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'rk"actions on Power Systems, vol. 6, NO.

3,

August 1991

1147

SLIALL S I G N A L S T A B I L I T Y PROGRAizl A N A L Y S I S OF SVC AND HL'DC I N AC POWER SYSTEMS

S.

Arabi

D.Y. WOnQ

G.J. Roqers
Senior Member, IEEE

Ontario Hydro
700 University Ave
Toronto, Ontario
M5G 1x6
Canada
Abstract - HVdc transmission links and SVCs have
controllable characteristics with
potential
for
affecting system stability. To study these effects
and to design their controllers for improving system
stability, there is a need for their representation in
small signal stability programs as well as time
simulation programs.
In this paper, we address the
formulation of dc link and SVC models and their
controllers for small signal stability.
Several examples are studied to show the capability
and application of the small signal dc link and SVC
models. The small signal results are verified by time
domain simulation results of the same study cases.
Key Words:
HVdc Transmission, Static VAr Compensator,
Signal Stability, Eigenvalues, Modal Analysis.

Small

INTRODUCTION
High voltage direct current links are being used
extensively
in
interconnected
power
systems
worldwide.
They are used both to transfer power,
economically, over long distances, and to transfer
power between two systems which do not run in
synchronism. In North America the total capacity Of
HVdc links in 1987 was over 14, 000 MW [l] with
increases planned.
The real power flow through HVdc links, and the
reactive power absorbed by them, may be controlled by
varying the firing angles of their ac/dc converters.
Besides providing a means of power transmission, HVdc
links can also be used for controlling the damping of
the oscillations between
synchronous generators,
inherent in power systems.
Because of the fast controllability and high power
capacity of HVdc links, incorrectly designed controls
may degrade the performance of the system.
It is
important to be able to apply systematic design
techniques to HVdc controls. It is also important to
be able to use sufficiently detailed power system
models, so that both local and global effects of the
dc link controls can be studied.
Models of HVdc links have been available, for use in
time domain simulation programs, for some time. The
most extensive treatment of dc modelling in this type
of simulation is that developed under EPRI Project
RP1964-4 [2]. The use of transient stability programs

P Kundur
Fellow, IEEE

M.G. Lauby
Senior Member, IEEE
EPRI
3412 Hillview Ave.
Palo Alto, CA 94303
U.S.A.

for the development of HVdc link controls has led to a


trial-and-error procedure using repeated simulations
to evaluate the effect of design changes.
Static VAr Compensators (SVCs) are often associated
with HVdc links supplying power into relatively weak
systems. They also have potential to provide fast VAr
support in other circumstances. Like HVdc links, they
may be used to improve damping in system oscillations.
The study of power system oscillations and the design
of controls to aid in the damping of
these
oscillations is best done using modal analysis
techniques on a linearized model of the power system.
It is important to be able to model all devices which
have a significant impact on the stability of the
overall system. This paper describes the formulation
of HVdc link and SVC models for use in power system
small signal stability studies.
Such models are
available in the Small Signal Stability Program (SSSP)
package
developed by Ontario Hydro under EPRI
RP2447-1 [3].
Each model is in the form of a
linearized state space system with its output the
change in current injection into the transmission
network. A simple system model having both an HVdc
link and an SVC is used to illustrate the capability
and
application
of
the
models.
Frequency
response capability of the package, as related to
these models, is also demonstrated. The small signal
stability analysis results are compared with their
time simulation counterparts.
Modes obtained by
spectral analysis of the time simulation results are
very close to those obtained by small signal stability
analysis.
HIGH VOLTAGE DIRECT CURRENT TRANSMISSION
Most HVdc links that are in service can be modelled as
two terminals having one controlled rectifier and one
So
controlled inverter as links to the ac system.
far, each dc link has been designed on an individual
basis and, although the basic ac/dc converters are
standard, the method of their control and the nature
of the control variables used varies considerably from
installation to installation. hTearly every unit in
service has control facilities, additional to the
basic dc current and voltage controllers, designed to
ensure that the interconnected system is stable
following both small and large disturbances.
'The
formulation of an adequate model for small signal
stability must take into account the need for
flexibility in
the
controls as
well
as
the
representation of the basic action of the link.

In many transient stability programs, dc links are


represented by a functional model in which the
dynamics of the dc line and the converter firing angle
controls are considered to be instantaneous.
Such
models are generally too restrictive for use in small
signal stability analysis and the model presented here
includes the dynamics of the line and the converter
controllers. Nevertheless, it is possible to use the
dynamic model for a functional representation by
making assumptions regarding the controller and the
line dynamics that are described later. The general
0885-8950/91/0700-1147$01.00 0 1991 EEE

91 WM 217-0 PWRS A paper recommended and approved


by the IEEE Power System Engineering Committee of
the IEEE Power Engineering Society for presentation
at the IEEE/PES 1991 Winter Meeting, New York,
New York, February 3 - 7 , 1991. Manuscript submitted
August 30, 1990; made available for printing
January 22, 1991.

1148
form of any device model in SSSP [ 3 ] isr
dxldt

A x + B S A v T +B, A V ,

A iT

= Cx-Y,AvT

-Y, AV,

where,

E
.
.

INPUTS

x is a vector of state variables,


MODUATDN

A is the state matrix,

Bs is
between

cotrmas

a matrix
describing
the
interaction
the ac terminal voltage changes AV,

.._.._.........
.....
~

=!!?E
m

B,
is
a matrix describing the interaction
between the changes in remote bus voltages AVr
and the states,
AiT
is the vector of ac
changes at the ac terminals,

current

WEFITER
CoNlRoLS

injection

C is the matrix describing the influence of the


states on the current injections,
Ys is the
device, and

effective

self

admittance

of

Yr describes the influence of the changes


remote bus voltages on the current injections.

the

FIGURE1

USER DEFINED HVDC UNK MODEL

in
A i,

Each model is formed using the component connection


method [ 4 ] which allows great flexibility in model
structure.

= AKx&+YYdcOL\EO
+AK,

Aa

(4)

where,

AK
The
HVdc
model
uses
the
normal
continuous
approximation to the dc converter [ 5 ] , linearized
about an
initial condition determined from an
initiating load flow. The dc line is modelled as a
"T" circuit and includes the resistance and inductance
of smoothing inductors.
The line charging may be
ignored if required, but the inductive component of
the line must be represented. The full line model
requires three states, the currents at the two
converters and the capacitor voltage.
The line model neglecting charging requires only a
single state, the dc line current.
Two separate
controllers are provided, one for the rectifier and
one for the inverter. The outputs of the controllers
are the respective converter firing angles.
The HVdc model of SSSP with user-defined controls is
shown in Figure 1. The program has also a standard
model option for use in initial planning studies or
when data or more specific controls are not available.

DC Network and Converter Modelg


The state space equations of the dc network may be
stated in matrix form as:
dx

Idt = A,$&+

B d c ~ E O+ B, A a

(3)

where,
Xdc is a vector of dc network state variables,
Adc is the dc network state matrix, and
Bdc
and
Ba
are
matrices
describing
the
interaction between
the
commutation
voltage
changes AEo and converter firing angle changes
Aa respectively and the rate of change of xdc*
The converters are modelled using their well-known
steady-state algebraic equations
[ 5 ] , which may be
stated in matrix form as:

and
AKa
are
matrices
describing
the
influence of the dc network states and converter
firing angle changes respectively on the converter
ac current changes Aiac, and,

Ydco is the effective commutating bus admittance


matrix.
In order to be able to model converter transformers
with tertiary windings, the ac low tension (LT)
converter buses are used as the injection terminals,
with the following relationship to the commutating bus
voltage changes:

A E,

AVa:

+Z, A i,

where, 2, is the commutation impedance matrix.


Control Models
Two types of control model have been provided. One is
completely defined by
hard code and is intended for
use in initial planning studies before detailed
information is available on the planned installation.
The other is user defined and is intended for detailed
modelling of dc links with known controller structure.
The initial planning model is based on typical
(equidistant firing angle) converter controls with
current control at the rectifier, and dc voltage
control at the inverter. Modulation of the rectifier
and inverter controls using their respective ac bus
frequency is also provided.
Its formulation is
similar to that of the user defined control model that
is discussed below.
gser-Defined Control Model

In addition to the dc line and converter models, basic


linear and non-linear building blocks are available
for model construction. The linear blocks provide all
types of transfer function that are usually used in
any controller. The non-linear blocks provide for the
non-linear functions that occur in dc controllers.

1149

such as division (eg, power divided by voltage to


calculate current), multiplication (eg, voltage times
margin angle to calculate margin area), and cosine
inverse (for its linearization effect on the overall
closed loop system).
The main interface to the ac system is through the
converter ac bus voltage magnitude and angle, current
magnitude, and real and reactive power.
Similar
quantities associated with two remote buses are
available as control inputs. Converter dc quantities
such as current, voltage, and inverter extinction
angle are also available for use as feedback signals
in different controllers. Ac bus frequency can be
obtained by using a washout (partial differentiation)
block with bus angle input. The time constant of the
washout then represents the frequency transducer time
constant. No programming is required to implement a
user
defined
model
and
its
construction is
straightforward, once
a block
diagram of
the
controller has been established.
The formulation of the controls is as follows:
dxc/dt

= AcxctBcAVb

= AKc~yb+BKc~u,

Aa

A U,

= CGx,+BG,Ai,+BG,av,+BG,av,t

To date, several types of SVCs have been used in power


systems such as thyristor-controlled reactor (TCR),
thyristor-switched capacitor
(TSC), and saturated
reactor (SR) [6]. In order to provide the TCR or
SR compensators with a reactive power production
range, capacitive components in the form of fixed
capacitor (FC), mechanically-switched capacitor, or
TSC, are frequently connected in parallel with them.
Since linear system formulation does not allow for
discrete functions to be represented, all forms of
capacitive components are assumed fixed, with the fast
action of TSC normally assumed instantaneous and thus,
included in the TCR range. A TCR, on the other hand,
presents a variable susceptance with firing angle
control, which may be provided with supplementary
controls to improve the damping o f low frequency
oscillations [7]. Moreover, an SR compensator has a
natural characteristic with no firing angle control,
which, as far as a small signal model is concerned,
may be interpreted as a simplified form of TCR. As a
result, all SVCs that are in service can be modelled
as TCR+FC compensators.

(6)

(7)
AUb

STATIC VAR COMPENSATOR

(8)

CKCayb

(9)
BG,Aa

(10)

where,
xc is a vector of controllers state variables,
AC is the controllers state matrix,
BC
is a matrix describing
the
interaction
between the control block input changes Aub,
and the controllers states,
Cc
and
Dc
are
matrices
describing
the
influence of the controllers states and control
block input changes respectively on the control
block output changes Ayb,
AKc
and
BKc
are
matrices
describing
the
influence of the control block output changes and
controllers input changes Auo respectively on
the control block input changes,
CKc is a matrix describing the influence of the
control block output changes on the converter
firing angle changes,
CG is a matrix describing the influence of the dc
network states on the controllers input changes,
BG1
and
BG,
are
matrices
describing
the
influence of the converter ac current changes and
converter firing angle changes respectively on the
controllers input changes, and
BG2
and
BG3
are
matrices
describing
the
influence of the converter ac LT bus voltage
and
remote
bus
voltage
changes
changes AV
Avr
respectively on
the
controllers
input
changes.
Finally, the general form of the model is obtained by
AE~,
Aa,
dub,
Ayb,
and
eliminating
Auo in Equations (3) through (lo),
and combining
Xdc and xc into one array.

Although the basic power circuit of a TCR is standard,


the method of its control and the nature of the whole
compensator control
variables
used
varies
from
installation to installation.
The model presented
here includes flexible controller representations,
with a general modelling form similar to that of HVdc
Similarly, the
link (ie, Equations (1) and ( 2 ) ) .
model is formed using the component connection method,
with the normal continuous approximation to the TCR
valving action, linearized about an initial condition
determined from
an initiating load flow.
The
SVC model of SSSP with user defined controls is shown
The package has also a model with a
in Figure 2 .
simple controller that is discussed later.
Power Circuit Models
The power circuit of an SVC is modelled as a variable
susceptance, resulting in the following relationship:
A

svc

= csvc A

%VC+

ysvc A vsvc

where,
CSVC is an array describing the influence of the
SVC
susceptance
on
the
SVC
current
change vector Aisvc,
YSVC
is
the
matrix, and,

effective

AVSVC is
vector.

SVC

the

self

bus

bus

admittance

voltage

VOLTAGE / P.F.

LOCAL
INPUTS

REGVIATOR

AND

MODULATION/

I
k

USERDEFNED COMRCI. LWNL

Models of virtually all the dc links in service in


Canada and the United States have been constructed
using the user defined modelling facility [lo].

self

CCNTR~LS
FIGURE2

WUT

SVC MODELS

cl

CfTloN

SVC (TCR + FC) USER DEFINED MODEL

change

1150

The change in SVC susceptance is the same as the


change in TCR susceptance AB^,-^, as the capacitive
component is assumed fixed. The TCR susceptance is a
non-linear function of the TCR firing angle a [ 6 1 :
= B,

2x

- 2 a + sin(2x - 2 a )
R

where, BL is the susceptance of the reactor used in


TCR

Linearization of Equation (12) yields:


A

BbVC = A Bm

F( a ) Aa

where,
F( a)

= - 28, (1

- cos 2 a

)/ E

(14)

The non-linear SVC model of Figure 2 takes Equation


(14) into account, whereas for the linear SVC, the TCR
non-linearity is cancelled by an ideal linearizing
block, making F(a)
a constant equal to -2BL/W.
Either model may be chosen, in user-defined control
option. The linear option is inherent in the simple
SVC model. The output of the user-defined control is
the TCR firing angle in per unit, where,
- arad - x / 2
a
(1 5)
PU
XI2
Control Models
Similar to HVdc, two types of control models have been
provided.
The initial planning model is based on
typical controls, where the control input can be
either the SVC self bus voltage magnitude or the
voltage magnitude of a remote bus within the ac
network. Its formulation is similar to that of the
user-defined control model that is discussed below.
User-Defined Control Model
Basic linear building blocks, similar to those of
HVdc, are available for model construction.
The
interface to the rest of the system is through voltage
magnitude, current magnitude, and reactive power of
both the TCR and the whole SVC, and through similar
quantities
associated
with
two
remote
buses
representing an ac line (or transformer), as well as
remote bus phase angle, and power and power factor
associated with the line.
The formulation of the controls is similar to
Equations (6) through (10) of the HVdc model, except
that the first and the last terms of Equation (10) do
not exist for the SVC model (ie, CG and BG are zero).
The general form of the model is obtained by
Aa,
Aub,
Ayb
and
eliminating
duo among Equations (U),( 1 3 ) , and modified (6)
through (10).

RGURE 3

SINGLE LINE DIAGRAM OF THE SYSTEM

voltages. The second case is for a same system but


with the detailed dc controls and actual dc network
dynamics represented.
The third case is for the
dynamic dc model augmented by dc current modulation
The
derived from the frequency change at bus 5.
fourth case is similar to the third but with the SVC
modulation.
The system data and control block
diagrams are presented in Appendix A .
The system is small enough for all eigenvalues,
eigenvectors and inverse eigenvectors to be calculated
using the Multi-Area Small Signal stability program
(MASS) [3], an option of SSSP. However, only the
rotor angle modes associated with the synchronous
generators are considered here.
Table 1 gives the
damping ratio, frequency of oscillation and the
machine having the most participation [ E ] for the
rotor angle modes of the above four study cases.
The first two modes (corresponding to DG1 and DG3) are
relatively well damped and remain more or less the
same in all cases. The third and the fourth modes
(corresponding to CG4 and CG5) are rather lightly
damped with some differences depending on the type of
the dc model used.
It can be seen that, the
model
has
produced
functional
dc
link
pessimistic result for the
third
mode,
and
optimistic result for the fourth mode. The modulation
of either dc or SVC controls increases the damping
ratios of these modes, with more increase for the
fourth mode than for the third mode. This is due to
the higher relative amplitude of the fourth mode in
the modulation signal that is evident in the time
simulation results presented next.

TABLE 1

ROTOR ANGLE MODES FROM EIGENVALUE ANALYSIS (MASS)

EXAMPLES OF USE
Eigenvalue Analysis
The capabilities and application of the small signal
dc link and SVC models are demonstrated by considering
a small ac/dc system having 10 buses, 6 ac lines, 5
transformers, three detailed generator models, two
classical generator models, one two-terminal dc link,
and one SVC at the inverter bus.
A single line
diagram of the system is shown in Figure 3 .
Four cases have been studied.
The first case
represents the dc link in a form as close to a
functional model as is possible.
This is done by
forcing constant dc current and voltage by large dc
line inductance and capacitance. The changes of the
converter. firing angles are then linearized with
respect to the changes of their respective ac bus

7-7-

7-

1151

Comparison with Time Simulation Results

ROTOR ANGLE MODES FROM SPECTRALANALYSIS OF TIME


SIMULATDN (ETMSP) OF FREQUENCY AT BUS NO. 5

TABLE 2

To verify the small signal stability results, time


simulations of the same study cases have been carried
out using version 2.0 of the Extended Transient and
Midterm Stability Program (ETMSP) developed by Ontario
Hydro under EPRI RP1208-9[9].
ETMSP contains the HVdc
model developed by EPRI under RP1964-4. This model
has been extensively tested and verified by Manitoba
HVdc Research Centre [2]. The change in the measured
(ie, the signal used for
frequency at
bus 5
modulation) is shown in Figure 4, for the four study
cases. In each case, the modes have been excited by
simulating a small (temporary) disturbance in the dc
link (from 0.05 to 0.1 second). While the shapes of
the plots in Figure 4 are in agreement with the small
signal analysis results, a closer comparison can be
made by a spectral analysis of these curves:
the
results are presented in Table 2.

RELATIVE
0.000

- _--

Functional DC

svc Models
svc ~ ~ , j ~

aid

i0.0125
~ t i I ~ 2.5934
~
0.2560
1.4522

I
1

u.uuu
0.1 16
1.000

The relative amplitude column of Table 2 explains why


the modulation controls have had virtually no effect
on the first two modes and less effect on the third
mode than on the fourth mode. Virtually zero relative
amplitudes of the first two modes also point to the
fact that these modes are highly damped, as the
spectral analyses have been performed for a time
window starting at 0.4
seconds and ending at
1.5 seconds.
Frequency Response Capability
The SSSP package has also a frequency response
capability
that
is
very
useful
in
designing
controllers for any device.
In particular, the
frequency response due to disturbances at different
points in the controls of dc link and SVC models may
be obtained. An example is provided in Figure 5,
where for a large system containing a dc link in
parallel with an ac line, the gain and Phase angle of
the ratio of the power flow change through the ac line
to a change in the dc current order are presented.
The results indicate a mode at about 0.35 Hz, which
could be controlled by a modulation signal based on
the ac tie line power flow.

::

a
W
0

-20.j
-10.

-100.

-1'40.6-180.6-220.

-260.61

-3oo.e

-3'40.0-380.0

Frequency1HZ I

.,

10

FIGURE 4 TIME SIMULATIONRESULTS

1152

Torsional Interactions

E.W.
Kimbark,
Direct
Willey, New York, 1971.

The detailed generator model of SSSP Package has a


multi-mass representation capability. It provides for
the study of torsional interactions between machine
and HVdc link controls. However, the package is not
suitable for subsynchronous resonance and harmonic
interaction studies.
For such studies, explicit
representation of the network dynamics is essential
[ll].
HVdc link and SVC models which include the
discrete nature of the firing system are also
required; currently such models are not available for
small signal stability analysis.

In order to show the capability and application of the


small signal dc link and SVC models, several cases
have been studied using the MASS option of the SSSP
package. Our studies show that a functional dc model
produces the frequency and damping of low frequency
modes fairly accurately. However, for some modes the
damping is lower and for others higher than that
calculated using a full dc model.
The
flexibility of user-defined model has been
demonstrated by its application to modulation schemes
for both dc links and SVCs. The frequency response
capability of the package, as related to these models,
has also been demonstrated.
Small signal stability results of the study cases have
been verified by time simulation results of the same
cases.
Close agreement between the two sets of
results has been demonstrated by a spectral analysis
of the time simulation results.

Transmission,

T.J.E. Miller, Reactive Power Control in Electric


Systems, John Willey & Sons, 1982.
E.V. Larsen, J.H.
Chow, "SVC Control Design
Concepts for System Dynamic Performance", IEEE
Special Symposium on Application of SVS for,
System Dynamic Performance, publication 87 THO
187-5-PWR, 1987.
I.J. Perez-Arriaga, G.C. Verghese, F.C. Scheppe,
"Selective Modal Analysis with Applications to
Electric Power Systems", IEEE Transaction on
Power Apparatus and Systems, Vol. PAS-101, pp.
3117-3134, 1982.

CONCLUSIONS
Because
of
the
controllable
nature
of
HVdc
transmission links and SVCs, and their potential for
affecting system stability, there is a need for their
representation in small signal stability programs as
well as time simulation programs.
Models of both
dc links and SVCs for use in time simulation programs
have been available for some time. In this paper, we
have addressed the formulation of dc links and SVCs
and their controllers for small signal stability.
Such models, with both standard and user-defined
control options, are available in the SSSP package
developed by Ontario Hydro under EPRI RP2447-1.

Current

"Extended Transient-Midterm Stability Program


Packages Version 2.0", EPRI EL-6648, RP 1208-9
User Manual, December 1989.
[lo]

"Working Group on HVDC Modelling for Stability


Simulations", NPCC-SS34 WG, Part I11 Report
(Draft), 1990.

[ll]

G. Gross, C.F. Imparato and M.P. Look, "A Tool


for the Comprehensive Analysis of Power System
Dynamic Stability", IEEE Trans, PAS-101, 1981,
pp 226, 234.
APPENDIX A

The data of the study system (Figure 3) is as fo~lows:


Load Flow Bases
100.0 MVA
20.0 kV for buses 1 through 5
500.0 kV for buses 6 through 10
AC Lines
Line #
1
2
3
4
5 & 6

R (pu)

0.0
0.003
0.006
0.003
0.006

XQ (pu)
0.001
0.03
0.06
0.02
0.06

Bc (pu)
0.0
8.0
4.0

2.0
8.0

Transformers
XQ = 0.006 pu for T1 through T3
XQ = 0.004 pu for T4 and T5

ACKNOWLEDGEMENTS
The development of the SSSP package was fundedby EPRI,
under research project RP2447-1.

CaDac ito rs
C1 = 6.0 pu
c2 = 7.4 pu

REFERENCES
"Compendium of HVDC
schemes Throughout the
World", International conference on Large High
Voltage Electric Systems, CIGRE WG 04 of SC 14,
1987.
"Methodology for the Integration of HVDC Links in
Large AC Systems - Phase 2: Advanced Concepts",
EPRI EL-4365 CCM, RP 1964-2 User's Manual,
April 1987.
P. Kundur, G.J. Rogers, D.Y. Wong, L. Wang and
M.G. Lauby, "A Comprehensive Computer Program
for Small Signal Stability Analysis of Power
Systems", 9OWM 007-5, IEEE PES Winter Meeting,
Atlanta, February 1990.
R.A.
DeCarlo, and R.
Saeks, Interconnected
Dynamical Systems, Marcel Dekker, Inc., 1981.

r 7

20.0+j7.0 pu cont. MVA for loads 1 & 2


10.0+j3.0 pu cont. MVA for load 3
0.0-j4.0 pu cont. impedance for load 3
Detailed Generators

PU,
Xq=1.91
XQ=o.16 pU,
Ra=O.O,
xd=1.94
x'dz0.29
PU,
~ ' ~ = 0 . 4 6 PUS
p";'*d=o. 19
pus
x"q'o.
19
PUP
T'do=7.3 S,
T'qo=0.7 S I
T"do=0.033 S,
T"qo=0.06 S,
H=3.8 MW.S/MVA,
D=1.0
pu of torque/pu of speed deviation, Based050 MVA.
IEEE Type'DC1 (DC Commutator) Exciter [91:

T*=O.15,
K E = ~ 0,
.
K~=19.0,
AEX=0.000003387,
B~x=2.1972,
K~=0.05,
V R m = 2 . 5 # VRMIN=-2.5, T~=0.06.

T~=0.65,
T~=2.0,

1153
Classical Generators
x'd=0.006 pu, H=40 for CG4 and 60 MW.S/MVA for CG5,
Dz1.0 pu of torque/pu of speed deviation, Base=100 MVA.
HVdc Link
Pdc=1440.0 MW, Vdc=800.0 kV,
Xc=7.6614 O h m s
Rdc=38.0 ohms, Ldc=420.0 mH,
cdc=6.75 PF
Each Smoothinq Inductor =750.0 mH
Static VAR ComDensator
TCR: 100.0 MVAr (linear)
TSC: 165.0 MVAr
Ixiitial BSVC: 50 MVAr Capacitive.
The controller block diagrams of the four study cases
are shown below.

- AVw

yGk

Actz (deg)

Saeed Arabi was born in Iran, where he received his


B.Sc.
degree
in
Electrical
Engineering,
from
Arya-Mehr University of Technology, in 1974.
After
graduation he worked for Government and Private
Companies, and came to Canada in 1979. He received
his M.Sc. and Ph.D. degrees in Electrical Engineering
from the University of Manitoba, in 1981 and 1985
respectively.
From September 1985 to June 1987, he
was with the Department of Electrical Engineering,
Concordia
University,
as
a
Visiting
Assistant
Professor. Since July 1987 he has been with System
Planning Division, Ontario Hydro, as a System Design
Engineer.
Graham Rogers graduated in Electrical Engineering
with first class honours from Southampton University
in 1961.
From 1961 to 1964 he was employed as a
consultant mathematician by AEI (Rugby) Ltd.
From
1964 to 1978, he
was
lecturer in Electrical
Engineering at Southampton University. Since 1978 he
has been employed by Ontario Hydro where he is
currently System Design Engineer Specialist - Controls
in the System Planning Division. He also holds the
position
of
Associate
Professor
(part-time) at
McMaster University. He is a Fellow of the Institute
of Mathematics and Its Applications.

at bus #9

AVR, +&
-i+-W

David Wong received the B.Sc.Eng.


and M.Sc:Eng.
degrees from the Queens University, Canada in 1968 and
1970 respectively. He joined Ontario Hydro in 1970
where
he
is
currently
System Design
Engineer
Specialist - Stability in the System Planning Div'ision.

Act, (deg)

at bus #7

5,655 1+1.2s
1+0.04s
Modulation signal

Sl

AldCl(kA)

+-+
l+O.lS

Rectifier Control for Case #2 with Switch


Open and Case #3 with Switch

"dC2

*vk(

S1

SI closed

Act2 (deg)

at bus #9

Modulation sign;/

SVC Control for Cases #1. 2, and 3 with Switch S Z Open


and Case #4 with Switch 52 closed

Prabhashankar Kundur received the M.A.Sc. and Ph.D


degrees from the University of Toronto, Canada in 1965
and 1967 respectively.
He taught at Mysore and
Bangalore Universities during 1967-1969. In 1969, he
joined Ontario Hydro where he is currently Manager of
the
Analytical
Methods
&
Specialized
Studies
Department in the System Planning Division. He a l s o
holds the position of Adjunct Professor at the
University of Toronto.
Dr. Kundur was elected a
Fellow of the IEEE in 1985 and is a member of several
IEEE working groups and task forces.
Mark G. Lauby received his BEE and MSEE degrees from
the University of Minnesota in 1980 and 1989
respectively. He served as a reliability engineer for
the Mid-continent Area Power Pool Coordination Center
from 1980 to 1987.
Since 1987 he has been with
Electric
Power
Research
Institute,
Palo
Alto,
California, as a Project Manager in the Power System
Planning and Operations program.

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