2011 2nd International Conference on Control, Instrumentation and Automation (ICCIA)

Intelligent PID Controller Design of SSSC for Power System Stability

Enhancement
Mojtaba Alizadeh, Soheil Ganjefar, Member, IEEE, and Mohsen Farahani

1
Abstract—Most of the controllers for FACTS devices are type controller, it fails when the controlled object is highly
based on the PI controller. Although the PI controllers are nonlinear and uncertain. The PI controller is almost a
simple and easy to design, their performance deteriorates when deficient controller and its deficiency is mainly related to its
the controlled object is highly nonlinear. This paper aims to
tuning method as first problem and its static nature as
propose an On-Line Self-Learning PID (OLSL-PID) controller
design of SSSC for power system stability enhancement and to second problem.
overcome the PI controller problems. The PID controller Over the years, many different parameter tuning methods
parameters are updated in on-line mode using BP algorithm have been presented for PI/PID controllers to overcome the
based on the information provided by the Adaptive Sef- first problem. Up to 2002, a survey is given in [5]-[6]. These
Recurrent Wavelet Neural Network (ASRWNNI) which is a methods are generally modifications of the frequency
powerful fast-acting identifier because of its local nature, self-
response method proposed by Ziegler and Nichols [7].
recurrent structure and stable training algorithm with
Adaptive Learning Rates (ALRs) based on discrete lyapunov Recently, as other alternatives to PID tuning, modern
stability theorem. The proposed control scheme is applied to heuristic optimization techniques such as the simulated
multi-machine power system and simulation results are also annealing [8], evolutionary algorithms [9], particle swarm
presented to complement the theoretical discussion. optimization [10] and chaotic optimization [11] due to their
ability to find an almost global optimal solution in PID
Index Terms—Adaptive PID controller, Adaptive Learning tuning, have been given much attention by many
Rates, Flexible AC Transmission System (FACTS), Power researchers. Most of these works propose a fixed-gain
system stability, Self-Recurrent Wavelet Neural Network
(SRWNN).
PI/PID controller with a global nature (second problem).
However, because of expanding physical setups,
I. INTRODUCTION functionality and complexity of power systems, it is difficult
to maintain a desired performance for a wide range of
operation using fixed-gain PI/PID controller.
F ROM the view point of control engineering, a power
system is a highly nonlinear and large scale multi-input
multi-output dynamical system including numerous
The present paper aims to propose an On-Line Self-
Learning PID (OLSL-PID) controller design of SSSC for
power system stability enhancement and to overcome the PI
variables, protection devices and control loops with different
controller problems. Unlike the PI controllers, the proposed
dynamic responses and characteristics [1].
PID controller has a local behaviour because of its powerful
Electromechanical oscillations in power systems are a
adaption process based on Back-Propagation (BP)
problem that has been challenging engineers for years.
algorithm. For the purpose of plant adaptive control, an on-
Conventionally, the damping of power system oscillations is
line identification algorithm is also required to provide on-
performed by power system stabilizer (PSS). However,
going improvement of identification accuracy and the ability
PSSs may adversely affect the voltage profile, may result in
to track plant variations as they occur. This clarifies the need
leading power factor and may not be able to suppress the
for having an accurate identifier.
oscillations resulting from severe disturbances [2]-[3].
Many researchers used Multi-Layer Perceptron (MLP)
Following the recent development of power electronics, it
based on BP or gradient descent (GD) training algorithm
attracted attention to use of flexible AC transmission system
using static learning rates (SLRs) for identification of
(FACTS) devices in power systems with an aim to damp
synchronous generator [12]-[16]. However, this method has
oscillations and improve dynamic stability of power system.
many disadvantages. First, the MLP is a global network and
In these devices by controlling the power flow, it is possible
this global nature of weight effects however, tends to blur
to provide damping to the inter-area and local mode
the details of local structure, slow the rate of learning and
oscillations of the generating units in a multi machine power
results in the existence of local minima. Second, due to its
system. The suitably controlled FACTS devices can provide
feed-forward network structure, it can only be used for static
good damping to both the inter-area and the local mode
problems. Third, since it is difficult to find optimal learning
oscillations of a multi-machine power system. At present,
rates in the BP algorithm using SLRs, the fast convergence
the PI controller is the most widely adopted in industrial
guaranteeing of neural network identifier is hard. Recently,
application due to its simple structure, easy to design and
Wavelet Neural Networks (WNNs), which absorbs the
low cost. Most of the controllers for FACTS devices are also
advantages such as the multi-resolution of wavelets and the
based on the PI controller [4]. Despite advantages of the PI
learning of MLP, were used to identify the nonlinear
Mojtaba Alizadeh is with the Electrical Engineering Department,
University of Bu-Ali Sina, Hamedan, IRAN (e-mail: m.alizadeh@basu.ac.ir
systems [17]-[21]. Due to its natural properties of finite
& mjt.alizadeh@gmail.com). support and self-similarity, the WNN can be used for the
Soheil Ganjefar is with the Electrical Engineering Department, approximation of unknown nonlinear functions with local
University of Bu-Ali Sina, Hamedan, IRAN (corresponding author, phone:
nonlinearities and fast variations. Despite these advantages,
0811-8257410; fax: +98-811-8257400; e-mail: S_ganjefar@basu.ac.ir).
Mohsen Farahani is with the Electrical Engineering Department, the WNN has also a disadvantage that it can be only used
University of Bu-Ali Sina, Hamedan, IRAN (e-mail: for static problems due to its feed forward network structure.
m.farahani@basu.ac.ir)

978-1-4673-1690-3/12/$31.00©2011 IEEE 7
Hence, self recurrent wavelet neural networks (SRWNNs),
which combine the properties such as attractor dynamics of
recurrent neural network and the fast convergence of the
WNN, were proposed to identify the nonlinear systems [22].
Thus, in this article a SRWNN is used as identifier to
adapt the PID controller parameters. Also, GD method using
ALRs, derived from discrete lyapunov stability theorem, is
applied to train all weights of ASRWNNI. To both
complement the theoretical discussion and assess the
effectiveness of the proposed approach, it is finally applied
to a two-machine two-area power system under different
operating conditions and disturbances. Simulation results
show the effectiveness and robustness of the proposed
secondary side of a coupling transformer. The compensation
level can be controlled dynamically by changing the
magnitude and polarity of Vq and the device can be operated
both in capacitive and inductive mode [4,23].
III. OLSL-PID CONTROLLER DESIGN
A. PID controller
PID controller is the most common form of feedback. It is
found today in all areas where control is used, the
"textbook" version of PID algorithm is described by:
ª
1 t de t  º
approach and thus are promising. u t  k «e t  
³ e W  d W  Td » (1)
¬« Ti o dt ¼»
II. POWER SYSTEM UNDER STUDY Or in the continuous s-domain:
A. Power system model
u s 
§ ki ·
To assess the effectiveness and robustness of the
proposed approach, a two-machine two-area power system
equipped with SSSC, shown in Fig. 1, is considered. The
power grid consists of two generators and one major load
center at Bus 3. The first generator (G1) has a rating of 2100
MVA, and the other one (G2) has a rating of 1400 MVA.
The load center of approximately 2200 MW is modeled
using a Dynamic Load (DL) model where the active and
reactive power absorbed by the load is a function of the
system voltage. It is connected to generator G1 through the
transmission lines L1 and L2. The generator G2 is connected
to the load by a 50-km line (L3) as well. Also, the PSSs are
installed with each machine. The SSSC with a rating of
100MVA, installed at Bus 1, is in series with line L1 and is
able to inject up to 10% of nominal system voltage. The
relevant data for the system is given in Appendix A.
¨ k p  k d .s ¸ e  s  (2)
© s ¹
Where u is the control signal and e is the control error.
B. OLSL-PID controller
In this paper, an adaption law based on the BP algorithm
is used to tune the PID gains in on-line mode. General
structure of control system is shown in Fig. 2. The PID
output is the control action u(n) which is fed to the plant. To
tune the PID controller gains, we consider the PID controller
similar to a single layer perceptron (SLP) neural network
that its activation function is a linear function such as
purelin. Fig. 3 represents the PID controller based on the
neural network. In this case, the PID controller gains are the

Bus 4 Bus 3 L1 Bus 1  u n 

y d n 
 PID Plant y n 
T2 L3
SSSC
T1 ec  n 
G2 G1 

L 2-2 L 2-1  yˆ  n 

Load 3 Dynamic Load Load 1

Bus 2
ASRWNNI

Load 2  
Fig. 1. Two-machine power system with SSSC y d  n  1 yˆ  n  1

Fig. 2. Control system structure

B. Overview of SSSC
A SSSC is a solid-state voltage sourced converter (VSC),
which generates a controllable AC voltage, and connected in Kp PID
series to power transmission lines in a power system. The
Ki U
SSSC provides the virtual compensation of transmission line ¦
impedance by injecting the controllable voltage (Vq) in
series with the transmission line. Vq is almost in quadrature Kd Activation Function
with the transmission line current and, hence, emulates an
equivalent inductive or capacitive reactance in series with
the transmission line so as to influence the power flow in the
transmission lines. The virtual reactance inserted by Vq
influences electric power flow in the transmission lines
independent of the magnitude of line current. The variation
of Vq is performed by means of a VSC connected on the
8
 Purelin 
Fig.3 The PID controller based on neural network
weights of the SLP neural network. Therefore, these gains
can be updated. To select optimal control signal,
consequently obtain the best performance, let us define a
cost function as:
 y
¦
Layer 4

1 w1 w2 wNw
2
Jc  n   
1 2
ª¬ y  n  y d  n º¼ e n (3)
2 c \1 – \2 – – \ Nw
2 Layer 3

Where y(n) is plant output and yd(n) is the desired plant M 21 M M

M11 M1 , N M2,N N w ,1 Nw ,N i
output both at the time step n. Next, the gained values of the i i

Z T11
1
Z 1TN w ,N i Layer 2
PID controller are adjusted by using the GD method so that
the error is minimized after a given number of adjusting
cycles. The GD method may be defined as:

§ wJc ( n ) ·
W c  n  1 W c  n   Kc
i i i
¨ ¸ (4)
Layer 1
¨ wW i  n  ¸
© c ¹ x1 x Ni

Where for Wc=[Kp, Ki, Kd] and ηc= [η Kp, η Ki, η Kd], Wci and Fig. 4. The SRWNN structure
ηci, respectively, represent an arbitrary gain and the
corresponding learning rate in the PID controller. The partial Where tij and dij are the wavelets translation factor and the
derivative of the cost function with respect to Wc i is dilation factor, respectively. The subscript ij indicates the jth
wJ c  n  ª wy  n  º wu  n  input term of the ith wavelet. In addition, the inputs of this
«ec  n  » (5) layer for discrete time n can be denoted by:
wW c  n 
i
¬ wu  n  ¼ wW i  n 
c
u
ij
By applying the chain rule recursively, the error term is first
calculated and then the PID parameters are adjusted. The
components of the weighting vector are as follows:
 n  = x j  n  + Mij  n - 1 θij
Where θij denotes the weight of the self-feedback loop.
Here, θij is a factor to represent the rate of information
wu  n  storage. The layer 3 is a product layer. The nodes in this
ec (6)
wK p layer are given by the product of the mother wavelets as
follows:
wu  n  t current
³
 
ec .dt (7) N N
i i ª § 1 2 ·º
wK i 0
ψ = – M z ij = – « z
i ij
 
exp ¨ - z ¸» (10)
j =1¬ © 2 ij ¹¼
wu  n  d j =1
ec (8)
wK d dt The layer 4 is an output layer:
Also in (5), w y(n)/ w u(n) is the system sensitivity. Using the
ASRWNNI, which is a real-time plant tracker, the system Nw
sensitivity is computed in each time step n. Adjusting cycle y n  ¦ w \ (11)
i 1 i i
of the OLSL-PID comprises 5 steps for each time step n that
are given in Appendix B. Where wi is the connection weight between the product
nodes and the output nodes.
IV. ADAPTIVE SELF-RECURRENT WAVELET NEURAL
NETWORK IDENTIFIER (ASRWNNI) B. Application of the SRWNN to the plant identification
A. Description of the SRWNN structure The ASRWNNI, based on the series-parallel method, can
A schematic diagram of the SRWNN structure shown in be represented as:
Fig. 4 has Ni inputs, one output and Ni * Nw mother
wavelets. The SRWNN structure consists of four layers xI [ y  n  , y  n  1 ,..., y  n  p 
[38,39]. The layer 1 is an input layer and the layer 2 is a
mother wavelet layer. Each node of this layer has a mother , u  n  , u  n  1 ,..., u  n  q ] (12)
wavelet and a self-feedback loop. In this paper, we select the
first derivative of a Gaussian function φ(x)=x.exp(-0.5x2) as 
yˆ n  1 
fI xI   (13)
a mother wavelet function. A wavelet φij of each node is ^
Where y (n+1) is the predicted speed deviation at the time
derived from its mother wavelet φ as follows: step n+1, and also xI is the inputs of the ASRWNNI.
Moreover, p and q indicate the number of the past outputs

     
and the past input state variables, respectively. Here both p
Mij z =M z , z
§
= ¨ u -t /d ¸ · (9) and q are chosen to be 1. Our goal is to minimize the
ij ij ij © ij ij ij ¹
following quadratic cost function in both on-line and off-
line modes:
1 2 1
J I n  =
2

y  n  - yˆ  n  e n 
2 I
2
(14)

9
By using the GD method, the weight values of the SRWNN where gi(n) w yˆ n/wWI i, and ||.|| is the usual Euclidean
are adjusted so that the error is minimized after a given
norm in ƒ n, then the convergence is guaranteed if ηIi
number of training cycles. The GD method may be defined
chosen as [24]:
as:
 
2
i i
§ wJ  n  · 0  KI  2 / g max (23)
WI
i
 n +1  = W I i  n  + η i ¨¨ - I i ¸¸
© wW I  n  ¹
(15)
Remark 1: The maximum learning rate which guarantees
Where for WI=[tij, dij, θij, wi] and ηI= > K , K , K , K @; WI t d θ w i the most rapid or the optimal convergence is corresponding
to:
and ηI i respectively, represent an arbitrary weight and the
 
2
corresponding learning rate in the SRWNNI, the partial i ,max i
KI 1/ g (24)
derivative of the cost function with respect to WI i is: max
This is the half of the upper limit in Theorem 1[24].
wJ I  n  we I  n  wyˆ  n 
= eI n  = -e I  n  VI. SIMULATION RESULTS
wW I
i
n  wW I
i
n  wW I
i
n 
By applying the chain rule recursively, the error term for
each layer is first calculated and then the parameters in the
corresponding layers are adjusted. The components of the
weighting vector are as follows:
A. Preliminary
In this section, simulation studies are conducted for the
example power system subjected to both severe and small
disturbances under two distinct operating conditions. The
results are presented in three cases under two operating
points:
wyˆ  n 
§ ·§ ·
=w \ ¨ 1 ¸¨ 1  z ¸ TABLE I. OPERATING CONDITIONS
wt n  i i ¨ d ¸¨ z ij ¸ (16) Cases P1 Q1 P2 Q2 PDL QDL
ij © ij ¹© ij ¹ OP1 0.7619 -0.0478 0.7509 0.0513 1.5711 0.0718
OP2 0.8589 0.0539 1 0.0750 1.9981 0.1076
wyˆ  n 
§ wyˆ n ·
=z ¨
 ¸
These cases are also as follows: first without controller
wd  n  ij ¨ wt  n  ¸ (17)
ij © ij ¹ (NC), second with the fixed-gain PI controller and third with
the OLSL-PID controller. Once the PI controller was
wyˆ  n 
§ wyˆ n ·
 ¸
wT  n 

=  Mij  n  1 ¨ 
¨ wt  n  ¸ (18)
carefully tuned for the best possible performance, afterwards
its parameters were kept unchanged for all performed tests.
ij © ij ¹ The PI parameters are given in Appendix C.
wyˆ  n  The single-line block diagram of control system of SSSC
=\ with OLSL-PID controller is shown in Fig. 5. It shows how
ww
i
n  i (19)
the OLSL-PID controller has been added to the main control
loop of SSSC. The ASRWNNI has 4, 32, 8 and 1 neurons at
Hence, this identifier can be used for calculating the system
the input, mother wavelet, wavelet and output layers,
sensitivity in each time step n as:
respectively. All the inputs and outputs signals of the
ASRWNNI are normalized to the range of [-1,1] using
wy  n  1 wyˆ  n  1 wx I parameters α and β (in this case; α=0.15 & β=0.007).
| (20)
wu  n  wx I wu  n  V qREF
Id

Vq
From (12), w xI / w u(n) can be written as: Injected Voltage
Regulator
U max
ec  'Z12  'Z12d   'Z12d 0
wx I T PID Controller
PID Controller
ª0 0 ,..., 1 f  z  ,...,f q  z º¼
1
wu  n 
min
¬ (21)
TDL TDL 'Z12d 0

1/D 1/E
-i 'Z12
Where fi(z)=z , and also 
ASRWNNI E 
'Ẑ12

wyˆ  n  1 Nw § 1 ·§ 1 · Vq-Conv
¦ w i u\ i ¨ ¸¨ z ij ¸ (22) V DC REF
wx I , j i 1 ¨ d ij ¸ ¨ z ij ¸ Vd-Conv
© ¹© ¹ V DC DC Voltage PWM VSC Pulses
Regulator Modulator

T
Where Nw is the number of nodes in the product layer of the
Fig. 5. Single-line diagram of the SSSC control system with OLSL-PID
ASRWNNI. controller

V. CONVERGENCE ANALYSIS FOR THE ASRWNNI

Theorem1: Let ηIi be the learning rate for the weights of
the ASRWNNI and gimax be defined as gimax=maxn||gi(n)||,

10
 -3 -3
x 10 x 10 -3 -3
x 10 x 10
6
6 NC 6 ASRWNNI 4 NC ASRWNNI
PI Controller 5
Plant PI Controller Plant
4 3
OLSL-PID Controller OLSL-PID Controller 4
4

ASRWNNI Performance

ASRWNNI Performance
2
2 3
w1-w2 (p.u.)

w1-w2 (p.u.)
2
2
0 0
0 1
-1
-2 0
-2 -2
-4 -1
-3
-4 -2
-6 -4
-3
-6 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0 1 2 3 4 5
0 1 2 3 4 5
2552.5
120 2552.5 100
2552
100 2552
50 2551.5
80

Kp

Lrw
2551.5

Lrw
60
Kp

0 2551
40 2551

20 2550.5
2550.5 -50
0 2550
2550 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

5 4 3
2
1.5 4 2 2.5
Lrt=Lrb

Lrt=Lrb
1

Ki
3
Ki

0.5 0
2
0 2
-2
-0.5 1
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 1.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

3
0.4 0.6 0.4

0.5 2
0.2 0.35
0.4
Kd

Lrd

Kd
1

Lrd
0 0.3 0.3

0.2 0
-0.2 0.25
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0.1 -1
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0.2
Time (sec) 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)
Time (sec)

Fig. 6. System responses to a three phase to ground fault at Bus 1 in OP1 Fig. 8. System responses to a three phase to ground fault at Bus 1 in OP2

-5 -5 -5 -5
x 10 x 10 x 10 x 10
6 6 8
NC ASRWNNI NC ASRWNNI
4
PI Controller Plant 6 PI Controller
4 Plant
OLSL-PID Controller 4 OLSL-PID Controller
4 2

ASRWNNI Performance
ASRWNNI Performance

2
2 2
w1-w2 (p.u.)
w1-w2 (p.u.)

0
0 0
0 -2
-2
-2
-4 -4
-2
-4
-6 -6
-4 -8
-6
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
0 1 2 3 4 5 6 7 8 9 10

100 2553 2553

100
2552 2552

Lrw
Lrw

Kp
Kp

50 50
2551 2551

0
0 2550 2550
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10

2 2

1.5 2 1.5 1.999

1 1.999 1 1.998
Lrt=Lrb
Lrt=Lrb
Ki

Ki

0.5 1.998 0.5 1.997

0 0 1.996
1.997
-0.5 -0.5 1.995
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10

0.8 0.2708 1 0.2706

0.6
0.2706 0.2704
Kd

0.4
Kd

0.5
Lrd
Lrd

0.2704
0.2702
0.2
0.2702
0 0 0.27
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
Time (sec) Time (sec)
Time (sec) Time (sec)

Fig. 7. System responses to a 10% step decrease in voltage reference of G1 Fig. 9. System responses to a 10% step decrease in voltage reference of G2
and return to the original condition in OP1 and return to the original condition in OP2

Following the off-line training of the ASRWNNI, over a improving the stability performance of the example power
vast range of operating conditions and disturbances, it is system thanks to intelligent variations of its gains while the
placed in the final configuration. Later on, its training is ASRWNNI provides a promising tracking performance.
done in every sampling period. The second disturbance is a 10% step decrease in terminal
The difference of speed deviations of generators in the voltage reference of G1 at time 0.5 s. The system returns to
two areas (ω1- ω2) is chosen as the control input of PID in its original condition at time 5 s. Fig. 7 shows the system
this paper. All of the PID gains are initially set to zero, responses and identifier performance. It can be observed that
afterwards the PID controller is hooked up in the system and the proposed controller provides the best performance,
its parameters updated in on-line mode using BP algorithm damping out the oscillations with a considerable speed. It is
based on the information provided by the ASRWNNI. also evident that the proposed identifier can track the plant
very satisfactorily thanks to its self-recurrent local structure,
B. Nonlinear time-domain simulation and, likewise, its stable training algorithm. Intelligent
1) The results at OP1 changes in the learning rates and PID gains are another
interesting part of the results.
The performance effectiveness and robustness of the 2) The results at OP2
proposed controller under transient conditions is verified by
applying a three-phase fault of 10 cycle duration at Bus 1 as A three-phase fault of 10 cycle duration at Bus 1 is
first disturbance. The results include the system responses selected as first disturbance. The results include the system
and identifier performance are presented in Fig. 6, in which responses and identifier performance are presented in Fig. 8.
Lrw= ηIw,max, Lrt= ηI t,max, Lrb= ηI θ,max and Lrd= ηI d,max. It is The second disturbance is a 10% step decrease in terminal
evident from the results that OLSL-PID provides better voltage reference of G2 at time 0.5 s. The system returns to
damping performance than PI controller, significantly

11
its original condition at time 5 s. Fig. 9 shows the system
responses and identifier performance.
Again, from all figures it is evident that, the OLSL-PID
controller has better damping of the speed deviation than PI
controller and significantly improves transient stability
performance of the example power system. Also it is clear
from all results presented in this study that the proposed
ASRWNNI can track the plant satisfactorily over a wide
range of operating conditions and for various types of
disturbances. This verifies the adaptability of the proposed
identification algorithm.
VII. CONCLUSIONS
In this article, to overcome the problems of fixed-gain PI
controller of FACTS devices, an On-Line Self-Learning PID
controller is developed for power system stability
enhancement. The PID controller parameters are updated
based on the information provided by the ASRWNNI. The
ASRWNNI is initially trained off-line before being hooked
up in the final configuration, also all of the PID gains are
initially set to zero, afterwards PID controller is hooked up
in the system and its parameters updated in on-line mode.
The nonlinear time-domain simulation results are promising
and also reveal that: because of the high adaptability, the
local behaviour and the high flexibility of both controller
and identifier, the proposed controller can damp the low
frequency oscillations in good manner and significantly
improves the transient stability performance of the system.
APPENDIX A : SYSTEM DATE
Generators: SB1=2100MVA, SB2=1400MVA, H=3.7s,
VB=13.8kv, f=60Hz, RS=2.8544e-3, Xd = 1.305, X'd=0.296,
X"d=0.252, Xq=0.474, X'q=0.243, X"q=0.18, Td=1.01s,
T'd=0.053s, T"d=0.1s.
Loads: Load1=250MW, Load2=100MW, Load3=50MW.
Transformers: SBT1=2100MVA, SBT2=1400MVA,
13.8/500kv, f=60Hz, R1=R2=0.002, L1=0, L2=0.12, D1/Yg
connection, Rm=500, Lm=500.
Transmission lines: 3-Ph, 60 Hz, line lengths: L1=280km,
L2=300km, L3=50km, R1=0.02546 Ω/ km, R0=0.3864Ω/ km,
L1=0.9337e-3H/km, L0=4.1264e-3H/km, C1=12.74e-9F/km,
C0=7.751e-9F/km.
SSSC: Snom=100MVA, Vnom=500kv, f=60Hz
PSSs: PSS1&2: Tw=1, Kp=0.25, T1=0.06, T2=1, T3=T4=0.
APPENDIX B : ADJUSTING CYCLE
1) The weights of the ASRWNNI are updated, using Eq.
(15).
2) The output of the PID controller is computed.
3) The output of the ASRWNNI is computed, using Eq.
(13).
4) The system sensitivity is computed, using Eq. (20).
5) The gains of the PID are updated, using Eq. (4).
APPENDIX C: THE PI PARAMETERS
PID (PI) OPTIMAL GAINS
Kp=23.86 Ki=3.98 Kd=0
12
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