8th International Conference on Electrical and Computer Engineering
20-22 December, 2014, Dhaka, Bangladesh
Power System Stabilizer Tuning Based on Frequency
Response Method
Asif Ferdoush,* M. G. Rabbani
Department of Electrical & Electronic Engineering, Eastern University
Dhaka-1205, Bangladesh
*
asifferdoush@gmail.com
Abstract Stability phenomena of the power system are
largely studied by the researchers over the last few decades. In
order to ensure a stable power system, power system stabilizer
(PSS) is adopted which can increase the stability margin by
providing supplementary feedback signal. For an efficient
stabilization, the proper tuning of PSS parameters is very
important. Now a days, the tuning appears a big challenge as the
changes in power requirement take place continually. This paper
deals with the tuning process of PSS connected to the single
machine infinite bus (SMIB) system. The tuning method is
decided based on the transfer function from SMIB model and the
system frequency response. Simulation results are presented with
and without PSS to demonstrate the effectiveness of proposed
tuning method.
Index Terms Stability, low frequency oscillation, damping
torque, PSS, transfer function, frequency response.
I. INTRODUCTION
To ensure power system security and protection, an
extensive research has been carrying out worldwide on the
stability of power system. It is very important and a major
requirement to secure system operation for an efficient power
system [1]. Continuous network extension and ongoing
interconnection due to increased load demand raises
complexity of the power system [2]. After being perturbed by
any kind of disturbances (i.e. continuous load change, line to
line or line to ground fault, lightening etc.) from power grid,
the rotor oscillation of the synchronous generator takes place.
This low frequency oscillation must be damped out quickly
before it gets stronger with increasing amplitude [3].
Otherwise, the synchronism may be deteriorated and
synchronous generator will be tripped out from the grid by
means of protective relays. Therefore, it is imperative that
special control methods are used to perform the stabilization
and adequately damping these low frequency oscillations [1].
In order to do that, PSS is employed with the system which is
equipped with generator control system to provide adequate
damping torque to the rotor during oscillations. As a result,
power system stability gets improved and thereby extends the
power transfer capability [4]. Now a days, population based
methods like Particle Swarm Optimization (PSO), Genetic
Algorithm (GA) etc. are very commonly used for PSS tuning
problems [4]. In this tuning approach, conventional power
system stabilizer (CPSS) is studied and its parameters are
tuned by using frequency response.
II. BACKGROUND OF ROTOR OSCILLATION
When power system is subjected to any kind of
disturbances, the rotor angle of synchronous generator
oscillates [5]. The oscillation mainly comes from the change
in power requirements. Normally under steady state operation,
978-1-4799-4166-7/14/$31.00 2014 IEEE
536
there maintains a balance between mechanical power given by
the prime mover and electrical power output of the generator
[6]. But with the increase in load, the output of electrical
power also increases relative to the input of mechanical power
and in turn, both powers appear to be unbalanced. As a result,
the stator revolving field of generator increases with constant
rotor field. Therefore, the resulting electromagnetic torque,
which opposes the rotor rotation, also changes [7]. So, rotor
speed tends to decrease for increasing load. But input
mechanical torque given by the prime mover opposes this
speed to be changed. Hence, an electromechanical oscillation
occurs according to the laws of motion of a rotating body [6].
When load decreases, the same interaction as mentioned
above between rotor and stator field occurs but in reverse way
and rotor speed tends to increase. When rotor oscillates, its
speed deviates slightly from the rated speed in positive and
negative manner. So field must be increased when speed
deviation is negative and vice versa. In general, the excitation
system of generator is equipped with PSS which can sense the
speed change and provides appropriate damping torque based
on the proper tuning technique [3].
III. SYSTEM MODEL
The following is the feedback power control model where
GS is generator and Eg is generated voltage to the grid which
is fed back to the summing point to regulate itself by
modulating the rotor field, EFD. Turbine provides mechanical
power Pm to the generator shaft. In this model, PSS is added to
provide more damping by controlling the field current If. It
senses the change of rotor speed and gives supplementary
feedback signal EPSS following a disturbance. So, with the
change of rotor speed , the rotor field also changes by PSS.
For a proper stabilization, the change of field current must be
in phase with the change in rotor speed [3].
Fig. 1. Feedback power control model
A. Linear Model
The real power control model is a very highly nonlinear
model and sophisticated to use. Hence the following
 537

simplified linear model is used for synchronous generator

system [8].
k3 k3k 4
E q = E FD (1)
1 + sk 3Td0 1 + sk 3Td0

Te = k1 + k 2 E q ( 2)
Vt = k 5 + k 6 E (3)
2 H = Tm Te TD ( 4)
TD = D (5)
1 2
J ( B ) 2

= 0 ; H = 2 P ( 6)
s SB
The parameters of the above equation are summarized below:
TABLE I
Fig. 3. Linearized synchronous generator control model.
SYSTEM PARAMETER

Parameter Description From the above model, the stabilization of the power
EFD Field voltage system means the stabilization of the power angle . By
Rotor angle controlling the power angle, speed deviation can be damped
Vt Terminal voltage of generator out. But from the equation (4), depends on electromagnetic
E'q Excited voltage torque Te and damping torque TD. In the short period of time,
T'd0 d-axis transient time constant the input mechanical torque Tm from turbine has no effect on ,
H Inertia
following a disturbance, because of its high inertia. And from
TD Damping torque
the equation (5) damping torque always changes with the
Te Electrical torque
Tm Mechanical torque
speed change . Then, to make the system stable, the
controlling parameter left is Te in order to create more
B. PSS damping. And maximum damping can be obtained by keeping
A commonly used approach is based on the conventional Te in phase with [10, 13]. In that case, the frequency
PSS structure which is composed of a gain, a wash out circuit response method is applied to adjust the phase. So the transfer
and a cascade of two-phase lead network [9]-[11]. The output function between Te and with and with PSS is derived
of PSS is then limited by the limiter to its required value. The from the SMIB model. In the above, torque and power have
PSS output is normally a signal applied to the reference input been used as substitute to each other; since, in per unit system,
of the excitation system. The generator speed is assumed as they are very nearly equal [7].
the input of the PSS structure [12]. 1) System Transfer Function in Absence of PSS: When PSS
is not equipped with the model the transfer function between
Te and can be found as:
KE
E FD = (k 5 + k 6 E q ) (8)
1 + sTE
k3 K E k 5
k 4
1 + sk 3Td0 1 + sTE
E q =
Fig. 2. Conventional PSS structure.
(9)
The transfer function of the PSS block is given below: k3 k6 K E
1 +
sTw
PSS = K PSS
1 + sT1

1 + sT3


(7 ) (1 + sk 3Td0 )(1 + sTE )
So the close loop transfer function from to Te in
1 + sTw 1 + sT2 1 + sT4 absence of PSS is:
TABLE II Te
PSS PARAMETERS G0 ( s ) = ;

Parameter Description
KPSS PSS gain compensator k 2 k 3 K E k 5
+ k 4
Tw Washout time constant 1 + sk 3Td0 1 + sTE
(10)
T1, T2, T3, T4 PSS phase compensator parameters G 0 ( s ) = 0 k1
s k3 k6 K E
C. Single Machine Infinite Bus (SMIB) System 1 +
(1 + sk T )(1 + sT )
From the above linear equation a model is found which is 3 d 0 E
also called Heffron-Phillips SMIB model and given next [13].
Equations of the constants k1-k6 are given in the appendix [14].
 538

2) System Transfer Function in presence of PSS: The range where most of the power oscillations exist, between 0.1
relation between Te and in presence of PSS is: and 3 Hz [13]. For the proper stabilization, the phase lag
between Te and in this frequency range must be less than
KE
E FD = (E PSS k 5 k 6 E q ) (11) 90 degree [15]. Although in Fig. 4, without PSS the phase lag
1 + sT E between them is less than 90 degree in this frequency range,
the phase lag, for optimal tuning, is further studied to reduce it
k3 K E nearly to zero. So the value of gain and lead-lag compensator
PSS
1 + sk 3Td0 1 + sTE parameter by using frequency response is optimized. Initially,
E q = during tuning process, the value of T1 = T3 = 0.01 sec, T2 = T4
k3 k6 K E = 0.05 sec and Tw = 10 sec were selected. The value of KPSS
1 + was increased slowly starting from 1.0 with the change of T1
(1 + sk 3Td0 )(1 + sTE ) and T2. It is found that the lower value of Kpss provides
k3 k 5 K E negligible effect on the tuning. KPSS was increased until
+ k 4 0 leading phase is appeared in the above frequency range. Then
1 + sk 3Td0 1 + sTE s

T1 was increased and T2 was decreased simultaneously to
(12) make the lagging phase between Te and near to zero. The
k3k6 K E
1 + parameters of the system used in this study for simulation has
(1 + sk 3Td0 )(1 + sTE ) been taken from elsewhere where the approach was to tune the
So, in presence of PSS the transfer function becomes PSS parameter using genetic local search algorithm [16].
From the Bode plot in the frequency range from 0.1 to 3 Hz,
k3 K E the GLS based PSS shows the phase lag very close to that for
PSS
0 1 + sk 3Td0 1 + sT E without PSS. But after tuning by the present approach
G PSS ( s ) = k1 + described above, the phase lag in 0.5 Hz is reduced near to
s k3k 6 K E zero, where the phase was - 0.75 degree without PSS and -0.6
1 +
(1 + sk 3Td0 )(1 + sT E )
degree with GLS based PSS.
The simulation results of the proposed tuning, for step
k3 k 5 K E disturbance of 3.5% and 5% in mechanical input, are shown in
+ k 4 0 Fig. 5 and Fig. 6 for SMIB system as discussed above.
1 + sk 3Td0 1 + sT E s
(13)
k3 k6 K E
1 +
(1 + sk 3Td0 )(1 + sTE )
The phase of the Bode diagram will be considered based on
the above transfer function between Te and with or
without PSS. The proposed tuning method will be described
as follows keeping Te in phase with .

IV. TUNING METHODOLOGY AND RESULTS

The tuning method applied for PSS parameters in this study
is based on the frequency response. As described earlier that
the change in electrical torque must be in phase with speed
change. Hence from the transfer function above between Te
and , either with or without PSS, we get Bode phase plot.

Fig. 5. Speed deviation vs time for disturbance Tm=3.5% & 5%.

Fig. 4. Frequency response of the system.

As it is not possible to arrange for the phase to be zero for

all frequencies, so concentration must give on the frequency
Fig. 6. Rotor angle deviation vs time for disturbance Tm=3.5% & 5%.
 539

If no PSS is equipped with the excitation system, the speed [11] P. P. Kumar, M. R. Babu, and Saraswathi, "Dynamic analysis of single
machine infinite bus system using single input and dual input PSS,"
deviation of the rotor following a step disturbance will International Electrical Engineering Journal, vol. 3, pp. 632-641, 2012.
continue with increasing amplitude as depicted in Fig. 5. The [12] O. M. Awed-Badeeb, "Damping of electromechanical modes using
GLS based PSS shows adequate damping but this is not power system stabilizers (PSS) Case: Electrical Yemeni network,"
optimum for perfect stabilization. The more damping, as Journal of Electrical Engineering, vol. 57, pp. 291-295, 2006.
[13] A. Murdoch, S. Venkataraman, R. A. Lawson, and W. R. Pearson
shown by solid line in Fig. 6, is created after tuning the PSS
"Integral of accelerating power type PSS. I. theory, design, and tuning
parameters by frequency response and the deviation is reduced methodology," IEEE Transactions on Energy Conversion, vol. 14, pp.
significantly. After the tuning, the rotor angle deviation is also 1658-1663, Dec. 1999.
damped out more quickly than GLS based PSS. In Fig. 6, it is [14] F. P. Demello, and C. Concordia. "Concepts of synchronous machine
stability as affected by excitation control," IEEE Transactions on
shown that rotor angle starts to be stable after 2.5 seconds
Power Apparatus and Systems, vol. 88, pp. 316-329, Apr. 1969.
without any overshoot which justifies the effectiveness of the [15] E. V. Larsen, and D. A. Swann. "Applying power system stabilizers
proposed tuning method. part III: practical considerations," IEEE Transactions on Power
Apparatus and Systems, vol. 100, pp. 3034-3046, Jun. 1981.
V. CONCLUSIONS [16] M. Rashidi, and F. Rashidi. Power system stabilizer tuning using
multi-objective genetic algorithm, International Review of Electrical
In this paper, a design scheme of power system stabilizer Engineering, vol. 6, pp. 356-363, Jul.-Aug. 2011.
for a single machine infinite bus system has been developed.
The PSS parameters are tuned as per requirement while other APPENDIX
system parameters remain the same. The proposed tuning Generator parameters:
method is based on the frequency response of the system. The xd = 0.973 p.u.; x'd = 0.19 p.u.; xq = 0.55 p.u.; vt0 = 1.00 p.u.;
transfer function between the electrical output torque change 0 = 314 rad/sec; T'd0 = 7.765 sec;
and corresponding speed deviation is derived. Thus, by
decreasing the phase lag between them, the rotor angle Exciter parameters:
oscillation is undermined. The system performance is Ke = 50, Te = 0.05 sec;
observed under MATLAB environment. The result shows the
effectiveness of the proposed tuning scheme. Transmission line parameters:
re = 0 p.u.; xe = 0.997 p.u.;
ACKNOWLEDGMENT
We would like to thank Dr. A K M Alamgir and Mr. PSS parameters:
Mahmoad Hasan for their valuable suggestion during the Tw = 10 sec;
preparation of this paper.
PSS KPSS T1=T3 T2=T4
REFERENCES
GLS based PSS 35.1469 0.2078 0.05
[1] S. Sheetekela, and K. A. Folly, "Multimachine power system stabilizer
design based on evolutionary algorithm," in 44th International
Frequency Response based PSS 200 0.15 0.002
Universities Power Engineering Conference, Glasgow, Scotland, 1-4
Sept. 2009. Calculation of Heffron-Phillips constants:
[2] Z. Bao-Hui, L. Cheng, Z. Hao, A. Klimek, B. Zhiqian, Y. Deng, G.
Yao, and J. Shu, "Study on security protection of transmission section xq xd E q 0 E0 cos 0
to prevent cascading tripping and its key technologies," in IEEE/PES k1 = iq 0 E0 sin 0 + ;
Transmission and Distribution Conference and Exposition: Latin xe + xd xe + x q
America, Bogota, pp. 1-13, 13-15 Aug. 2008.
E0 sin 0 x e + x d x d x d
[3] B. Tang, M. L. McAnelly, and G. Guoxiang, "Experimental parameter
k2 = ; k3 = ; k4 = E 0 sin 0 ;
tuning of power system stabilizer," in 24th Chinese Control and
Decision Conference (CCDC), Taiyuan, China, 23-25 May 2012.
xe + xq xe + xd xe + x d
[4] P. Mitra, C. Yan, L. Grant, G. K. Venayagamoorthy, and K. A. Folly,
"Comparative study of population based techniques for power system
xq ed 0 x d eq 0
stabilizer design," in 15th International Conference on Intelligent
k5 = E0 cos 0 + E 0 sin 0 ;
System Applications to Power Systems (ISAP), Curitiba, Brazil, 8-12
x e + x q et 0 xe + x d et 0
Nov. 2009.
[5] D. Menniti, A. Burgio, A. Pinnarelli, and N. Sorrentino. xe eq 0
"Synchronizing fuzzy power system stabilizer and fuzzy FACTS k6 = ;
device stabilizer to damp electromechanical oscillations in a multi- xe + x d et 0
machine power system," in IEEE Power Tech Conference Proceeding,
Bologna, 23-26 Jun. 2003.
The parameters iq 0 , ed 0 , eq 0 , id 0 , Eq 0 , E0 and 0 can
[6] P. Kundur, et al. "Definition and classification of power system be calculated from the following equations.
stability IEEE/CIGRE joint task force on stability terms and
definitions," IEEE Transaction on Power System, vol. 19, pp. 1387- P0 et 0
1401, Aug. 2004. iq 0 = ;
2
[7] P. Kundur, Power System Stability and Control, Eds. N. J. Balu, and M. ( P0 x q 0 ) 2 + (et 0 + Q0 x q ) 2
G. Lauby. Vol. 7, New York: McGraw-hill, 1994.
2
[8] P.M.Anderson and A.A.Fouad, Power System Control and Stability,
Institute of Electrical and Electronics Engineers, Inc. 2003. 2 2 Q0 + i q 0 x q
[9] R. Gupta, B. Bandyopadhyay, and A. M. Kulkarni. "Design of
e d 0 = i q 0 x q ; e q 0 = et 0 e d 0 ; i d 0 = ;
decentralized power system stabilizers for multimachine power system
eq 0
using model reduction and fast output sampling techniques," in 5th
Asian Control Conference, Melbourne, Victoria, Australia, 20-23 Jul. E 0 = (e d 0 + i q 0 x e ) 2 + ( e q 0 i d 0 x e ) 2 ;
2004.
[10] P. Kundur, et al. "Application of power system stabilizers for ed 0 + iq 0 xe
enhancement of overall system stability," IEEE Transactions on Power E q 0 = eq 0 + id 0 x q ; 0 = tan 1 .

Systems, vol. 4, pp. 614-626, May 1989. e i
q0 d 0 e x