden-
hance power system stability. This suggests that FACTS will
nd newapplications as electric utilities merge and as the sale
of bulk power between distant and ill-interconnected part-
ners become more wide spread. Recently, several FACTS de-
vices have been implemented and installed in practical power
systems such as static VAR compensator (SVC), thyristor
controlled series capacitor (TCSC), and thyristor controlled
phase shifter (TCPS) [57]. The emergence of FACTS de-
vices and in particular gate turn-off (GTO) thyristor-based
STATCOMhas enabledsuchtechnologytobe proposedas se-
rious competitive alternatives to conventional SVC. Fromthe
power system dynamic stability viewpoint, the STATCOM
provides better damping characteristics man the SVC as it is
able to transiently exchange active power with the system[8].
A little work has been done on the coordination problem in-
vestigation of the STATCOM-based damping stabilizers and
the STATCOM internal ac and dc voltage controllers.
0378-7796/$ see front matter 2004 Elsevier B.V. All rights reserved.
doi:10.1016/j.epsr.2004.08.002
178 M.A. Abido / Electric Power Systems Research 73 (2005) 177185
A multivariable design of STATCOM ac and dc voltage
control was presented in [9]. The coordination between the ac
and dc voltage PI controllers was taken into consideration.
However, the structural complexity of the presented multi-
variable PI controllers with different channels reduces their
applicability. Moreover, the utilization of damping capability
of the STATCOM has not been addressed. The STATCOM
damping characteristics have been addressed in [1017].
However, the coordination among the STATCOM damping
controllers and ac and dc voltage PI controllers has not been
investigated.
In this study, a comprehensive assessment of the effec-
tiveness of the STATCOM damping stabilizers when applied
in coordination with the STATCOM internal ac and dc volt-
age controllers has been carried out. At rst, a controllability
measure based on singular value decomposition (SVD) is
used to identify the effectiveness of each control input on the
electromechanical mode of oscillations. To enhance power
system dynamic stability and voltage regulation, coordina-
tion among the proposed STATCOMdamping stabilizers and
its internal ac and dc voltage controllers is taken into consid-
eration. The controller design problemis transformed into an
optimization problemwhere the real-coded genetic algorithm
(RCGA) is employed to search for the optimal settings of
stabilizer parameters. The nonlinear simulation results have
been carried out to demonstrate the effectiveness and robust-
ness of the proposed stabilizers to enhance system dynamic
and transient stability. In addition, the potential of the pro-
posed STATCOM-based damping stabilizers to extend the
critical clearing time (CCT) and enhance the power system
transient stability has been demonstrated.
2. Power system model
2.1. Generator
In this study, a single machine innite bus system is con-
sidered. The generator is equipped with a PSS and the system
has a STATCOM installed somewhere at point m in trans-
mission line as shown in Fig. 1. The generator has a local
load of admittance Y
L
=g +jb and the transmission line has
Fig. 1. Single machine innite bus system with a STATCOM.
impedances of Z
1
=R
1
+jX
1
and Z
2
=R
2
+jX
2
for the rst
and the second sections, respectively. The generator is repre-
sented by the third-order model comprising of the electrome-
chanical swing equation and the generator internal voltage
equation. The swing equation is divided into the following
equations:

=
b
( 1) (1)
=
P
m
P
e
D( 1)
M
(2)
where P
m
and P
e
are the input and output powers of the gener-
ator, respectively; M and D the inertia constant and damping
coefcient, respectively;
b
the synchronous speed; and
are the rotor angle and speed, respectively. The output power
of the generator can be expressed in terms of the d- and q-axis
components of the armature current, i, and terminal voltage,
v, as
P
e
= v
d
i
d
+v
q
i
q
(3)
The internal voltage, E

q
, equation is

q
=
E
fd
(x
d
x

d
)i
d
E

q
T

do
(4)
where E
fd
is the eld voltage; T

do
the open circuit eld time
constant; x
d
and x

d
are the d-axis reactance and the d-axis
transient reactance of the generator, respectively.
2.2. Exciter
The IEEE Type-ST1 excitation system is considered in
this work. It can be described as

E
fd
=
K
A
(V
ref
v) E
fd
T
A
(5)
where K
A
and T
A
are the gain and time constant of the exci-
tation system, respectively; V
ref
is the reference voltage. The
terminal voltage, v, can be expressed as
v = (v
2
d
+v
2
q
)
1/2
(6)
v
d
= x
q
i
q
(7)
v
q
= E

q
x

d
i
d
(8)
where x
q
is the q-axis reactance of the generator.
2.3. STATCOM-based stabilizers
As shown in Fig. 1, the STATCOM consists of a three-
phase gate turn-off (GTO)-based voltage source converter
(VSC) and a dc capacitor. The STATCOM model used in this
study is found good enough for the low frequency oscillation
stability problem [911]. The STATCOM is connected to the
transmission line through a step-down transformer with a
M.A. Abido / Electric Power Systems Research 73 (2005) 177185 179
Fig. 2. STATCOM PI controller for ac voltage with a leadlag damping
stabilizer.
leakage reactance of x
t
. The VSC generates controllable ac
voltage v
s
given by
v
s
= CV
dc
(9)
where C=mk, m the modulation ratio dened by pulse width
modulation (PWM), k the ratio between the ac and dc voltage
depending on the converter structure, V
dc
the dc voltage, and
is the phase dened by PWM. The magnitude and the phase
of v
s
can be controlled through m and , respectively. By ad-
justing the STATCOM ac voltage v
s
, the active and reactive
power exchange between the STATCOM and the power sys-
tem can be controlled through the difference between v
s
and
the STATCOM-bus voltage v
m
. The dc voltage V
dc
is gov-
erned by

V
dc
=
I
dc
C
dc
=
C
C
dc
(i
sd
cos +i
sq
sin ) (10)
where C
dc
is the dc capacitor value and I
dc
is the capacitor
current while i
sd
and i
sq
are the d-and q-components of the
STATCOM current i
s
, respectively.
Fig. 2 illustrates the block diagram of STATCOM ac volt-
age PI controller with a leadlag damping stabilizer while
Fig. 3 illustrates the block diagram of STATCOM dc voltage
PI controller with a leadlag damping stabilizer. The propor-
tional and integral gains are KP
ac
, KI
ac
and KP
dc
, KI
dc
for
ac and dc voltages, respectively. The STATCOM damping
stabilizers are leadlag structure where K
C
and K

are the
stabilizer gains, T
w
is the washout time constant, and T
1C
,
T
2C
, T
3C
, T
4C
, T
1
, T
2
, T
3
and T
4
are the stabilizer time
constants.
Fig. 3. STATCOM PI controller for dc voltage with a leadlag damping
stabilizer.
2.4. Linearized model
In the design of electromechanical mode damping stabi-
lizers, the linearized incremental model around a nominal
operating point is usually employed [13]. Linearizing the
expressions of i
d
and i
q
and substituting into the linear form
of Eqs. (1)(10) yield the following linearized expressions:
P
e
= K
1
+K
2
E

q
+K
pdc
V
dc
+K
pC
C +K
p
(11)
(K
3
+sT

do
) E

q
= E
fd
K
4
K
qdc
V
dc
K
qC
C K
q
(12)
v = K
5
+K
6
E

q
+K
vdc
V
dc
+K
vC
C +K
v
(13)

V
dc
= K
7
+K
8
E

q
+K
dc
V
dc
+K
C
C +K

(14)
where K
1
K
8
, K
pdc
, K
pC
, K
p
, K
qdc
, K
qC
, K
q
, K
vdc
, K
vC
,
K
v
, K
dc
, K
C
, and K

, are linearization constants. The

above linearizing procedure yields the following linearized
power system model:
_
_
_
_
_
_
_

E
fd

V
dc
_

_
=
_
_
_
_
_
_
_
_
_
_
_
0
b
0 0 0

K
1
M

D
M

K
2
M
0
K
pdc
M

K
4
T

do
0
K
3
T

do
1
T

do

K
qdc
T

do

K
A
K
5
T
A
0
K
A
K
6
T
A

1
T
A

K
A
K
vdc
T
A
K
7
0 K
8
0 K
dc
_

_
_
_
_
_
_
_

q
E
fd
V
dc
_

_
+
_
_
_
_
_
_
_
_
_
_
_
0 0

K
pC
M

K
p
M

K
qC
T

do

K
q
T

do

K
A
K
vC
T
A
K
A
K
v
T
A
K
C
K

_
_
C

_
(15)
In short;

X = AX+HU (16)
where the state vector X is [, , E

q
, E
fd
, V
dc
]
T
and
the control vector U is [C, ]
T
. In this study, each control
input will be considered individually in order to assess its
capability to enhance the system damping of low frequency
oscillations.
180 M.A. Abido / Electric Power Systems Research 73 (2005) 177185
3. Problem formulation
3.1. Stabilizer structure
The commonly used leadlag structure shown in
Figs. 2 and 3 is chosen in this study. The transfer function of
the stabilizer is
u = K
_
sT
w
1 +sT
w
__
1 +sT
1
1 +sT
2
__
1 +sT
3
1 +sT
4
_
y (17)
where u and y are the stabilizer output and input signals,
respectively, K the stabilizer gain, T
w
the washout time con-
stant, and T
1
, T
2
, T
3
, and T
4
the stabilizer time constants.
In this structure, T
w
, T
2
, and T
4
are usually prespecied. The
controller gain Kand time constants T
1
and T
3
are to be deter-
mined. In this study, the input signal of the proposed damping
stabilizers is the speed deviation, .
For the internal ac and dc voltage controllers of the STAT-
COM, the PI structure is used as shown in Figs. 2 and 3
3.2. Objective function
It is worth mentioning that the damping controller is de-
signed to minimize the electromechanical mode oscillation
while the internal PI controllers are designed to minimize the
variations in ac and dc voltages of the STATCOM. Therefore,
the following weighted-sum multiobjective function is pro-
posed in order to coordinate among the damping stabilizers
and the internal ac and dc PI controllers.
J =
t=t
sim
_
t=0
t(|| +
1
|V
m
| +
2
|V
dc
|) dt (18)
where t
sim
is the simulation time,
1
and
2
the weight-
ing factors, is the generator speed deviation, V
m
is
the STATCOM-bus ac voltage deviation, and V
dc
is the
dc voltage deviation. For objective function calculation, the
time-domain simulation of the nonlinear system model in-
corporating all saturation limits of control signals is carried
out for the simulation period. It is aimed to minimize this
objective function in order to improve the system response
in terms of the settling time and overshoots.
3.3. Optimization problem
In this study, it is aimed to minimize the proposed ob-
jective function J. The problem constraints are the stabilizer
optimized parameter bounds. Therefore, the design problem
can be formulated as the following optimization problem:
minimize J (19)
Subject to
KP
min
ac
KP
ac
KP
max
ac
(20)
KI
min
ac
KI
ac
KI
max
ac
(21)
KP
min
dc
KP
dc
KP
max
dc
(22)
KI
min
dc
KI
dc
KI
max
dc
(23)
K
min
C
K
C
K
max
C
(24)
K
min

K
max

(25)
T
min
1C
T
1C
T
max
1C
(26)
T
min
3C
T
3C
T
max
3C
(27)
T
min
1
T
1
T
max
1
(28)
T
min
3
T
3
T
max
3
(29)
The proposed approach employs real-coded genetic al-
gorithm to solve this optimization problem and search for
optimal set of the stabilizer parameters.
In this study, the STATCOM internal ac and dc PI voltage
controllers are designed in coordination with a damping con-
troller in one channel of the STATCOM as discussed in the
following cases:
Case 1. STATCOMinternal ac and dc PI voltage controllers
with C-based damping stabilizer only.
Case 2. STATCOMinternal ac and dc PI voltage controllers
with -based damping stabilizer only.
In each case, three controllers are to be designed simulta-
neously.
4. The proposed approach
4.1. Electromechanical mode identication
The state equations of the linearized model can be used
to determine the eigenvalues of the system matrix A. Out of
these eigenvalues, there is a mode of oscillations related to
machine inertia. For the stabilizers to be effective, it is ex-
tremely important to identify the eigenvalue associated with
the electromechanical mode. In this study, the participation
factors method [18] is used.
4.2. Controllability measure
To measure the controllability of the electromechanical
mode by a given input, the singular value decomposition
(SVD) is employed in this study. Mathematically, if G is an
mn complex matrix then there exist unitary matrices Wand
V with dimensions of mmand n n, respectively such that
G can be written as
G = W

V
H
(30)
M.A. Abido / Electric Power Systems Research 73 (2005) 177185 181
where

=
_

1
0
0 0
_
,

1
= diag(
1
, . . . ,
r
) with
1
. . .
r
0 (31)
where r =min{m, n} and
1
, . . .,
r
are the singular values
of G.
The minimum singular value
r
represents the distance
of the matrix G from the all matrices with a rank of r 1.
This property can be utilized to quantify modal controllability
[19]. In this study, the matrix H in Eq. (16) can be written as
H=[h
1
, h
2
], where A is the column of matrix, H correspond-
ing to the ith input. The minimumsingular value of the matrix
[I A: h
i
] indicates the capability of the ith input to control
the mode associated with the eigenvalue . As a matter of
fact, the higher the minimum singular value, the higher the
controllability of this mode by the input considered. Having
been identied, the controllability of the electromechanical
mode can be examined with all inputs in order to identify the
most effective one to control that mode.
4.3. Real-coded genetic algorithm
Due to difculties of binary representation when dealing
with continuous search space with large dimension, the pro-
posed approach has been implemented using real-coded ge-
netic algorithm (RCGA) [20]. A decision variable x
i
is rep-
resented by a real number within its lower limit a, and upper
limit b
i
, i.e. x
i
[a
i
, b
i
]. The RCGA crossover and mutation
operators are described as below.
4.3.1. Crossover
A blend crossover operator (BLX-) has been employed
in this study. This operator starts by choosing randomly a
number fromthe interval [x
i
(y
i
x
i
), y
i
+(y
i
x
i
)], where
x
i
, and y
i
are the ith parameter values of the parent solutions
and x
i
<y
i
. To ensure the balance between exploitation and
exploration of the search space, =0.5 was selected. This
operator is depicted in Fig. 4.
4.3.2. Mutation
The non-uniformmutation operator has been employed in
this study. In this operator, the new value x

i
of the parameter
Fig. 4. Blend crossover operator (BLX-).
Fig. 5. Flow chart of the proposed design approach.
x
i
after mutation at generation t is given as
x

i
=
_
x
i
+(t, b
i
x
i
), if = 0
x
i
(t, x
i
a
i
), if = 1
, (32)
(t, y) = y
_
1 r
_
1
_
t
g
__

_
(33)
where is a binary random number, r a random number r
[0, 1], g
max
the maximum number of generations, and is a
positive constant chosen arbitrarily. In this study, =5 was
selected. This operator gives a value x

i
[a
i
, b
i
] such that the
probability of returning a value close to x
i
increases as the
algorithm advances. This makes uniform search in the initial
stages where t is small and very locally at the later stages.
4.4. RCGA application
RCGA has been applied to search for optimal settings of
the optimized parameters of the proposed control schemes. In
our implementation, the crossover and mutation probabilities
of 0.9 and 0.01, respectively are found to be quite satisfactory.
The number of individuals in each generation is selected to be
100. In addition, the search will terminate if the best solution
does not change for more man 50 generations or the number
of generations reaches 500. The computational ow chart of
the proposed design approach is shown in Fig. 5.
5. Results and discussions
5.1. Electromechanical mode controllability measure
With each input signal of C-based stabilizer and -based
stabilizer as given in the linearized model, the minimum sin-
gular value
min
has been estimated to measure the con-
trollability of the electromechanical mode from that input.
For comprehensive understanding of the coordination prob-
182 M.A. Abido / Electric Power Systems Research 73 (2005) 177185
Fig. 6. Minimumsingular value at different loading conditions: Q= 0.4 pu
(a), 0.0 pu (b), and 0.4 pu (c).
lem requirements, the minimum singular value has been es-
timated for input over a wide range of operating conditions.
Specically, for a range of 84 loading conditions specied
by P=[0.051.4] pu with a step of 0.05 pu and Q=[0.4
0.4] pu with a step of 0.4 pu,
min
has been estimated. At each
loading condition in the specied range, the system model
is linearized, the electromechanical mode is identied, and
the SVD-based controllability measure is implemented. The
capabilities of C-based stabilizer and -based stabilizer to
control the electromechanical mode over the specied range
of operating conditions are given in Fig. 6. It can be seen
that the controllability of the electromechanical mode with
Fig. 7. Convergence rate of objective function in both cases.
Table 1
Optimal parameter settings of the proposed stabilizers
Case# ac PI
controller
dc PI
controller
C-based
stabilizer
-based
stabilizer
KP
ac
KI
ac
KP
dc
KI
dc
K
C
T
1C
K

T
1
1 595.9 31.87 291.6 922.7 39.07 0.3049
2 328.1 795.7 160.7 825.2 51.40 0.0080
Fig. 8. System response for a three-cycle fault disturbance with nominal
loading. (a) Rotor angle and (b) terminal voltage.
M.A. Abido / Electric Power Systems Research 73 (2005) 177185 183
Fig. 9. System response for a three-cycle fault disturbance with heavy load-
ing. (a) Rotor angle and (b) terminal voltage.
the C increases with loading. It can be also observed that
the controllability of the electromechanical mode through
is much better than diat through C. Fig. 6 also shows
the robustness of the -based stabilizer as its controllability
exhibits approximately constant value over a wide range of
loading levels.
Fig. 10. dc voltage response with -based stabilizer for a three-cycle fault
disturbance.
5.2. Settings of the proposed stabilizers
The proposedapproachhas beenimplementedona weakly
connected power systemshown in Fig. 1. The detailed data of
the power systemused in this study is given in Appendix A. It
was observed that one leadlag block for damping stabilizers
is quite satisfactory. The time constants are set as T
w
=5.0 s
and T
2C
=T
2
=0.50 s. The convergence rate of the objective
function J for both cases considered is shown in Fig. 7. It is
obvious that the objective function value is much less with
-based stabilizer which reects less voltage and speed devi-
ations. The nal settings of the optimized parameters for the
proposed stabilizers are given in Table 1.
5.3. Nonlinear simulation results
For completeness and verication, the proposed stabiliz-
ers were tested under a three-cycle fault disturbance with
different loading conditions. The fault is cleared without line
switching. Specically, the proposed stabilizers were tested
with the following loading conditions:
(a) nominal loading (P, Q, V) =(0.8, 0.2, 1.0) pu;
(b) heavy loading (P, Q, V) =(1.2, 0.4, 1.05) pu.
Fig. 11. Control signals of both stabilizers for a three-cycle fault disturbance.
(a) Nominal loading and (b) heavy loading.
184 M.A. Abido / Electric Power Systems Research 73 (2005) 177185
Fig. 8 shows the systemresponse with the nominal loading
condition. It can be seen that the -based stabilizer provides
better damping characteristics and enhances greatly the rst
swing stability compared to the C-based stabilizer. In addi-
tion, the terminal voltage response is also much better with
the -based stabilizer.
The system response with the heavy loading condition is
shown in Fig. 9. It can be seen that the system response with
the -based stabilizer is also much better compared to that
with the C-based stabilizer.
The dc voltage response with the -based stabilizer is
shown in Fig. 10 for the nominal and heavy loading con-
ditions. It is clear that the proposed coordinated design ap-
proach improve the dc voltage response as well as the system
damping for low frequency oscillations. Control signals of
the damping stabilizers are shown in Fig. 11 for both loading
conditions. It can be concluded that the -based stabilizer
provides much less control effort compared to C-based sta-
bilizer.
A pulse disturbance in mechanical power input is also
considered to assess the damping characteristics of both sta-
bilizers. Fig. 12 shows the system response with 10% pulse
disturbance in mechanical power input P
m
for 5 s. The re-
sults show clearly the superiority of the -based stabilizer
Fig. 12. System response for a 10% pulse disturbance in P
m
with nominal
loading. (a) Rotor angle and (b) terminal voltage.
Fig. 13. dc voltage response with -based stabilizer for a 10% pulse distur-
bance in P
m
with nominal loading.
Table 2
The CCT in seconds at different loading conditions for three-phase fault
disturbance
Case# Nominal Heavy
1 (PI controllers with C-based stabilizer only) 0.2196 0.1407
2 (PI controllers with -based stabilizer only) 0.4587 0.3014
in enhancing the system damping to low frequency oscilla-
tions. The dc voltage response is shown in Fig. 13 where the
-based stabilizer gives good damping characteristics.
It can be concluded that the -based stabilizer is more
effective andenhances greatlythe systemstabilityover a wide
range of operating conditions. This conrms the ndings of
SVD analysis.
The critical clearing time (CCT) for both cases is cal-
culated in order to assess the effectiveness of the proposed
stabilizers. Table 2 gives the CCT for both cases at the nom-
inal and heavy loading conditions. It is clear that the CCT
with -based stabilizer is more than twice of that of C-based
stabilizer. It can be concluded that the -based stabilizer en-
hances greatly the system transient stability as it increases
signicantly the critical clearing time. This conrms the nd-
ings of SVD analysis as well as the nonlinear time-domain
simulations.
6. Conclusion
In this study, the power system stability enhancement via
STATCOM-based stabilizers is presented and discussed. The
coordination between the STATCOM damping stabilizers
and the STATCOM internal voltage PI controllers is taken
into consideration to improve the system dynamic stability
as well as the systemvoltage regulation. The stabilizer design
problem has been formulated as a multiobjective optimiza-
tion problem, which was solved by real-coded genetic algo-
rithms. The proposed objective function ensures the improve-
ment in the system damping as well as the ac and dc voltage
M.A. Abido / Electric Power Systems Research 73 (2005) 177185 185
regulations. In addition, a controllability of the electrome-
chanical mode over a wide range of operating conditions by
a given control input has been measured using a singular
value decomposition-based approach. This study shows that
the electromechanical mode is more controllable through -
based stabilizer. The proposed stabilizers have been tested
on a weakly connected power system with different distur-
bances and loading conditions. The nonlinear simulation re-
sults show the effectiveness and robustness of the proposed
-based stabilizer to enhance the systemstability and conrm
the ndings of singular value decomposition analysis. It can
be also concluded that the -based stabilizer enhances greatly
the system transient stability as it increases signicantly the
critical clearing time.
Acknowledgement
The author acknowledges the support of King Fahd Uni-
versity of Petroleum and Minerals.
Appendix A
The system data are as follows:
M=6.0 s T

do
=5.044 D=4.0 x
d
=1.0
x

d
=0.3 x
q
=0.6 R
1
=R
2
=0.0 X
1
=X
2
=03
g =0.0 b =0.0 K
A
=10 T
A
=0.01
K
s
=1.0 T
s
=0.05 v =1.0 pu x
t
=0.15
C
dc
=1.0 V
dc
=1.0 |u
C
| 0.2 pu |u

| 0.2 pu
All resistances and reactances are in pu and time constants
are in seconds.
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