A Robust Controller for Power System Stabilization

Mustafa Rasem Abuzeid

elias_1989@yahoo.com
Electrical Engineering Department, Faculty of Engineering, Gharian, University of Eljabel
Elgarbe, Gharian - Libya, P O Box 64850, Gharian - Libya.
could be optimized[ 3 ]. This paper proposes a robust
output feedback controller design for damping
power system oscillations. The robustness can be
defined as the ability of the controller to maintain
the stability of the system over a wide range of
operating condition. One way of ensuring system
robustness is to take into consideration at the design
stage, the various uncertainties that arise in the
system due to inaccuracy of the mathematical
model, the system parameter variations, neglected
dynamics etc. Modern robust controls theory such as
and theory can be used to damp power system
oscillations with system uncertainty. One of the
important in optimal control design is the choice
of the weighting functions. Weighting function are
necessary to achieve a trade-off between the
conflicting design requirements such as small
sensitivity and complementary sensitivity. However,
there is no systematic procedure yet available for
selecng these weighs [ 1 ]. The formulation and
solution procedures are explained on how to choose
proper weighting functions that reflect the
robustness and performance goals. Also,
synthesis is carried out in two stages. First, is
called the formulation procedure to robust for
modeling errors and weighting. Second, is called the
solution procedure, and the weights are iteratively
modified until an optimal controller. Time response
simulations are used to validate the results obtained.
The effectiveness of such controllers is examined at
different extreme operating conditions. This paper
uses robust approach to design a robust power
system stabilizer applied on synchronous machine
connected to an infinite bus through a transmission
line. The essential feature of the proposed
power system stabilizer PSS is that it is simple, easy
to implement, and it is not sensitive to the external

ABSTRACT
This paper presented a new approach to the design of
power system stabilizer (PSS) for a synchronous
generator is presented. The approach is based on a
robust control for power system stabilization. The
uncertainties and operations are considered at the
designing of the PSS. The bounds of power system
parameter are determined over a wide range of
operating conditions. These bounds are used to
design a robust power system stabilizer. A sample
power system, composed of a synchronous generator
connected to infinite bus-bar through transmission
line is simulated. The digital simulation results show
that the proposed robust PSS can achieve good
performance over a wide range of operating
conditions. Moreover, a comparison between power
system
responses at a variety of operating
conditions using the PSS based on linear quadratic
regulator (LQR) approach and the proposed robust
is presented.
1. INTRODCTION
Power system stabilizers (PSSs) have been widely
used as supplementary controllers to provide extra
damping for synchronous generators in electrical
power system. Conventional power system stabilizer
(CPSSs) are used to damp out small signal
oscillations and they are designed based on a model
which is linearized around a particular operating
point. Conventional design tunes the gain and time
constants of the PSS, which are mostly lead-lag
compensator, using model frequency techniques [1].
Such designs are specific for a given operating point;
they do not guarantee robustness for a wide range of
operating condition[2]. Modern control methods
were extremely successful because they could be
efficiently implemented on computers, they could
handle multi-input-multi-output system, and they
____________________________________
978-1-4673-6278-8/13/$31.00 2013 IEEE


disturbances and
variations[3-7].

power

system

Z0
0
0 0
0
0

1
K1
D
K2


0
0

M
M
M
M

1
1
 K4
0
0 0
T'd0
T'd 0
(K3T 'd 0 )


1
1
A 0
0
0
0
Tt Tt

1
1
0

0
0
0

Tg
(RTg )

KAK6
1
K4K5
0 0

0
 T
TA
TA
A

parameter

2. POWER SYSTEM MODEL

The linearized model of the studied power system
consisted of synchronous machine connected to an
infinite bus through a transmission line is obtained in
a an interconnected power system between automatic
voltage regulation and load frequency control. The
state space formulation can be obtained as follows :

'G

'Z

(1)

K D
K
1
'Z  1 'G  'Z 2 'E'q 'Tm
M
M M
M
1
 'Pd
M

'Eq

K
 4
T dc 0

1

T 'd 0

' Tm

'Pg

1
' G 

K 3T ' d 0

' E ' q

' E fd

1

Tt

X
(2)

1
' Tm  ' Pg

Tt

1


'Z  1 'Pg  1 U 2

RT
T
T
g
g
g

1
K K
 ' E fd  A 5 'G
TA
TA
K K
c K
 A 6 'E q  A ' U 1
TA
TA

'G
'Z

'E ' q

'Tm

'Pg

'E fd (7) ,

0
0

0
0
K
A
TA

0
0
0

0
1 / Tg

The parameters and coefficients of A matrix and B

vector are defined in ref. [ 2 ].

(3)

3. Power System Stabilizer Design

The Hf solve the small-gain infinity-norm robust

(4)

control problem; i.e., find a stabilizing control K(s)

for a system plant P(s) as shown in Fig.2. The
compensation configuration depicted in Fig.2 will be
referred to as the standard compensator. The
objective is to design a controller K(s), for the plant
P(S) such that the input/output transfer characteristics
from the external input vector w to the external
output z is desirable, according to some engineering
specification. Then, the following fundamental
relations:

(5)

'E fd

(6)

= )(

()()

where;

()()

()()

()()

()

)(+

The complementary transfer function

(= )



()()

()()

()()

( )
(8)

the output data :

Also, the sensitivity transfer function

(= )

Controller _ = )(,

()()

Closed loop = SS_CL and feedback TSS_K

The following set of weighting function is

chosen to define the desired robustness and
performance goals. Augmentation of the weightings
system 1,2,3 (state-space form) into two-port
plant can be calculated by calling MATLAB function
augment as follows:
[A,B1,B2,C1,C2,D11,D12,D21,D22]=augment(sys_g
,sys_W1,sys_W2, sys_W3,DIM)
(9)
Where:

Fig. 1: Standard compensation configuration

Sys_W1:=[aw1 bw1;cw1 dw1]

4. LQR Control Feedback

Sys_W2:=[aw2 bw2;cw2 dw2]

The design of the power system stabilizer based on

linear-quadratic regulator LQR control for
continuous-time systems as follows:

Sys_W3:=[aw3 bw3;cw3 dw3]

Sys_g : power system parameters.

[K, S, E] = LQR (A, B, Q,

Any of the above weightings can be removed by

setting sys_W1 or sys_W2 or sys_W3 equals to zero,
a non dimensional state space. Also, the DIM is a
dimension of the system under study and weightings
W1, W2, W3 as :

R, N)

(11)

The optimal gain matrix K is calculate such that the

state-feedback law u= -Kx minimizes the cost
function

[ = 1 2 3]

J Integral (X 'QX  u' Ru 2 * X ' Nu)dt

Where xg : no. of states of the system )(,

Subject to the state dynamics

xw1 : no. of states of ( W1(s)=0, if

sys_w1=[zero] )

xw2 : no. of states of W2(s).etc,. after

computing of the system TSS_P and SS_U by using
the MATLAB function as follows :

AX  Bu.

The matrix N is set to zero when omitted. Also

= (,1,2,1,2, 11,12, 21,22)

returned are the Riccati equation solution S and the

closed-loop Eigen values E:

Computes the controller )(and the controller

parameterization )(using the loop shifting
formulas formed by wrapping feedback ()

SA A'S  (SB N) R1 (B'S  N' )  Q 0, (12)

Around )(as :

[SS_CP,SS_CL,HINFO,TSS_K]=Hinf (TSS_P) (10)

EIG ( A  B * K )

(13)

5. DIGITAL SIMULATION RESULTS



deviation response and rotor angle deviation

response due to 0.01pu. load disturbances with both
LQR and robust controller at lead power factor
load(1,-0.25). The eigenvalues of the studied power
system at variety of operating conditions with and
without controllers is shown in table [1].

Choosing the machine parameters at nominal

operating conditions as ref. [2] ;
The A matrix at nominal load (P=1.0, Q=0.25 pu.) is
evaluated and calculated sa Eqn.(7). By selecting the
weights W1, W2 and W3 to give best performance
after the iteration of MATLAB program.

Rotor speed dev. (P=1.0,Q= -0.25 pu.)

0.04

W/O -CONTROL
LQR-control
Hinf- CONTROL

The weights W1, W2, and W3 to give best

0.03

performance as following :
( = )

( = )

0.02
Rotor s peed dev . in pu.

,
0

()
0.1 + 0.107 + 4

= 100 + 5000 + 4500

0.01 + 0.072 + 3

0.1 + 40 + 60

0.01

-0.01

-0.02

-0.03

5
6
time in Sec.

10

Fig.(2): Rotor speed dev. Response due to 0.05 pu load

disturbance with and without ( LQR & H_INFINITY )
controller at (P=1, Q=-0.25pu)

Solving Eqn.(11), for the controller feedback K(S)

using U(S)=0 (default) and by using Riccati
equations the performing existence tests:

Rotor angle dev.in rad. (P=1.0,Q=-0.25 pu.)

0.5

1. D11 is small enough

2. State-feedback (P) Riccati A-B2*F is stable (P >= 0)

Rotor angle dev . in rad.

-0.5

3. Output- injection (S) Riccati A-G*C2 is stable (S >=

0)

After applying the robust controller to the

interconnected power system represents in Eqn.(8)
and in Fig. (1), the feedback controller matrix Tss_K
can be calculated from Eqn.(11). Fig.1 depicts the
power system model in a block diagram after adding
the proposed controller. Using the value of feedback
matrices obtained in Eqn.(11), the dynamic stability
of linearized studied power system subjected to load
disturbances is simulated on the computer using the
program in Matlab Package. Moreover, the feedback
LQR controller using for comparison is calculated
from Eqn. (12) . Figs 2,3 show the rotor speed

-1
-1.5
-2
-2.5
W/O -CONTROL
LQR-control
Hinf- CONTROL

-3
-3.5

5
6
time in Sec.

10

Fig. (3): Rotor angle dev. Response due to 0.05 pu load

disturbance with and without ( LQR & H_INFINITY )
controller at (P=1, Q=-0.25pu)

Xd =1.6; Xq=1.55 ; Xd'=0.32 ; Xe= 0.4p.u , M=10;

Tdo= 6; D=0; TA=0.06 ; KA=25;
Tt=0.27 ; Tg= 0.08 ; R=1/(Tg*6.86) ;. = 377



Table 1: Eigen values calculation with and without (LQR & ) controllers.
Operating point

P=1, Q=-0.25 pu.

Lead power factor

Without controller

+0.1033 + 6.3047i
+ 0.1033 - 6.3047i
-14.9008
-12.4804
-2.4303
-3.7285

With LQR controller

-14.9060
-13.1803
-0.4950 + 6.3372i
-0.4950 - 6.3372i
-2.2020
-4.1167

unstable

With H infinity
controller
-398.49
-300.00
-300.00
-13.03 + 30.84i
-13.03 -.3.084i
-49.08
-31.41 +12.67i
-31.41 12.67i
-15.01
-0.67 + 6.80i
-0.67 6.80i
-0.08 + 1.00i
-0.08 1.00i
-2.12
-0.92
-1.51

6. CONCLUSION
engineering, Assiut university, Assiut, Egypt 2003.

The present paper introduces a new application for

design of a robust PSS Based on. The proposed
PSS needs only bounds of system parameters. The
sample single machine infinite bus connected to
load frequency control power system is simulated to
the study of the effectiveness of proposed robustPSS for subjected to variety of load and system
parameters variations. A comparison between the
control action of PSSs designed using robust and
LQR controller are studied and obtained. The digital
results show the powerful of the proposed robust PSS in sense of fast damping electromechanical
oscillations and small settling time with change of
system operating conditions and parameters.

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[4] M.K. El-Sherbiny , G.El-Saady and Ali M.
Yousef "Robust controller for power system
stabilization" IEEE MEPCON'2001, Helwan
University, Cairo, Egypt, December 29-31,2001, PP.
287-291.
[5] M.K. El-Sherbiny , M. M. Hassan, G.El-Saady
and Ali M. Yousef " Optimal pole shifting for power
system stabilization",
Electric Power Systems
Research
Journal, No.66 PP. 253-258. 2003

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[1] M. K. El-Sherbiny and D. Mehta Dynamic
stability, part I, investigation of the effect of
different loading and excitation system IEEE Trans.
Power Appar. Syst., PAS-92(1973), PP 1538-1546.

[6] S. C. Tripathy, R. Balasubramanian and Zahid

Jamil " Interaction of Voltage and Frequency
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[2] Ali M. Yousef " Efficient methods for enhancing

power system operations" Ph.D thesis, Faculty of

[7] A. Abdel- Fatah Analysis and design of

magnetic levitation control systems M. Sc. Thesis,
Assiut
university,
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