An Advanced LFC Design Considering Parameter Uncertainties in Power Systems

Satoshi Ohba, Haruka Ohnishi, Student Member, and Shinichi Iwamoto, Member, IEEE
model in which many electric power system components such as generators, motors, and loads are aggregated as a single generator, motor, and load. However, any parameter value in the model fluctuates depending on system and power flow conditions which change every minute. A control system is desired, which can consider these parameter variations due to the variation of such system conditions. To realize such a control system, consideration of robustness at the designing stage is needed. As a design theory of the robust control system for model errors, the HGO control theory was established at the end of the 1980's, and applications to various control problems have been examined [1]-[4]. However, the degree or dimension of the designed controllers has increased more than the necessity, and the problem of the difficulty has been indicated. In recent years, from such background, the problem for searching such Index Terms-- automatic generator control, load frequency controller has attracted interest, whose degree and structure control, robust control theory, H,, control theory, PID control, were fixed. Researches have been widely carried out, which parameter space realize the robust control by PID controller [5]-[14]. Since the largest number of the parameters of the PID controller is three, I. INTRODUCTION it is possible to globally catch the effect of the PID gain on THE purpose of the load frequency control (LFC) in the stability and performance of the controller, and the optimum power system is to maintain the quality of the frequency gain is obtained, by drawing the region on the parameter space by suppressing the frequency deviation and tie-line power based on the parameter space design method [7]-[14]. flow deviation in the own area in the range of some tolerances. In this paper, we propose a designing method of a load However, the electric power industry has become more frequency control system using the robust PID controller complicated than ever in recent years. And, under the based on a parameter space designing method. Finally, we deregulated environment, distributed generations, especially carry out simulations for the system in order to compare the renewable energies such as wind power generations have been proposed method with the conventional method (a PI type interconnected with the power system. Therefore, reviews of controller), and confirm the validity of the proposed method. the conventional control system are required in order to deal with the change of such various situations. II. PROPOSED DESIGN METHODOLOGY As one of the techniques which represent the load frequency control, the tie-line bias control (TBC) scheme is A. HIJ Control mentioned. This is a scheme for adjusting generator outputs 1) Formulation of the HIJ Control to absorb the Area Control Error (ACE) which is calculated to We consider the control system shown in Fig. 1. Here, w, z, adjust the demand and supply balance in the own area by u, and y represent the disturbances, the controlled variables, measuring both the frequency deviation and the tie-line power the control inputs, and the observed outputs, respectively. flow deviation. Many conventional load frequency control The transfer function of the control system is defined by the simulation models use a system model linearized around some following equation. operating point. This system model is a kind of aggregated I G( ) GI GI 2 (1) C(s)30 G21 G22
Abstract-- In this paper, we propose a designing method of the load frequency control, which is able to consider uncertainties in power systems. We design the control system utilizing PID controllers for an H,, control problem. Even though many advanced control theories have been established, most industrial controllers still use conventional applications such as PI, PID, and simple first-order lag/lead compensators. The HW. control theory can deal with many robust stability and performance problems. We especially pay attention to the inertia constant, the damping coefficient, and the synchronizing coefficient because these parameters change their values or have some errors depending on conditions of the power system. As an example, we design a case of a two-area system, and carry out simulations to compare the proposed method with a conventional method (a PI type controller). As the results of the simulations, we can confirm the effectiveness of the proposed method.
S. Ohba is with Tokyo Electric Power Company Inc., Japan. H. Ohnishi and S. Iwamoto are with the Department of Electrical Engineering and Bioscience, Waseda University, Shinjuku-ku, Tokyo, Japan

(e-mail: ohnishiMamwrs.elec.waseda.acjp).

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follows.
+ K(s) =KPK

1+ s

KD

[12]
Fig. 1. Control System

Here, KP, KI, and KD represent the proportional gain, the integral gain, and the derivative gain, respectively. 2) Application to the Robust Sensitivity Control Problem
A plant and a controller in the frequency domain are,
IG(jc) = a(0) + jb (a) UK(jt) = r(cos O+ j sin O)

(10)

For the generalized plant G(s), the feedback control is performed with controller K(s) expressed by the following

By substituting (10) into (7), we obtain the next inequality.

K/2

equation.

u = Ky (2) Then, the closed loop transfer function from w to z is represented by the following equation. (3) Tz = GI I(s)+ GI2(s)G21(s)K (s) 1 -G22 (s)K(s) Because the control objective is to suppress the controlled variable z against the disturbance w, it is important to design the controller which suppresses the norm of the transfer function by (3). It is the HGO control theory that utilizes the HGO norm as a scale of the size, and the HGO norm of the stable transfer function T-, will be defined as follows.

12(a2+b2)r2
2

L2-a os02 ~ acosObsinO

~ alfl ~

(11)
r

a2

By obtaining the range of 0 in which this inequality has the solution of 0 > 0, the solution set is obtained. Here, (11) is written as (12). Ar2 +2Br+C > 0 (12) where,
A(a2b2{1b 212

||T||

sup

12

(4)

2) Robust Sensitivity Control Problem In order to consider characteristic variation of control system, the real characteristic of controlled object is defined by using G(s) and model error A(s) as follows:

B acosO- bsinO -a
C=1-

a/8

C(s) = (1 + A(s))G(s),

IA(jw)l <

(5)

Here, sensitivity function S and complementation sensitivity function T in Fig. 1 are defined in the following equations.
1

Therefore,
* *

In the following, we consider this inequality. a) Case ] Discriminant D (=b2 - 4ac) of (12) is positive in all 0.

a2

If A>O and C<O, r>-

A
-

+ K(s)G(s)

(6)

If A<O and C>A, 0 < r -B

T(s)

K(s)G(s) 1 + K(s)G(s)

For the plant expressed in (5), equation (7) must be satisfied in order to guarantee the robust stability and the robust performance of the closed-loop system.

Here, oc(oo) and Pf(o) are appropriate weight functions. B. Parameter Space Designing Method 1) Definition of the PID Controller [15] Although the controller designed in this paper is PID controller, we use the imperfect differentiator shown as KDI(1+Ts) for the perfect derivative action, because the differentiator is realizable in practice. It means that the perfect differentiation is approximated by choosing X as a minute or very small value. Therefore, the PID controller designed in this paper will be expressed as

|SGO)|+ a(w) /A(0)

(7)

From the existence interval of r, it is found that in the former, there is the permission region outside of boundary lines, and that in the latter, there is the permission region inside of boundary lines. b) Case 2 * If B>O and D>A, O<r * If B>O and D<O, O<r
0

If B<O and D>A, 0 < r

B -D A

-B+I
A

* If B<O and D<O, O<r Therefore, the boundary can be decided only when the third condition is satisfied. c) Case 3 * If B>O and D>A, r does not exist. * If B>O and D<O, r does not exist. -.,I 0 B-D r * If B<O andD>A
A
A

If B<O and D<O, r does not exist.

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Therefore, the boundary can be decided only when the third condition is satisfied. d) Case 4 0 If B>O and C>A, O<r
0 0

III. PROPOSED METHOD

If B>O and C<O, r >

C 2B
C
2B

If B<O and CA>, 0 < r <

* If B<O and C<O, r does not exist. Therefore, the boundary can be decided when either the second or the third condition is satisfied. e) Case 5 * IfA>O and B>O, O<r
0

IfA>O and B<O, r > 2B A O IfA<O and B>O, < r <

2B

A. Control Model We propose a method for designing an LFC controller that has a tie-line bias control (TBC) scheme. Fig. 3 shows a linear model of the power system (area i) used in the various research generally, which has a governor and a reheat steam turbine represented as a first-order model [16]. In this model, it is assumed that neighboring areas are interconnected by one tie line, and that the interconnection of individual generators in each system is firm, and the transmission line in the system can be disregarded. And, in each system the dynamic characteristic is represented by the load characteristic which represents the relationship between the frequency change and the load transition and by the inertia which represents each generator in the system. In this paper, we design a controller system and run simulations using this model.

* If A<O and B<O, r does not exist. Therefore, the boundary can be decided when either the second or the third condition is satisfied. As B and D are functions of 0, the interval of 0 with the solution of 0 > 0 for each case will be obtained. By giving 0 in the interval, and calculating the existence interval of r which satisfies (11), (r, 0) which gives the boundary of the set is obtained. It is possible to determine the PID gain using (14) obtained from (13). Concretely, by fixing KD at some values, the permission region is described in the (KP, KI) plane. (13) r(cosO + jsinO) = Kp + KI + jKD
jo)
1+]o)r

Kp rcosO
=

Fig. 3. Linear Model (area i)

tKD

rsinO

(14)

An example of a permission region and boundary lines is shown in Fig. 2. It is shown that this figure is an example of Case. 1.

ii V
--I

,--

rm
=;WC

a.N

However, it is necessary to guarantee controllability when we use this model and design a controller system interconnecting multiple areas. Therefore in this paper, we utilize the frequency deviations of neighboring areas as the state variable, as shown in Fig. 4, in order to design the control system whose controllability is guaranteed [17]. Originally, this technique may be applied only to the case in which it is interconnected with multiple areas. In this paper,

however, by using frequency variation information of the neighboring area, we design the load frequency control system which considers additional information of electric power system.

(Note that Kp and Ki do not have any unit, because they are parameters defined in the Parameter Space Designing Method.)
Fig. 2. Sample of the Permissible Region

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2007 39th North American Power Symposium (NAPS 2007)

Fig. 4. Linear Model with neighboring areas

characteristics of the power system (inertia constants and damping coefficients) and also the synchronizing coefficients between the areas. For the above parameters, the assumed ranges of the considered variations are as follows: 0 Inertia constant (inverse) 1/M 1 20% Afi sM + Di D 0 Damping coefficient 20% * Synchronizing coefficient Tij 15% System i 2) Block Diagram with the Designed Controller By using constants shown in Table I, the region of the 2 /7Tij 4-0-)solution set which satisfies (11) is described on the parameter s j i-plane. The block diagram with the designed PID controller is Afj shown in Fig. 5. 3) Gain Calculations 1 Based on the design procedure shown in section II, the sM + Dj controller was designed for each area. As results of the gain System j calculation, the PID gains converged on the values shown in Table II.

Additionally, in this paper, we pay attention to inertia constants, damping coefficients, and synchronizing coefficients because they are some of the parameters in this model that change their values depending on the conditions of the power system. Therefore, we consider the changes of these parameters beforehand at the stage of designing the controller, and carry out stabilizing control of the system. In addition, we use the area control errors (ACEs) as observed quantities. The ACE in area i is expressed as follows:

ACEi = BiAfi + APt%e,i Where Bi represents the frequency bias value in area i, and is expressed as follows:
Bi =Di

+-I
Ri
Fig. 5. Designed Linear Model
TABLE II PID GAIN IN EACH AREA Parameters Gain Values

System j

B. Design Model We have used a two-area interconnected system [18]. In this example system, it is assumed that the system capacity of both areas is equal. The constant parameters of both areas are shown in Table I.
TABLE I PARAMETER VALUES Parameters

KP

K1 KD

0.595 0.430 0.160

Inertia Constant M

Damping Coefficient D Governor Gain Kg Governor Time Constant Tg Turbine Gain K, Turbine Time Constant T,

Speed Regulation R
Frequency Bias Value Bs

Synchronizing Coefficient

TY

Value 0.0833 [p.u.sec/Hz] 0.0083 [p.u./Hz] 0.08 [sec] 1.0 0.30 [sec] 1.0 2.4 [Hz/p.u.] 0.2115 [p.u./Hz] 0.544 [p.u./Hz sec]

IV. SIMULATIONS In this paper, we carry out the simulations in a two-area interconnected system assuming that 0.01 [p.u.] step disturbance occurs in area 1. To compare the control performance, we also carry out the same simulations with the

conventional method which is the integral control of the tieline bias control (TBC) scheme (The integral gain KI = 0.1).

C. Controller Design 1) Setting of the parameter variation range We consider two parameters that show the dynamic

A. The Nominal Control Performance We carry out simulations for the case in which each parameter is the nominal value. As a response example, each frequency deviation and tie line power flow deviation are shown in Fig. 6 (the frequency deviation) and Fig. 7(the tie line power flow deviation).

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-nventbnal-

)nventbnal-

01
02

03 04
Tine (sec)

Tine (sec)

(a) area

(a) area

conventbnal-

-onventbnal-

)1

03

Tine (sec)

Tine (sec)

(b) area 2 Fig. 6. Frequency Deviations

(b)area 2 Fig. 8. Frequency Deviations (with parameter fluctuations)

0 0 0 O

.......

I1

Tine (sec)

Fig. 7. Tie-line Power Flow Deviations

Fig. 9. Tie-line Power Flow Deviations (with parameter fluctuations)

From the waveforms of Fig. 6 and 7, it is found that the proposed method quickly suppresses the frequency deviations and the tie-line power flow deviations in each area compared with the conventional method. B. The Robust Control Performance It is difficult to use the nominal values for the parameters considered in the design under the power system, which changes the values every moment. And it is appropriate to consider that the parameter always changes. Therefore, we also carry out simulations for the cases in which the parameters have the various errors. The simulation results are shown in Fig. 8 (the frequency deviations) and 9 (the tie line power flow deviations), where, the parameter values of each area are as follows: * Inertia constant (inverse) 1/M :+15% * D :+15% Damping constant * Synchronizing coefficient Tij +10%

From the waveforms of Fig. 8 and 9, it is found that the proposed method quickly suppresses the frequency deviations in each area compared with the conventional method in the case in which each parameter has the variation. And, it is found that the proposed method quickly suppresses each deviation as well as the case of the nominal value, when it has the parameter variations, though the conventional method has taken more time than the case of the nominal value.
C. The Numerical Comparison Here, to examine numerically the effectiveness of the proposed method, we utilize the performance indices that are used in [19]. The performance indices are defined as follows, (15) Jf = E E lAf(t)
time area

JPtie

time tieline

ai APIe(t)i

(16)

where ai: The capacity rate of area i These functions are expressed as the total absolute value of the deviations in all areas. Therefore, we can find that the

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2007 39th North American Power Symposium (NAPS 2007)

smaller the value of the performance indices, the better control is carried out. In this case, we add each deviation every second, and compare the proposed method with the conventional method. Table III shows the values of these performance indices. Here, we are able to find that the value of the proposed method is smaller than that of the conventional method. Also, the proposed method can control the variation without changing the control performance, even if the parameters fluctuate. Therefore, the proposed method has robustness in its control and the validity can be confirmed.
TABLE III VALUE OF PERFORMANCE INDICES

[12] M. Saeki and D. Hirayama, "Parameter Space Design Method of PID Controller for Robust Sensitivity Minimization Problem," T.SICE, Vol.32, No. 12, pp. 1612-1619, 1996. (in Japanese) [13] V. Besson and A. T. Shenton, "Interactive parameter space method in mixed sensitivity problems," IEEE Trans. Automat. Contr., Vol.44, No.6, pp.1272, 1999. [14] M. T. Ho, "Synthesis of H. controllers: a parametric approach," Automatica, Vol.39, pp.1069-1075, 2003. [15] N. Suda, "PID Controller," ASAKURASHOTEN, 1992. (in Japanese) [16] Olle I. Elgerd "Electric energy systems theory an introduction," McGraw-Hill Book Company [17] T. Ishii, G. Shirai and G. Fujita, "Decentralized Load Frequency Control Based on H. Control," T.IEEJ-B, Vol.120-B, No.5, pp.655, 2000. (in

Nominal Fluctuate

Fl 0.048 0.048

Proposed F2 Ptie 0.058 0.015 0.059 0.016

Fl
0.221 0.229

conventional F2 Ptie

0.228 0.236

0.056 0.056

Japanese) [18] S. Ohba and S. Iwamoto, "LFC Using Parameter Space Design Method Considering Perturbation in Synchronous Coefficient," IEEJ National Conference, Vol.6, pp.53, 2006. (in Japanese) [19] K. Yukita, Y. Goto, Y. Mizutani, "Load Frequency Control Based on Power Demand Estimation and Fuzzy Control Considering Effects of Self-Regulation of Generator," T.IEE-B, Vol. 116-B, No.1, pp42-51, 1996. (in Japanese)

VII. BIOGRAPHIES
Satoshi Ohba was born in 1983. He received his B.E. and M.E. degree from Waseda University, Tokyo, Japan in 2005, 2007, respectively. His research interest is mainly power system stability and load frequency control.

V. CONCLUSION

In this paper, we have designed a control system using a robust PID controller based on the parameter space designing method. The proposed method is a new designing method of a load frequency control which regards ACE as the observed outputs to guarantee the controllability of the control system. We have carried out simulations for the system in order to compare the proposed method with the conventional method, and confirmed the validity of the proposed method. From the result of the simulations, the proposed method has improved the quality of the ACE responses and proved to be effective for the control of the output variation considering the parameter fluctuations.
VI. REFERENCES
J. C. Doyle, K. Glover, P. P. Kargonekar and B. A Francis, "State space solutions to standard H2 and H. control problems," IEEE Trans. Automat. Contr., Vol.34, No. 8, pp. 831-842, 1989. [2] K. Zhou, J. C. Doyle, K. Glover, "Robust and Optimal Control," Prentice Hall, 1996. [3] T. Mita, "H,, control," SHOKODO, Japan. (in Japanese) [4] K. Nonami, H. Nishimura, M. Hirata, "The design of the controller using MATLAB," Tokyo Denki University Press, 1998. (in Japanese) [5] B. Chen, Y. Cheng, C. Lee, "A genetic approach to mixed H2/ H~. optimal PID control," IEEE Control Systems, pp. 51-60, 1995. [6] RHC. Takahashi, PLD. Peres, PAV. Ferreira, "Multiobjective H2/ H~. guaranteed cost PID gain," IEEE Control Systems, pp. 37-47, 1997. [7] J. Ackermann et al., "Robust control systems with uncertain physical parameters," Springer-Verlag, pp.106, 1993. [8] Z. Shafiei and A. T. Shenton, "Frequency-domain design of PID controllers for stable and unstable systems with time delay," Automatica, Vol.33, Nol2, 1997. [9] M. Saeki, "A Design Method of the Optimal PID Controller for a Two Disk Type Mixed Sensitivity Problem," T.ISCIE, Vol.7, No.12, pp.520527, 1994. (in Japanese) [10] V. Besson and A. T. Shenton, "Interactive control system design by a mixed H,-parameter space method," IEEE Trans. Automat. Contr., Vol.42, No.7, pp.946, 1997. [11] M. Saeki, J. Kimura, H. Kurata, S. Taiji, "Parameter space design method of PID controller for H., control problem," T.ISCIE, Voll 1, No. 1, pp.35-40, 1998. (in Japanese)

University, Tokyo, Japan in 2007. His research interest is mainly power system stability and load frequency control.
Shinichi Iwamoto was born in 1948. He received his B.E., M.E., and Ph.D. degrees from Waseda University, Tokyo, Japan in 1971, 1975, and 1978, respectively. From 1972 to 1974, he was at Clarkson University, U.S., and received his M.E. degree. He is presently a full professor at Waseda University. From 1992 to 1993, he was at the University of Washington as a visiting professor. His research interests are mainly the deregulated power market, voltage stability analysis, transient stability analysis and GPS applications to power systems.

Haruka Ohnishi was born in 1983. He received his B.E. degree from Waseda

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