IEEE Transactions on Energy Conversion, Vol. 6. No. 3.

September 1991

529

Structural Modeling of Small and Large Induction Machines

Using Integral Manifolds
S. Ahmed-Zaid, Member, IEEE

M. Taleb

Electrical a n d C o m p u t e r Engineering D e p a r t m e n t
Clarkson University
Potsdam. New York 13699

Abstract - Structural dynamics of small and large induction machines are investigated using integral manifolds and
are shown t o be markedly different. Whereas the dominant
behavior in small machines is characterized by a well-known
first-order speed model, the corresponding behavior in large
machines is characterized by a new first-order voltage model.
Nonlinear simulations and eigenvalue analyses illustrate the
validity of the structural models developed.
Key Words: Induction Machine, Reduced Order Modeling,
Integral Manifold, Eigenvalue Analysis, Nonlinear Simulation.
1. I n t r o d u c t i o n

Since induction machines constitute a large proportion of

power system loads, the proper modeling of this load component is essential for accurate system simulations and result
interpretations. Numerous studies have involved either analytical models of the flus linkages and speed 111 or empirical
models based on terminal voltage and angle 123. Analytical
models are derived from basic physical principles and are wellfounded theoretically. These models are nonlinear and are
valid for large excursions in frequency and voltage. On the
other hand, empirical models are only valid for the particular
experimental conditions and equipment utilized.
In the past, considerable attention has been paid t o the
reduced order modeling of induction machines [1],[3]-[5]. Neglecting stator transients in the fifth-order model of a singlecage induction motor yields a third-order model frequently
used in transient stability studies. If rotor electrical transients are also neglected, the classical first-order speed model
is obtained and used in conjunction with the circuit representation of the algebraic equations [3].

However, this overly simplified speed model does not accurately predict the dynamic performance of relatively large induction motors as reported [1],[5]. A simplified second-order
model in the rotor flux magnitude and the shaft speed is presented in [4] as an alternative t o the third-order model.
Recent studies have implicated the induction machine and
other regulating equipment in certain mechanisms of voltage
instabilities and voltage collapse [6]-[lo]. In [6], the authors
use a detailed fifth-order model t o capture an aperiodic voltage instability attributed t o the dynamics of the induction
machine terminal voltage. Using a first-order slip model, the
authors in [7] show that voltage collapse can occur before
the load flow Jacobian becomes singular if load dynamics are
taken into account. In [8], the authors also use slip models t o
analyze the phenomenon of cascaded voltage collapse and, in
193, they study the reverse action of tap-changing-under-load
(TCUL) transformers using the same type of dynamic loads.
In [lo], the authors use a second-order model in the terminal
voltage and angle, obtained originally in [2] from field tests, to
analyze voltage collapse based on a center manifold model describing the system dynamics after a saddle-node bifurcation
of the solutions.
This paper addresses the issue of adequacy of certain reduced order models of induction machines in describing system phenomena such as voltage instabilities and voltage collapse in general. T h e approach taken here uses integral manifold theory [11]-[12] t o extract structural models describing
the dominant dynamic behavior of small and large induction
machines. It is shown that these models are radically different
implying that the mechanisms and dynamics governing these
instabilities are different for each type of machine.
2. Standard A n a l y s i s o f a F i f t h - O r d e r Model

The single-cage induction motor is generally represented

by fifth-order differential equations of the flux linkages and
91 WM 291-5 EC A paper recommended and approved
by t h e I E E E E l e c t r i c Machinery Committee of t h e I E E E shaft speed. According t o a standard per-unit notation [l],
the direct- and quadrature-asis stator and rotor flux linkages
Power Engineering S o c i e t y f o r p r e s e n t a t i o n a t t h e
IEEE/PES 1991 Winter Meeting, New York, New York,
are represented in the synchronously-rotating reference frame
February 3-7, 1991. Manuscript s u b m i t t e d
by the electrical equations
August 30, 1990; made a v a i l a b l e f o r p r i n t i n g
J a n u a r y 3, 1991.

0885-8969/91/WoO-0529$01.ooO1991 IEEE

530
0

= V d r = &idr

0 = vqr = Rriqr

1 d$dr
-w s dt

-U)
+qr
(Ws

(3)

ws

1 d+qr
+ -w s dt

I (us - U )
ws

d'dr

(4)

where w s and w are, respectively, the synchronous and shaft

speeds in electrical radians per second. The fifth differential
equation describing the mechanical motion is
2 H dw
-w s dt = T e - T m

(5)

where H is the inertia constant in seconds, Tm is the applied

load torque and T, is the electromagnetic torque

Te = d J d s i q s - " q s i d s = '$qridr - '$dripr

steady-state circuit representation with a time-varying slip

governed by the mechanical equation (20).
In [5], the authors have investigated time-scale properties
of induction machines ranging in size from 3 hp t o 6000 hp.
Based on the d a t a obtained from [13], i t was shown that the
accuracy of the first-order model deteriorates substantially for
machine sizes above 250 hp. As an illustration, the eigenvalue
analyses of a 50-hp machine and a 500-hp machine, representative of each category, are reproduced in Table 1.
Table 1

Standard eigenvalue analysis

of full and reduced-order models
of two induction machines

(6)

T h e constitutive flux-current relationships are

Xlsids

lltqs

=
=

$dr

Xlridr

'$ds

Xlsiqs

Xiriqr

$qr

+
+
+
+
+
+
+ X m ( i q s+ &)
Xm(ids

idr)

(7)

Xm(4qs

iqr)

(8)

Xm(ids

idr)

(9)

=x

=x

x' = xi

s = XIS + x m
X r = Xlr Xm
= x; = x , - x;
Xr

=x

(11)

(12)
(13)

Defining the transient open-circuit time constant

T' - T' - T' - x,

do-

O-

(14)

wsRr

and the direct and quadrature axis rotor voltage variables

EA = -6

Xm

xr $qr

E: = X

(15)

$ d r

the model of the induction machine can be rewritten as

--1
dd'ds

ws

dt

-ws dt
d*qa

-I-$ q s

-c
R

= -*d*

,,/,tq,

+F E : +

vds

-F
R s ~+:
vqs

(17)

- (w" - w)TAEA

(18)

+ (ws -

(19)

I
I

In the standard interpretation of these results, the two

complex pairs of eigenvalues of the fifth-order models are attributed to the stator and rotor electrical transients, respectively, and the real negative eigenvalue corresponds to the
speed of the rotor.
The accuracy of the third-order models is reasonably good
for both machines as compared t o the fifth-order models. This
is mainly due t o the relatively large separation between stator
and rotor eigenvalues. Thus, in studies where stator transients
are neglected, the third-order models will perform reasonably
well. However, this remark does not hold for both first-order
models and there is a large discrepancy in the magnitude of
the real eigenvalue of the larger machine. This observation
serves as a motivation t o further investigate the influence of
certain design parameters in order t o correct the standard
order reduction procedure.

(16)

x-x'
XI EA7

3. Exact Stator M a n i f o l d s

R s

+ Fx -$x 'd

dE' = --X
TA--$
XIE:
TAdE:
dt

- -$*ds

3rd-~rder

500 h p
-41.8 f j373.8
-15.4 f j41.5
-27.5
-15.6 f j41.3
-27.3

(10)

For a smooth-air-gap machine, the direct- and quadratureaxis reactances are equal so that

5'h-order

50 h p
-49.5 f j355.9
-142.5 f j42.5
-14.0
-134.1% j41.1
-14.4

T h e parameters R , , X and X ' include any external series

resistance or reactance between the terminals of the induction
machine and the infinite bus. T h e d q stator voltages ( V d s , v q S )
are found from abc phase voltages.
T h e third-order model is obtained by taking (16)-(17) as algebraic equations whereas the classical first-order speed model
is obtained by taking (18)-(19) in turn as algebraic equations.
The resulting four algebraic equations yield the conventional

The third-order model of an induction machine is obtained

by neglecting stator transients, a process which can be rigorously justified using integral manifold theory [5],[11]-[12].
Exact expressions for stator integral manifolds are possible
under the simplifying assumption of zero stator resistance. In
the case of a machine connected t o an infinite bus with conthe stator manifolds
stant voltages V d s ( t ) = 0 and v q s ( t )=

v,

*qs

=0

(22)

Thus, if the initial conditions of the stator flux linkages satisfy

$ds(o) =
and $ q s ( 0 ) = 0, then equations (21) and (22)
are the exact time solutions for * d s ( t ) and & s ( t ) , and can
easily be checked by direct substitution into (16)-(17). In
mathematical terms, these solutions correspond t o particular
solutions when the stator transients are not excited.

53 1
If the initid conditions of $ds and $ q s do not lie on the
manifolds ( 2 1 ) - ( 2 2 ) , then we define the off-manifold variables
Tds

dds

vqs

$qs

-v

(23)
(24)

which are the deviations of $ds and ?,bps from the manifolds
( 2 1 ) - ( 2 2 ) . Substitution of ( 2 3 ) - ( 2 4 ) into (16)-(17) yields the
decoupled set of differential equations

Eh2

Eh1

2R

Figure 1: Equilibrium points in (E;,E$)-plane.

equations. After some manipulations, these equations become

The exact solutions for these equations are

+ +)
= A c o s ( w s t + +)

Ods(t) = A sin(wst
vqs(t)

(27)
(28)

where A = J&(O)
&(O) and t a n + = 7 1 ~ ~ ( 0 ) / 7 1 ~T~h(e0 ) .
complete solutions for the stator transients are

+v

$ds(t)

vd!s(t)

(29)

$qs(t)

= vqs(t)

(30)

These two equations can then be substituted into ( 1 8 ) - ( 2 0 )

to reduce the number of differential equations from five to
three. T h e resulting third-order model is exact at this point
and captures all of the fifth-order dynamics of the machine.
When the stator resistance is small but not zero, the corresponding stator manifolds exist but do not have closed-form
expressions and approximations must be used. T h e details of
the solutions are essentially similar t o the treatment of the
synchronous machine equations [Ill.
4. Approximate Rotor M a n i f o l d s

Motivated by the large discrepancy obtained in Section

2 , we undertake here the task of identifying the dynamical
structures of small and large induction motors. To simplify
the exposition, we will assume zero stator resistance and a
constant positive load torque T,,, throughout this paper.

(E; - ( X 2X
x )V )Z

Ed

= (X-XZV2
4x?

(34)

X T,
E& = V

w-ws

1 EA
---

T E&

where T = T i X / X is a modified transient short-circuit time

constant accounting for any external series reactance. Equation ( 3 4 ) represents a circle in (E:, E&)-plane centered at
( ( X - X ) V / n X , 0) and of radius R = ( X - X ) V / 2 X (see Figure 1). From ( 3 5 ) , E&is single-valued and positive for motor
operation. Substitution of ( 3 5 ) into ( 3 4 ) yields a quadratic
equation in E;. Thus, for each positive value of E
A (or Tm)
correspond two values of E: provided the discriminant of the
quadratic equation is nonnegative. From ( 3 6 ) there corresponds a value of speed w for each value of E:. From classical
arguments, i t is known that the equilibrium point with the
higher speed w and the higher voltage variable E: is stable
whereas the other equilibrium point is unstable.
T h e maximum steady-state torque developed by the machine is
( X X)V
Te,mas =
(37)
2XX
and occurs when

E q u i l i b r i u m P o i n t s and S e n s i t i v i t y A n a l y s i s
Neglecting stator resistance, the simplified third-order
model of an induction motor connected to an infinite bus is
dE;
Ti- d t
dE&

TA-

at

M -dw
dt

X
= -FE;

x - X

+ (7+V

+C(W- w s ) E &
x
-FE& - T ~ ( wwS)E:
-V-E&
T,
X

(31)
(32)
(33)

where M = 2 H / w s . To find the equilibrium points of this

dynamical system, we set the time derivatives on the lefthand side of ( 3 1 ) - ( 3 3 ) t o zero and solve the resulting algebraic

W - W s

--1

(39)

A simple approach t o determine how the state variables

interact near an equilibrium point is t o perform a sensitivity
analysis using the well-known participation matrix whose entries, the participation factors, indicate how much each state
variable contributes t o an eigenvalue and vice-versa. Such a
sensitivity analysis shows a remarkable difference between the
small and large induction machines. Table 2 shows the three
eigenvalues for each machine, two complex conjugates and one
real, and the corresponding participation matrix. Since the
participation matrix is complex with two complex conjugate
rows, only the absolute value of one row is given yielding a
reduced participation matrix of order 2x3.

532

Table 2

Participation matrices

5 0 - h ~Machine
Eigenvalues
I E& I
X1,z = - 1 3 6 . 2 f j20.7
0.604 I
XB = -15.8
0.136
5 0 0 - h ~Machine
Eigenvalues
EA
X ~ , Z= -15.6f j41.9
0.539
XJ = -27.9
0.023
- I

~~

~~~

I
I

E:,
0.539
0.006

operation ranges between 0 and -45 and unstable operation between -45 and -90.
1

0.065
1.130

Et

0.018
1.005

0.526
0.018

Nonlinear Analysis of Small Machines

T h e differences in the interactions between various state
variables in small and large induction machines are attributed
to certain design parameters which endow these machines
with different dynamical structures. We have computed several parameters of interest in Table 3.

It is observed that the speed is the dominant variable in characterizing the real eigenvalue in the small machine whereas
the voltage variable E; is the dominant variable in characterizing the real eigenvalue in the large machine. This real
eigenvalue, negative for stable operation and positive for unstable operation, is exactly zero for maximum steady-state
torque [l, p. 3161. This important observation leads us t o
believe that small and large induction machines are characterized by different dynamical structures.

Polar Form of Third-Order Model

Rather than pursue the decomposition of (31)-(33), which
is complicated in the case of large machines, i t is advantaA and Et t o polar
geous t o convert the rectangular variables E
variables E and 6 by means of the transformation

Jm

(40)

The new model in polar form is

dE
TL-

=
dt
d6
-d t =

dw
M - dt

X
--E+(X
w-ws-

x-X
)Vcos6
X
X - X Vsin6

Table 3

(-7)x

VE sin 6
--X

Tm

(44)

50
500

The angle 6 is not a stroboscopic angle of rotation of the

shaft but the angle of the rotor flux magnitude (equivalently, of an induced rotor voltage magnitude) with respect to the synchronously-rotating reference frame.
There is no excitation voltage in (42) as the rotor circuits
are short-circuited.
There is an extra term in (43) when comparing this equation with the angle equation of a synchronous machine
due t o the variable speed operation of the induction machine.
T h e maximum steady-state torque occurs at an angle
6 = -Go as opposed t o -goo for a synchronous motor with constant field excitation (see Figure l ) . Stable

0.00044
0.00047

(3)

(3)

0.0210
0.0217

TI2
E=hi(R,m)

0.1557

0.0069

I 0.7834 I 0.0339 I

TI2
6=hz(R,- M X )

(45)

T h e zeroth-order approximations of these manifolds are obtained as

This model presents some striking similarities with a one-axis

model of a synchronous machine with the following differences:
Even though E is a voltage behind a transient reactance,
i t does not arise from an external excitation current.

TL

JMX

It is observed that M X < T <

for the small machine and that M X <
< T for the large machine.
Since these parameters can be made t o appear on the lefthand side of (42)-(44), a natural approach is t o express this
latter model as a two-time-scale singularly-perturbed system
for both types of machines. Depending on the order of magnitude of these key parameters, a different decomposition of
slow and fast variables will result.
In the case of small machines, i t can be verified that a
scaling of the speeds w and w , by the factor T yields a
singularly-perturbed system where the small parameter is
T / M X . T h e slow variable is the modified speed variable
R - R, = T(w - w,) and E and 6 are the fast variables.
To find a slow model we search for time-independent rotor
manifolds of the form [11]-[12]

(42)
(43)

MX
(2)

P
(hp)

Key parameters for 50-hp

and 500-hp machines

tan-(R - a,)

(47)

These approximations can be viewed as the solutions t o (42)(43) taken as algebraic equations although this may not be
true in general. T h e slow model governing the dominant dynamics of small induction machines on these manifolds is

MXdR
TI dt

--v

X-X
(0-0,)
(- x ) 1 (n- R,)2

(48)

The well-known first-order speed model can be recovered by

reverting back t o the original speed variables. An alternate
approach using (31)-(33) yields the same speed model and the
following equivalent approximations of the rotor manifolds
(49)

E&

(+qV(R
1

+ (0-

- R,)
Rs)2

(50)

533

We can also derive a second-order model in the fast deviations of E and 6 from the manifolds (46)-(47). However, this
model does not present any interest as the corresponding offmanifold variables decay exponentially fast towards the rotor
manifolds. Hence, after a short time following an initial transient, these variables reach the manifolds (46)-(47) and remain
there. T h e remainder of the dynamics of the induction machine is governed by the speed model (48) which becomes the
dominant behavior.

Nonlinear Analysis of Large Machines

Due t o the fact that the parameter T is greater than
for large machines, a different decomposition of slow
and fast variables results. Whereas this decomposition is not
apparent in (31)-(33), i t is readily available from (42)-(44).
Indeed, i t can be checked that a rescaling of the speed variables w and ws by the factor
i.e. R = m
w
and R, = m w , , produces a singularly-perturbed system
in standard form. T h e slow variable is the voltage E, the
fast variables are 6 and R - O s , and the small parameter is

m,

5. Eigenvalue Analysis and Simulations

The rotor integral manifolds of both machines are illustrated in this section using both a linear and a nonlinear analysis. Table 4 summarizes the main diffefences in the linear
analysis of small and large induction machines. In the case
of the 50-hp machine, the real eigenvalue is attributed t o the
shaft speed whereas the well-damped complex mode corresponds to the rotor electrical transients described by E and
8. T h e real eigenvalue in the first-order model is obtained by
linearizing the speed model (48) around the riominal speed of
operation. This traditional order reduction procedure is erroneous for the large 500-hp machine and the dominant variable
is the voltage E. The real eigenvalue in the first-order model
is obtained by linearizing the voltage model (56) and it approximates very well the real eigenvalue in the corresponding
third-order model. This clarifies the large discrepancy observed in Table 1. Table 4 also shows a second-order model
for each machine and whose eigenvalues are close t o the fast
complex modes in the third-order models. These models describe the off-manifold variables of each machine [11]-[12].

m / T .

Table 4

In this case, we search for rotor manifolds of the form

I
I

I E,6 I

The zeroth-order approximations of these manifolds are

6 = sin-(-=)

XT,

(52)

a-n, = 0
(53)
Equation (53) does not mean that w - u s = 0 which is clearly
incorrect. It should be remembered that we are performing
an asymptotic analysis where m / T is an infinitesimal
parameter that is capable of assuming arbitrary small values
in the limiting_process.
By virtue of (531,
.
,. the R-manifold
has a nontrivial first-order approximation in the parameter
m / T given by [12]
~

rn

R - 0, g --

XT,
J ( V E ) 2 - (XTm)2

(54)

A corresponding approximate w-manifold is deduced as

.TI-

and is different from the solution obtained by taking (43)-(44)

as algebraic equations. Substituting (52) into (42), we obtain
the following voltage model

which describes the dominant behavior of large induction machines. This new result has an important bearing on the corresponding dynamic behavior of large and small induction
motors. Clearly, the dominant behaviors are quite different
and are governed by the reduced models (48) and (56), respectively. Further analytical work is needed t o understand
the mechanisms of voltage instabilities associated with large
induction motors.

I E I

Corrected eigenvalue analysis

Small induction motor ( 5 0 hn)

3rd-oider
I 2nd-order I lSt-ordcr
-136.2 f j20.7 -144.1 f j19.9
-15.8
-14.2
Large induction motor 500 hp
3 -order
2 -order
lSt-order
-27.9

-28.5

I
I

The rotor integral manifolds are best illustrated by a nonlinear simulation as shown in Figures 2 and 3. T h e disturbance considered is a 0.3 pu voltage reduction in the infinite bus voltage lasting 100 ms and followed by a sinusoidal
oscillation of amplitude 0.1 pu and frequency 2 Hz. After
the voltage dip, the stator manifolds are approximated by
$& g 1 0.1 s i n 4 r ( t - 0.2) and $ q s Z 0 in the third-order
models. T h e solid lines represent the exact solutions for E, 6
and w - ws as obtained from the third-order models whereas
the dashed lines correspond t o first-order models and various
approximations of the rotor manifolds.
In the case of the 50-hp machine, the approximate dynamics are simulated using the well-known speed model (48) and
the zeroth-order approximations of the E- and &manifolds.
As expected, the speed variable is approximated uniformly
during the simulation period. There is also a good agreement
between the variables E and 6 obtained from the third-order
model and the manifold approximations (46)-(47). For small
speed deviations, E and 6 are respectively proportional to
terminal voltage V and speed deviation w - ws.
In the case of the 500-hp mkchine, the approximate dynamics are simulated using the new voltage model ( 5 6 ) and
various approximations of the rotor manifolds (51). Here, i t is
the voltage variable E which is approximated uniformly during the simulation. The influence of manifold approximation
is shown in the plot of 6 where the two dashed curves repre-

534
1.20

1.20

infinite bus voltage

variation

0.60
0.00

1 .oo

0.50

0.60
0.00

1.50

0.50

1.08

1.08

I
I

1
I

,
1

I
I

1,

0.92 -

1.50

0.92
Q

1 .oo

time (s)

time (s)

0.76

third-order model
zeroth-order E'-manifold

0.60
0.00

0.50

1 .oo

0.60
0.00

1.50

0.50

1 .oo

1.50

time (s)

time (s)
-O.O*
n

U-0.13

Lo

-0.18

-"

It

'

8
0.00

_____

third-order model
zeroth-order 6-manifold
second-order 6 -manifold

third-order model
zeroth-order &-manifold

0.50

1 .oo

1.50

-0.40

1 .oo

1.50

time (s)

\
U

0.50

0.00

time (s)

<

-3

-15-

3"
I

-third-order

first-order

-25

0.50

model
model

I I
1 .oo

I I 1 1 1 1 I I I 1 1 1 I I I I I I I

0.00

3*
I
3

I I I I I I I I I I

1.50

time (s)
Figure 2: Solutions of t h e third- and first-order models
for t h e 50-hp induction machine.

third-order model
first-order w-manifold
-13

1 1 1 1 I I I I I I 1 1 1 1 I I I I I ~ I II II I I I I I I

0.00

0.50

1 .oo

1.50

time ( s )
Figure 3: Solutions of t h e third- and first-order models
for t h e 500-hp induction machine.

535

sent the zeroth- and the second-order approximations of the 6manifold, the first-order term being identically zero. T h e plot
of w - w 3 is represented using the first-order approximation
(55) since the zeroth- and second-order terms are identically
zero. Of course, i t cannot be expected for these approximations to yield an exact duplicate of the solid lines since the
off-manifolds may have been excited in the process. However, since they are well-damped, their effects should only be
significant during early transients before they disappear.

6. Conclusions
The structural dynamics of small and large induction machines have been investigated using integral manifold theory
and have been shown t o be quite different. T h e results obtained in this paper are significant for voltage studies since
they propose a new first-order voltage model for large induction machines which describes their dominant behavior. The
paper also identifies key parameters for induction machines
which classify them according t o their dominant behavior.
Acknowledgements
T h e authors would like t o thank Prof. P.W. Sauer of
the University of Illinois at Urbana-Champaign and Mr.
W.W. Price of the General Electric Company for their valuable discussions and continued interest in the subject. This
research was supported in part by the National Science Foundation Grant ECS-9058174.

[7] R. J. Thomas and A. Tiranuchit, Dynamic Voltage Instability, Proceedings of the 26th Conference on Decision and Control, vol. 1, pp. 53-58, Los Angeles, CA,
December 1987.

[SI Y. Sekine and H. Ohtsuki, Cascaded Voltage Collapse,

IEEE Transactions on Power Systems, vol. 5, no. 1,
pp. 250-256, February 1990.

[9]H. Ohtsuki, A. Yokoyama, and Y. Sekine, Reverse Action of on Load-Tap Changer in Association with Voltage
Collapse, Paper 90 WM 095-0 PWRS, IEEE/PES Winter Power Meeting, Atlanta, Georgia, February 1990.
[lo] H.D. Chiang, I. Dobson, R. J. Thomas, J. S. Thorp and
L. Fekih-Ahmed, On Voltage Collapse in Electric Power
Systems, IEEE Transactions on Power Systems, vol. 5,
no. 2, pp. 601-611, May 1990.

[ll] P. V. Kokotovic and P. W . Sauer, Integral Manifold as a

Tool for Reduced-Order Modeling of Nonlinear Systems:
A Synchronous Machine Case Study, IEEE Transactions on Circuits and Systems, vol. 36, no. 3, March 1989.
[12] P. W. Sauer, S. Ahmed-Zaid, and P. V. Kokotovic, An
Integral Manifold Approach t o the Reduced Order Modeling of Synchronous Machines, IEEE Transactions on
Power Systems, vol. PWRS-3, no. 1,pp. 17-23, February
1988.
[13] J. J. Cathey, R. K. Cavin, 111 and A. K. Ayoub, Transient Load Model of an Induction Motor, IEEE Transactions on Power Systems and Apparatus, vol. PAS-92,
no. 4, pp. 1399-1406, July/August 1973.

References
Biographies

[l] P. C. Krause, Analysis of Electric Machinery, New York:

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[G] A. E. Hammad and M.

Said A h m e d - Z a i d was born in Algiers, Algeria in 1956.

He received his B.S., M.S., and Ph.D. degrees in Electrical
Engineering from the University of Illinois at Urbana in 1979,
1981 and 1984 respectively.
He held positions with the University of Illinois a t UrbanaChampaign as Research Associate in 1984 and Visiting Assistant Professor in the Spring of 1989. From 1985 t o 1988, he
was a principal research engineer with SONELGAZ, the Algerian Electric and Gas Company. He joined Clarkson University in 1989 where he is currently an Associate Professor of Electrical Engineering. His research interests include
power system modeling and simulation, computational methods, optimization and advanced control applications in power
systems.

Maamar Taleb was born in Chlef, Algeria in 1958. He received his B.E. degree in Electrical Engineering from Universit4 des Sciences et de la Technologie dOran , Algeria in 1983,
his M.S. degree in Electric Power Engineering from Rensselaer Polytechnic Institute in 1986, and his Ph.D. degree in
Electrical Engineering from Clarkson University in 1990.
He is currently a Research Associate in the department of
Electrical and Computer Engineering at Clarkson University.
His research interests include power system modeling and harmonic analysis of distribution and HVDC systems.