Professional Documents
Culture Documents
A Literature Survey On Load Frequency Control For Conventional and Distribution Generation Power Systems
A Literature Survey On Load Frequency Control For Conventional and Distribution Generation Power Systems
art ic l e i nf o
a b s t r a c t
Article history:
Received 16 August 2012
Received in revised form
8 April 2013
Accepted 20 April 2013
In this paper an extensive literature review on loadfrequency control (LFC) problem in power system
has been highlighted. The various conguration of power system models and control techniques/
strategies that concerns to LFC issues have been addressed in conventional as well as distribution
generation-based power systems. Further, investigations on LFC challenges incorporating storage devices
BESS/SMES, FACTS devices, winddiesel and PV systems etc have been discussed too.
& 2013 Elsevier Ltd. All rights reserved.
Keywords:
Distribution generation
Deregulated power systems
Loadfrequency control
Optimal control
Articial intelligent techniques
Contents
1.
2.
3.
4.
5.
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Type of power system models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.1.
Conventional power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.1.1.
Single area thermal power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.1.2.
Single area hydro power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.1.3.
Two area power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.1.4.
Three area power systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.1.5.
Four area power systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.1.6.
Power system with HVDC-link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.1.7.
Deregulated power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2.
Distributed generation power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Control techniques for conventional power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.1.
Classical control approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.2.
Optimal control approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.3.
Sub-optimal control approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.4.
Adaptive and self-tuning approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Control strategies for conventional power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4.1.
Centralized control approaches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4.2.
Decentralized control approaches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4.3.
Two-level and multi-level control strategies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Soft computing techniques in LFC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
5.1.
Articial neural network (ANN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
5.2.
Fuzzy logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
5.3.
Genetic algorithms (GAs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
319
5.4.
Particle swarm optimization (PSO) algorithms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
5.5.
Tabu search algorithms (TSA) and bacterial foraging optimization algorithm (BFOA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
6. Other controllers for LFC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
6.1.
Variable structure controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
6.2.
Robust controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
7. Use of SMES, BESS and facts devices in conventional power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
7.1.
SMES and BESS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
7.2.
Flexible AC transmission systems (FACTS) devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
8. LFC in distributed generation power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
8.1.
PV, wind farms, diesel engine and energy storage system based hybrid DG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
8.2.
Other DG systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
9. Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1. Introduction
Loadfrequency control (LFC) is of importance in electric power
system design and operation. The objective of the LFC in an
interconnected power system is to maintain the frequency of each
area within limits and to keep tie-line power ows within some
pre-specied tolerances by adjusting the MW outputs of the
generators so as to accommodate uctuating load demands. A
well designed and operated power system must cope with
changes in the load and with system disturbances, and it should
provide acceptable high level of power quality while maintaining
both voltage and frequency within tolerance limits.
Subjected to any disturbance, the nominal operating point of a
power system changes from its pre-specied value. As a result the
deviation occurs about the operating point such as nominal
system frequency, scheduled power exchange to the other areas
which is undesirable.
The LFC issues have been tackled with by the various researchers in different time through AGC regulator, excitation controller
design and control performance with respect to parameter variation/uncertainties and different load characteristics. As the conguration of the modern power system is complex, the oscillation
incurred subjected to any disturbance may spread to wide areas
leading to system black out. In this context, advance control
methodology such as optimal control, variable structure control,
adaptive control, self-tuning control, robust and intelligent control
were applied in LFC problem.
The further research in this area has been carried out by use of
various soft computing techniques such as articial neural network (ANN), fuzzy logic and fusion of these such as neuro-fuzzy,
neuro-genetic etc. to tackle the difculties in the design due to
non-linearity in various segregated components of the controller.
The controller parameters plays a vital role for its performance,
thus it should be tuned properly with suitable optimization
Survey on LFC
Conventional power
systems
Distribution generation
power systems
320
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
321
322
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
power system. Ross [179] described control criteria in LFC and the
related practical difculties encountered to achieve this criterion.
Pan and Liaw [182] presented an adaptive controller for LFC using
a PI adaptation to satisfy the hyper-stability condition to take care
of the system parameter changes. The effectiveness of proposed
controller for considering the generation rate limit was also
conrmed. In [31], a new method to design a multivariable selftuning regulator with the inclusion of interaction of voltage on
load demand is presented. Similarly in [32], self-tuning type of
adaptive controllers for main AGC loop and SMES, which is
incorporated as a stabilizer to improve AGC performance is
discussed. A multi-area adaptive LFC developed for a comprehensive AGC simulator is presented in [183] and a reduced-order
adaptive LFC for interconnected hydrothermal power system is
suggested in [184]. Wang et al. [4], proposed a combination of
robust control, the Riccati equation and adaptive control to design
a new robust adaptive load-frequency controller for power systems with parameter uncertainties. A multilevel adaptive algorithm based on a relatively fast implicit self-tuning regulator for
multi-area power systems is investigated in [190]. Jovanovic et al.
[91] presented an application of knowledge-based adaptive turbine governor control. In [191], a self-tuning steam turbine control
scheme designed to improve the quality of control of power
system frequency is discussed.
323
324
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
325
structure controller for two area thermal and multi-area interconnected power system with consideration of nonlinearities,
such as GRC and governor dead band is presented in [64]. Malik
et al. [65] presented a study based on the concepts of discontinuous control, dual-mode control and variable structure systems for
four-area interconnected power systems including nonlinearities.
Similarly, Yang et al. [66] proposed a decentralized controller
based on the structured singular values.
6.2. Robust controller
The conventional LFC is mostly simple classical tuned controller,
having parameter adjustments heuristically. Thus, it is incapable of
providing good dynamical performance over a wide range of
operating conditions and various load scenarios. Thus, novel modeling approach is strongly required to obtain a new trade off between a
market outcome and market dynamic (robustness). The robust
controller based on Riccati-equation approach is presented in
[3,12,51,200,241,242]. Goshaidas et al. [242] have presented a robust
controller based on the Riccati-equation in single area thermal power
system. Lim et al. [51] proposed a decentralized load frequency
controller based on the Riccati-equation approach in three area
power systems with parametric uncertainties. Robust controller for
LFC in a deregulated two area thermal power systems by using a
m-synthesis approach is given in [243]. Similarly the controller based
on H control design using LMI technique in order to obtain
robustness against uncertainties is presented in [52]. A decentralized
H damping control design based on the mixed-sensitivity formulation in the LMI framework is reported in [244].
A new decentralized robust control strategy based on the mixed
H2/H control technique for LFC problem in a deregulated three area
power systems is proposed in [83,85]. Ngamroo et al. [237] proposed
robust decentralized frequency stabilizer design of static synchronous
series compensators by taking system uncertainties into consideration
for three area interconnected power system. The design of robust PI
controller for LFC in three area interconnected power system based on
H static output feedback control technique is solved by using a
developed iterative LMI is addressed in [245]. Robust analysis and
design of load frequency controller is described in [246].
The LMI approach based LFC including communication delays is
proposed in [57], while a robust decentralized PI controller design
based on the mixed H2/H control technique using LMI approach
for three-area interconnected power systems with communication
delays is proposed in [58]. The robust decentralized LFC for fourarea interconnected power systems is proposed in [71], in which a
detailed structured singular value method is proposed for localarea robustness analysis, and an eigenvalue method is derived for
tie-line robustness analysis. The design of decentralized robust
controller based on the concept of active disturbance rejection
control is proposed in [62]. The authors [5] investigate the delaydependent stability of the LFC scheme by using Lyaponuv-theory
based delay-dependent criterion and LMI techniques for one-area
and multi-area LFC schemes installed with PI-controllers. The
delay-dependent/independent design of H controller for LFC of
two-area interconnected power system is presented in [45].
326
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
has been presented in [247]. Aditya and Das [248] have revealed
that use of BESS is helpful in meeting sudden requirements of real
power and is effective in reducing the peak deviations of frequency and tie-line power. Thus it reduces the steady-state values
of time error and inadvertent interchange accumulations. Banerjee
et al. [29] presented the effectiveness of small sized magnetic
energy storage units (both superconducting and normal loss
types) to improve the load-frequency dynamics of two-area
thermal power system. Chun et al. [249] studied the effect of
governor dead-band and GRC, along with the effect of BESS on LFC.
Tetsuo [250] presented the rechargeable batteries such as redox
ow, which are not aged by frequent charging and discharging. It
is said to have a quick response equivalent to SMES and outstanding overload capability. Fuzzy gain scheduled SMES unit for
improvement of LFC in two-area thermal power system is presented in [251]. Tripathi and Juengst [252] have presented feasibility of using an IGBT convertor instead of thyristor convertor as a
power conditioning system with the SEMS. An improved system
transient response with SMES has been achieved. Some more
applications of SMES for improving the LFC are also mentioned in
[253257].
7.2. Flexible AC transmission systems (FACTS) devices
In last one or two decade, the use of FACTS devices has become
a common practice in order to make full utilization of existing
transmission capacities instead of adding new lines. El-Emary and
El-Shibina [258] have presented a new technique of AGC regulator
design based on static var compensators (SVC). The thyristor
controlled phase shifter (TCPS) is expected to be an effective
apparatus for the tie-line power ow control in an interconnected
power system. It injects a variable series voltage to affect the
power ow by modifying the phase angle. The design of decentralized controller based on GA with and without redox ow
batteries including TCPS is presented in [203]. The used of TCPS to
provide an active control facility of LFC problem in the deregulated
three-area power system is presented in [259]. In [237] a robust
decentralized frequency stabilizer design through static synchronous compensators by taking system uncertainties in consideration is proposed.
The LFC of interconnected two-area system with one area as
multi-unit of all-hydro power system and second area as allthermal/thermal-hydro mixed have been investigated in [260].
The authors present a coordinated control between TCPS and SMES,
with the gains of the integral controller in AGC loop and parameters
of TCPS/SMES being optimized by craziness-based PSO.
system power and frequency. The inuence of PV power generation on LFC is presented in [261]. Besides BESS, SMES units, a
favorable effect of integrating a FC into the power system has also
been evident [262]. The authors [133] presented a coordinated
control approach for output power uctuation leveling of PV
systems using fuzzy logic concept with consideration of power
system condition and insolation condition. A coordinated control
approach based on the minimal-order observer for the LFC
problem is presented in [132]. The LFC problem of isolated
utility-connected large PV-diesel hybrid power system based on
simple fuzzy logic approach is also proposed in [263].
The LFC problem becomes complex by integration of wind farm
grid because of the uctuating output power due to intermittent
nature of wind speed. Thus in such cases, the LFC needs to be
addressed differently. The studies related to LFC incorporating the
dynamics of wind farms are presented in [264267]. In [264], the
authors have presented modication in unit commitment, economic dispatch, regulation and frequency controls, when the level
of wind generation capacity is signicant. Curtice et al. [265]
presented a study to analyze the effects of small wind turbines
output on the LFC. The effect of large number small wind turbines
on LFC is presented in [94]. The LFC of WT based power system is
discussed in [268]. In [269], a wind-turbine driven self-excited
induction generator is considered as variable speed, constant
voltage, and constant frequency supply with isolated resistive load
connected. The simplied model is used to develop a control
strategy that aims to maintain the generator terminal voltage and
frequency constant in case of variations in the load and/or wind
speed. The wind farms with HVDC with participation in LFC or
active power sharing during system load or generation change is
discussed in [116].
In [128], frequency control method is presented by the WF and
the BESS using load estimation, in which the frequency deviation
in low and high frequency domain are reduced by the WF using
pitch angle control and charge/discharge, respectively. The frequency control with controlling speed of wind turbine is presented in [270285]. The frequency support from DFIG wind
turbines are presented in [101109,111]. The winddiesel hybrid
system is an economically viable action for large as well as small
communities. Bhatti et al. [100] designed a load frequency controller for isolated winddiesel hybrid power systems, and evaluated its effect on the transient performance of the system.
Milanovic and Soultanis [286] analyzed the operation of autonomous winddiesel system with the load control. The study is
carried out using the PSCAD/EMTDC computer simulation package.
Next, the authors in [121] analyzed the effect of stand-alone
hybrid power system consisting WTGs, DEG, FC, and AE on
frequency variation. Goya et al. [126] presented H control theory
based on droop characteristics for the frequency control by using
parallel operated battery in isolated island. The PSO based design
of the robust fuzzy logic-based-PID controller for LFC in isolated
winddiesel hybrid power system is proposed in [100]. The design
of robust frequency controller of SMES in a hybrid winddiesel
power system by using loop shaping control technique and tuning
of controller parameters using GA is discussed in [127].
The time-domain simulation for small-signal analysis of a
hybrid power generation/energy storage system is presented in
[135]. The authors concluded that the power generation from the
WTG, PV, DEG, and FC with energy stored or released from the
FESS/BESS can effectively meet the variations in load power
demand. Also, the system frequency deviation can be properly
controlled within a very small range. The impact of wind power
generation on system frequency control is discussed in [130].
The LFC by coordination control of WTG and the double layer
capacitor in an autonomous hybrid renewable energy power
generation is presented in [137]. In the proposed method, the
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
327
9. Conclusion
8.2. Other DG systems
Wayne et al. [287] presented transient stability analysis for
Sohio Prudhoe Bay emergency power system. A small-isolated
power system of such type is susceptible to stability problems.
These power systems, having two or more generator sets operating in parallel with remarkably different mechanical and control
characteristics, require transient stability analysis. These are
dened having unit ratings less than 100 kW. They are often
situated in remote communities or area. Douglas [288] described
the original research and development of microprocessor based
electronic load governor that incorporates three-phase balancing.
The combined study and testing of transient behavior of the
governor indicated the need for an improved control algorithm.
Doolla and Bhatti [97] presented a novel technique for LFC in an
isolated small-hydro plant. In general, the frequency is controlled
by using a dummy load, whose rating is equal to the rated output
power of the plant. The scheme proposed reduces the size of the
dummy load by controlling input power of the hydro power plant
using on/off control strategy. Kourosh et al. [98] discussed study of a
328
Table A1
Short summary of time domain performance.
Comparative results of Ref. [39,42] and [40].
Ref. no.
Conguration of system
Control approach
Operating conditions
[39]
[42]
PI SMES
FL SMES
PI SMES
FL SMES
f1
f2
Ptie
f1
f2
Ptie
0.029
0.02
0.019
0.012
0.49
0.019
0.014
0.025
0.02
0.39
0.08
0.005
+0.008 (Overshoot)
+0.005 (Overshoot)
0.121
4.5
4.5
5.5
5
50
4.5
4.5
5
4.8
70
5
5
5
4.8
45
0.18
0.22
15
20
0.19
0.55
50
50
0.015
0.013
0.013
0.012
0.013
0.017
0.003
+0.0005(Overshoot)
0.0001
12
10
13
12
11
10
15
15
20
Conguration of system
Controller design
Control structure
Operating conditions
[52]
GALMI based PI
H
GA based PI
PI
9th order
PI
[61]
Pd2 80 MW
Pd2 80 MW
Pd2 80 MW
Pd2 80 MW
Pd3 50 MW
Pd3 50 MW
Pd3 50 MW
Pd3 50 MW
0.0122
0.0104
0.0104
0.0103
0.0096
0.0102
0.0071
0.0087
0.0056
0.0103
0.0063
0.0114
[57]
[58]
Operating conditions
Conguration of system
Undershoot [pu]
Conventional AGC
AGC with full state LMI control
AGC with LMI decentralized control
LMI controller with ACE delays and telemetry delays
to the control areas of 4 s, 2 s and 4 s, respectively
Multi-area connected systems
Iterative LMI via H2/H based PI controller 5 s delay with 0.1 pu step load increase
8 s delay with 0.1 pu step load increase
(four generating units as one control area)
6 s delay with a sequence of step load changes
[5]
Ref.
no.
Controller design
Control approach
Operating conditions
f1
f2
f3
0.001
0.001
0.007
0.007
0.001
0.0012
0.0098
0.0013
0.005
0.004
0.0035
0.004
0.004
0.005
The frequency deviation and ACE of the control area are properly maintained
within a narrow band with smooth control efforts.
Delay margin is within the range of [3.1 s, 3.4 s] for Stability region.
Undershoot [pu]
f1
[139]
Conventional integrator
K(s) 0.3/s, PL 0.02 pu,
f2
Ptie
f1
f2
Ptie
0.03
0.01
12
12
15
0.03
0.01
15
15
20
0.02
0.01
0.01
+0.005
7
8
7
8
8
10
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
[40]
Undershoot [pu]
10
(f3)
0.1
10
10
0.1
(f3)
0.1
(10)
30
(f3)
+0.05
10
10
(+0.005) (20) (20)
0.16
30
30
(f3)
0.4
1.0
(0.37) (0.36)
0.15
0.16
Three-area ThermalThermal
with wind farms
[147]
TT-HH
(TT-TT)
TT-HH(TT-TT)
with TCPS-SMES
TT-HHW
(TT-TTW)
With wind penetration but no
power from DFIG. Wind penetration
level and wind speed area considered
to be 20% and 7.5 m/s, respectively in
area-2.
Integral gains of AGC loop
and parameters of TCPS and
SMES are optimized by
CRPSO
Two-area of thermalthermal (TT)
and hydro-hydro (HH) interconnected power
system
with TCPS, SMES and
DFIG based wind farm in deregulated
environment
TT-HHW
(TT-TTW) with TCPS-SMES
(55)
(53)
(35)
8
9
(f3)
+0.08
35
25
(+0.08) (35) (25)
+0.07
30
23
(+0.005) (30) (23)
+0.052
15
15
(+0.005) (25) (23)
[141]
Three-area
(f3)
system
Two-area system 0.038 0.025
Three-area
0.022 0.01
system
(f3)
0.65
1.8
(0.45) (0.5)
0.6
1.5
(0.4) (0.43)
0.42
1.0
(0.39) (0.39)
0.01
+0.005
8
10
(f3)
10
12
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
329
References
[1] Ashmo;e PH, Battebury DR, Bowdler RK. Power-system model for large
frequency disturbances. Proceedings of the IEEE 1974;121(7):6018.
[2] Pan CT, Liaw CM. Anadaptive controller for power system loadfrequency
control. IEEE Transactions on Power Systems 1989;4(1):1228.
[3] Wang Y, Zhou R, Wen C. Robust loadfrequency controller design for power
systems. IEE Proceeding-C 1993;140(1).
[4] Wang Y, Zhou R, Wen C. New robust adaptive load-frequency control with
system parametric uncertainties. IEE ProceedingsGeneration Transmission
and Distribution 1994;141(3).
[5] Jiang,en L, Yao W, Wu QH, Wen JY, Cheng SJ. Delay-dependent stability for
load frequency control with constant and time-varying delays. IEEE Transactions on Power Systems 2012;27(2):93241.
[6] Singh Parmar KP, Majhi S, Kothari DP. Load frequency control of a realistic
power system with multi-source power generation. Electrical Power and
Energy Systems 2012;42:42633.
[7] Foord TR. Step response of a governed hydro-generator. Proceedings of the
IEEE 1978;125(11).
[8] Kusic GL, et al. Automatic generation control for hydro systems. IEEE
Transactions on Energy Conversion 1988;3(1):339.
[9] Doolla S, Bhatti TS. Load frequency control of an isolated small-hydro power
plant with reduced dumped load. IEEE Transactions on Power Systems
2006;21(4):19129.
[10] Fosha C, Elgerd OI. The megawatt- frequency control problem: a new
approach via optimal control theory. IEEE Transactions on Power Apparatus
and Systems 1970;PAS-89(4):56377.
[11] Malik NG, Tan OT, Julish PM, Tacker EC. Trajectory-sensitivity design of load
frequency control systems. Proceedings of the IEEE 1973;120(10).
[12] Moorthi VR, Aggarwal RP. Damping effects of excitation control in load
frequency control system. Proceedings of the IEEE 1974;121(11).
[13] Kwatny HG, Kalnitsky KC, Bhatt A. An optimal tracking approach to loadfrequency control. IEEE Transactions on Power Apparatus and Systems
1975;94(5):163543 PAS-vol.
[14] Venkateswarlu K, Mahalanabis AK. Design of decentralized loadfrequency
regulators. Proceedings of the IEEE 1977;124(9):61720.
[15] Nanda J, Kaul BL. Automatic generation control of an interconnected power
system. Proceedings of the IEEE 1978;125(5):38590.
[16] Shirai Goro. Load frequency control using a governor and voltage controls via
a new approach. Proceedings of the IEEE 1978;66(10):12935.
[17] Doraiswami R. A nonlinear loadfrequency control design. IEEE Transactions
on Power Apparatus and Systems 1978;97(4):127884PAS-vol.
[18] Shirai Goro. Load frequency control using Lyapunov's second method: Bang
Bang control of speed changer position. Proceedings of the IEEE 1979;67
(10):14589.
[19] Bose A, Atiyyah I. Regulation error in load frequency control. IEEE Transactions on Power Apparatus and Systems 1980;PAS-99(2):6507.
[20] Premakumaran N, Parthasarathy K, Khincha HP, Chidambara MR. Multi-level
load frequency control (A Perturbational approach). Proceedings of the IEEE
1981;69(6):7624.
[21] Shirai Goro. Load frequency sampled-data control via Lyapunov's second
method. Proceedings of the IEEE 1981;69(1):12930.
[22] Oni B, Gaham H, Walker L. Investigation of nonlinear tie line bias control of
interconnected power systems. IEEE Transactions on Power Apparatus and
Systems 1981;PAS-100(5):23506.
[23] Hiyama T. Optimization of discrete-type loadfrequency regulators considering generation-rate constraints. Proceedings of the IEEE 1982;129(6):2859.
[24] Tripathi SC, Hope GS, Malik OP. Optimization of loadfrequency control
parameters for power systems with reheat steam turbines and governor
dead band non-linearity. Proceedings of the IEEE 1982;129(1):106.
[25] Hsu YY, Chan WC. Optimal variable structure controller for load-frequency
control of interconnected hydro-thermal power systems. Butterworth & Co
(publishers) Ltd., Electrical power & energy systems 1984;6(4):2219.
[26] Feliachi A. Optimal decentralized load frequency control. IEEE Transactions
on Power Systems 1987;PWRS-2(2):37985.
[27] Hsu Yuan-Yih, Chan Wah-Chun. Coordinated frequency and voltage control
of synchronous generators. IEEE Transactions on Aerospace and Electronic
Systems 1987;AES-23(1):210.
[28] Kothari ML, Nanda J, Kothari DP, Das D. Discrete-mode automatic generation
control of a two-area reheat thermal system with new area control error.
IEEE Transactions on Power Systems 1989;4(2):7308.
[29] Banerjee S, Chatterjee JK, Tripathy SC. Application of magnetic energy
storage unit as loadfrequency stabilizer. IEEE Transactions on Energy
Conversion 1990;5(1):4651.
[30] Aldeen M, Marsh JF. Decentralized proportionalplus-integral design
method for interconnected power systems. Proceedings of the IEEE
1991;138(4):26374.
[31] Yamashita Katsumi, Miyagi Hayao. Multi-variable self-tuning regulator for
load frequency control system with interaction of voltage on load demand.
Proceedings of the IEEE 1991;138(2):17783.
[32] Tripathy SC, et al. Adaptive automatic generation control with superconducting magnetic energy storage in power systems. IEEE Transactions
on Energy Conversion 1992;7(3):43441.
330
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
[33] Lu Chun-Feng, Liu CC, WU C. Effect of battery energy storage system on load
frequency control considering governor dead-band and generation rate
constraint. IEEE Transactions on Energy Conversion 1995;10(3):55561.
[34] Talaq J, Al-Basri F. Adaptive fuzzy gain scheduling for load frequency control.
IEEE Transactions on Power Systems 1999;14(1):14550.
[35] Ngamroo I, Mitani Y, Tsuji K. Application of SMES Coordinated with solidstate phase shifter to load frequency control. IEEE Transactions on Applied
Superconductivity 1999;9(2).
[36] Yesil E, Guzelkaya M, Eksin I. Self tuning fuzzy PID type load and frequency
controller. Pergamon, Energy Conversion and Management 2004;45:37790.
[37] Cam E, Kocaarslan I. Load frequency control in two area power systems using
fuzzy logic controller. Energy Conversion and Management 2005;46:23343.
[38] Kothari ML, Nanda J, Kothari DP, Das D. Discrete-mode automatic generation
control of a two-area reheat thermal system with new area control error.
IEEE Transactions on Power Systems 1989;4(2):7308.
[39] Hemeida AM. A fuzzy logic controlled superconducting magnetic energy
storage, SMES frequency stabilizer. Electrical Power and Energy Systems
2010;80:6516.
[40] Sudha KR, Santhi RV. Load frequency control of an interconnected reheat
thermal system using type-2 fuzzy system including SMES units. Electrical
Power and Energy Systems 2012;43:138392.
[41] Khodabakhshian A, Hooshmand R. A new PID controller design for automatic
generation control of hydro power systems. Electrical Power and Energy
Systems 2010;32:37582.
[42] Bhatt P, Ghoshal SP, Roy R. Load frequency stabilization by coordinated
control of Thyristor controlled phase shifters and superconducting magnetic
energy storage for three types of interconnected two-area power systems.
Electrical Power and Energy Systems 2010;32:111124.
[43] Tsay Tain-Sou. Loadfrequency control of interconnected power system with
governor backlash nonlinearities. Electrical Power and Energy Systems
2011;33:15429.
[44] Sudha KR, Raju YB, Sekhar AC. Fuzzy C-Means clustering for robust
decentralized load frequency control of interconnected power system with
generation rate constraint. Electrical Power and Energy Systems 2012;37:58
66.
[45] Dey R, Ghosh S, Ray G, Rakshit A. H load frequency control of interconnected
power systems with communication delays. Electrical Power and Energy
Systems 2012;42:67284.
[46] Chidambaram IA, Paramasivam B. Control performance standards based
load-frequency controller considering Redox ow batteries coordinate with
interline power ow controller. Journal of Power Sources 2012;219:292304.
[47] Ibraheem, Kumar P, Hassan N, Nizamuddin. Sub-optimal automatic generation control of interconnected power system using output vector feedback
control strategy. Electric Power Components and Systems 2012;40:97794.
[48] Calovic Milan. Linear regulator design for a load and frequency control. IEEE
Transactions on Power Apparatus and Systems 1972;91(6):227185 PAS-vol.
[49] Bengiamin, Chan. Multilevel loadfrequency control of interconnected
power systems. Proceedings of the IEEE 1978;125(6).
[50] Davison Edward J, Tripathi Nand K. The optimal decentralized control of a
large power system: load and frequency control. IEEE Transactions on
Automatic Control 1978;AC-23(2):31224.
[51] Lim KY, Wang Y, Zhou R. Robust decentralized load-frequency control of
multi-area power systems. IEE ProceedingsGeneration, Transmission and
Distribution 1996;143(5):37786.
[52] Rerkpreedapong D, Hasanovic A, Feliachi A. Robust load frequency control
using genetic algorithms and linear matrix inequalities. IEEE Transactions on
Power Systems 2003;18(2):85561.
[53] Ghoshal SP. Multi-area frequency and tie-line power ow control with fuzzy
logic based integral gain scheduling. IE(I) JournalEL 2003;84:13541.
[54] Ghoshal SP. GA-fuzzy based fast acting adaptive active power-frequency
control of interconnected multiple thermal generating areas. IE (I) Journal
EL 2005;85:20915.
[55] Juang CF, Lu CF. Loadfrequency control by hybrid evolutionary fuzzy PI
controller. IEE Proceedings - Generation, Transmission and Distribution
2006;153(2):196204.
[56] Daneshfar F, Bevrani H. Load frequency control: a GA-based multi-agent
reinforcement learning. IEE Proceedings - Generation, Transmission and
Distribution 2010;4(1):1326.
[57] Yu X, Tomsovic K. Application of linear matrix inequalities for load frequency
control with communication delays. IEEE Transactions on Power Systems
2004;19(3):150815.
[58] Bevrani H, Hiyama T. On loadfrequency regulation with time delays: design
and real-time implementation. IEEE Transactions on Power Systems 2009;24
(1):292300.
[59] Jiang L, Yao W, Wu QH, Wen JY, Cheng SJ. Delay-dependent stability for load
frequency control with constant and time-varying delays. IEEE Transactions
on Power Systems 2012;27(2):93241.
[60] Alrifai MT, Hassan MF, Zribi M. Decentralized load frequency controller for a
multi-area interconnected power system. Electrical Power and Energy
Systems 2011;33:198209.
[61] Daneshfar F, Bevrani H. Multi-objective design of load frequency control
using genetic algorithms. Electrical Power and Energy Systems 2012;42:
25763.
[62] Dong L, Zhang Y, Gao Z. A robust decentralized load frequency controller for
interconnected power systems. ISA Transaction 2012;51:4109.
[63] Hiyama T. Design of decentralized loadfrequency regulators for interconnected power systems. Proceedings of the IEE 1982;129(1):1723.
[64] Kumar A, Malik OP. Discrete variable structure controller for load frequency
control of multi-area interconnected power systems. Proceedings of the IEE
1987;134(Pt. C, 2):11622.
[65] Malik OP, Kumar Ashok, Hope GS. A load frequency control algorithm based
on a generalized approach. IEEE Transactions on Power Systems 1988;3
(2):37582.
[66] Yang TC, Cimen H, Zhu QM. Decentralized loadfrequency controller design
based on structured singular values. IEE Proceedings - Generation, Transmission and Distribution 1998;145(1):714.
[67] Du Xiuxia, Li Pingkang. Fuzzy logic control optimal realization using GA for
multi-area AGC systems. International Journal of Information Technology
2006;12(7):6372.
[68] Tan Wen. Unied tuning of PID load frequency controller for power systems
via IMC. IEEE Transactions on Power Systems 2010;25(1):34150.
[69] Vrdoljak K, Peric N, Petrovic I. Sliding mode based load-frequency control in
power systems. Electrical Power Systems Research 2010;80:51427.
[70] Rahmani M, Sadati N. Hierarchical optimal robust load-frequency control for
power systems. IET Generation Transmission & Distribution 2012;6(4):30312.
[71] Tan W, Zhou H. Robust analysis of decentralized load frequency control for multiarea power systems. Electrical Power and Energy Systems 2012;43:9961005.
[72] Aggarwal RP, Bergseth FR. Large signal dynamics of load-frequency control
systems and their optimization using nonlinear programming: II. IEEE
Transactions on Power Apparatus and Systems 1968;87(2):5328 PAS-vol..
[73] Yoshida Y, Machida T. Study of the effect of the DC link on frequency control
in interconnected AC systems. IEEE Transactions on Power Apparatus and
Systems 1969;88(7):103642 PAS-vol.
[74] Bengiamin NN, Chan WC. 3-level load-frequency control of power systems
interconnected by asynchronous tie lines. Proceedings of the IEE 1979;126
(11):1198200.
[75] Ibraheem P, Kumar, Ahmad S. Dynamic performance enhancement of hydropower systems with asynchronous tie-lines. IE(I) JournalEL 2004;85.
[76] Ibraheem, Kumar PK. Study of dynamic performance of power systems with
asynchronous tie-lines considering parameter uncertainties. IE (I) Journal
EL 2004;85:3542.
[77] Christie RD, Bose A. Load frequency control issues in power system operations after deregulation. IEEE Transactions on Power Systems 1996;11
(3):1191200.
[78] Kumar J, Ng Kah-Hoe, Sheble G. AGC Simulator for price based operation part
1: a model. IEEE Transactions on Power Systems 1997;12(2):52732.
[79] Kumar Jayant, Ng Kah-Hoe, Sheble Gerald. AGC simulator for price-based
operation part-II: case study results. IEEE Transactions on Power Systems
1997;12(2):5338.
[80] Bakken BH, Grand OS. Automatic generation control in a deregulated power
system. IEEE Transactions on Power Systems 1998;13(4):14016.
[81] Donde V, Pai MA, Hiskens IA. Simulation and optimization in an AGC system
after deregulation. IEEE Transactions on Power Systems 2001;16(3):4819.
[82] Delno B, Fornari F, Massucco S. Load-frequency control and inadvertent
interchange evaluation in restructured power systems. IEE Proceedings Generation, Transmission and Distribution 2002;149(5):60714.
[83] Shayeghi Hossein, Shayanfar Heidar Ali. Design of decentralized robust LFC
in a competitive electricity environment. Journal of Electrical Engineering
2005;56(9-10):22536.
[84] Shayeghi Hossein, Shayanfar Heidar Ali, Jalili Aref. Multi stage fuzzy PID load
frequency controller in a restructured power system. Journal of Electrical
Engineering 2007;58(2):6170.
[85] Shayeghi H. A robust decentralized power system load frequency control.
Journal of Electrical Engineering 2008;59(6):28193.
[86] Hosseini, Etemadi. Adaptive neuro-fuzzy inference system based automatic
generation control. Electric Power Systems Research 2008;78:12309.
[87] Abraham RJ, Das D, Patra A. Load following in a bilateral market with local
controllers. Electrical Power and Energy Systems 2011;33:164857.
[88] Debbarma S, Saikia LC, Sinha N. AGC of a multi-area thermal system under
deregulated environment using non-integer controller. Electrical Power
Systems Research 2013;95:17583.
[89] Bhatt P, Roy R, Ghoshal SP. Optimized multi area AGC simulation in
restructured power systems. Electrical Power and Energy Systems 2010;32:
31122.
[90] Tan Wen, Zhang H, Yu M. Decentralized load frequency control in deregulated environments. Electrical Power and Energy Systems 2012;41:1626.
[91] Jovanovic S, Fox B. Intelligent adaptive turbine controller. IEEE Transactions
on Energy Conversion 1995;10(1):1958.
[92] Wrate CA, Wozniak L. Hydro-generator system identication using a simple
genetic algorithm. IEEE Transactions on Energy Conversion 1997;12(1):605.
[93] Scott GW, Wilreker VF, Shaltens RK. Wind turbine generator interaction with
diesel generators on an isolated power system. IEEE Transactions on Power
Apparatus and Systems 1984;PAS-103(5):9337.
[94] Curtice DH, Reddoch TW. An assessment of load frequency control impacts
caused by small wind turbines. IEEE Transactions on Power Apparatus and
Systems 1983;PAS-102(1):16270.
[95] Asano H, Yajima K, Kaya Y. Inuence of photovoltaic power generation on
required capacity for load frequency control. IEEE Transactions on Energy
Conversion 1996;11(1):18893.
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
[96] Hilloowala RM, Sharaf Adel M. A rule-based fuzzy logic controller for a PWM
inverter in a standalone wind energy conversion scheme. IEEE Transactions
on Industry Applications 1996;32(1):5765.
[97] Doolla S, Bhatti TS. Load frequency control of an isolated small-hydro power
plant with reduced dump load. IEEE Transactions on Power Systems 2006;21
(4):19129.
[98] Sedghisigarchi K, Feliachi Ali. Impact of fuel cells on loadfrequency control
in power distribution systems. IEEE Transactions on Energy Conversion
2006;21(1):2506.
[99] Katiraei F, Iravani MR. Power management strategies for a microgrid with
multiple distribution generation units. IEEE Transactions on Power Systems
2006;21(4):182131.
[100] Chokanyasuwan, C, et al., Robust fuzzy logic-PID controller for winddiesel
power system using particle swarm optimization. In: GMSARN international
conference on sustainable development: issue and prospects for the GMS,
1214 Nov. 2008.
[101] Gautam Durga, et al. Control strategy to mitigate the impact of reduced
inertia due to doubly fed induction generators on large power systems. IEEE
Transactions on Power Systems 2011;26(1):21424.
[102] Chien LRC, Lin WT, Yin YC. Enhancing frequency response control by DFIGs in
the high wind penetrated power systems. IEEE Transactions on Power
Systems 2011;26(2):7108.
[103] Ramtharan G, Ekanayake JB, Jenkins N. Frequency support from doubly fed
induction generator wind turbines. IET Renewable Power Generation 2007;1
(1):39.
[104] Ekanayake Janaka, Jenkins Nick. Comparison of the response of doubly fed
and xed-speed induction generator wind turbines to changes in network
frequency. IEEE Transactions on Energy Conversion 2004;19(4):8002.
[105] Anaya-Lara O, et al. Contribution of DFIG-based wind farms to power
systems short-term frequency regulation. IEE ProceedingsGeneration
Transmission and Distribution 2006;153(2).
[106] Miao Zhixin, et al. Control of DFIG-based wind generation to improve interarea oscillation damping. IEEE Transactions on Energy Conversion 2009;24
(2):41522.
[107] Kayikci Mustafa, Milanovic Jovica V. Dynamic contribution of DFIG-based
wind plants to system frequency disturbances. IEEE Transactions on Power
Systems 2009;24(2):85967.
[108] de Almeida Rogerio G, Pecas Lopes JA. Participation of doubly fed induction
wind generators in system frequency regulation. IEEE Transactions on Power
Systems 2007;22(3):94450.
[109] Kanellos FD, Hatziargyriou ND. Control of variable speed wind turbines
equipped with synchronous or doubly fed induction generators supplying
islanded power systems. IET renewable power generation 2009;3(1):96108.
[110] Zhang X, Li H, Wang Y. Control of DFIG-based wind farms for power network
frequency support. In: International conference on power system technology;
2010. p. 16.
[111] Michael Hughes F, et al. Control of DFIG-based wind generation for power
network support. IEEE Transactions on Power Systems 2005;20(4):195866.
[112] Ray PK, Mohanty SR, Kishor Nand. Small-signal analysis of hybrid distribution
generation system with HVDC-link and energy storage elements. In: Second
international conference on emerging trends in engineering and technology;
2009.
[113] Li Risheng, Bozhko Serhiy, Asher Greg. Frequency control design for offshore
wind farm grid with LCC-HVDC link connection. IEEE Transactions on Power
Electronics 2008;23(3):108592.
[114] Li R, Bozhko SV, Asher GM. Grid frequency control for LCC HVDC link
connected wind farms. In: The 33rd annual conference of the IEEE industrial
electronics society, Taiwan; Nov. 58, 2007.
[115] Li, Risheng, et al., Grid frequency control design for offshore wind farms with
naturally communicated HVDC link connection. In: IEEE ISIE 2006, Canada;
July 912, 2006.
[116] Fan Lingling, Miao Zhixin, Osborn Dale. Wind farms with HVDC delivery in
load frequency control. IEEE Transactions on Power Systems 2009;24(4):
18945.
[117] Singh Bhim, Sheeja V, et al., Voltagefrequency controller for standalone
WECS employing permanent magnet synchronous generator. In: Third
international conference on power systems, Kharagpur, India; Dec. 2009. p.
2729.
[118] Goel PK, Singh Bhim, Murthy SS, Kishore N. Isolated wind-hydro hybrid
system using cage generators and battery storage. IEEE Industrial Electronics
2011;58(4).
[119] Guerrero JM, et al. A wireless controller to enhance dynamic performance of
parallel inverters in distributed generation systems. IEEE Transactions on
Power Systems 2004;19(5).
[120] Salamah AM, Finney SJ, Williams BW. Autonomous controller for improved
dynamic performance of AC grid, parallel-connected, single-phase inverters.
IET Generation Transmission & Distribution 2008;2(2):20918.
[121] Senjyu Tomonobu, et al. A hybrid power system using alternative energy
facilities in isolated island. IEEE Transactions on Energy Conversion 2005;20
(2):40614.
[122] Sedghigarchi K, Feliachi A. Dynamic and transient analysis of power distribution systems with fuel cells-part I: fuel-cell dynamic model. IEEE
Transactions on Energy Conversion 2004;19(2):4238.
[123] Sedghigarchi K, Feliachi A. Dynamic and transient analysis of power distribution systems with fuel cells-part II: Control and stability enhancement.
IEEE Transactions on Energy Conversion 2004;19(2):42934.
331
[124] Ro K, Rahman S. Two-loop controller for maximizing performance of a gridconnected photovoltaic-fuel cell hybrid power plant. IEEE Transactions on
Energy Conversion 1998;13(3):27681.
[125] Rahman ML, Oka S, Shirai Y. Hybrid power generation system using offshorewind turbine and tidal turbine for power uctuation compensation (HOTPC). IEEE Transactions on Sustainable Energy 2010;1(2).
[126] Goya T, et al. Frequency control in isolated island by using parallel operated
battery systems applying H control theory based on droop characteristics.
IET Renewable Power Generation 2011;5(2):1606.
[127] Ngamroo Issarachai. Robust frequency control of winddiesel hybrid power
system using superconducting magnetic energy storage. International Journal of Emerging Electric Power Systems 2009;10(3):126.
[128] Uehara Akie, Senjyu Tomonobu, Yona Atsushi, Funabashi Toshihisa. A
frequency control method by wind farm & battery using load estimation in
isolated power system. International Journal of Emerging Electric Power
Systems 2010;11(2):120.
[129] Senjyu T, Tokudome M, Yona A., A frequency co.n.trol approach by decentralized
generators and loads in power systems. In: Second IEEE international conference
on power and energy; December 13, 2008, Malaysia.
[130] Doherty R, Mullane A, Nolan G, Burke DJ, Bryson A, Malley MO. An
assessment of the impact of wind generation on system frequency control.
IEEE Transactions on Power Systems 2010;25(1):45260.
[131] Datta M, Senjyu T, Yona A, Funabashi T, Kim CH. A frequency-control
approach by photovoltaic generator in a PV-diesel hybrid power system.
IEEE Transactions on Energy Conversion 2011;26(2):55970.
[132] Datta M, Senjyu T, Yona A, Funabashi T. Minimal-order observer-basedd
coordinated control method for isolated power utility connected multiple
photovoltaic systems to reduce frequency deviations. IET Renewable Power
Generation 2010;4(2):15364.
[133] Datta M, Senjyu T, Yona A, Funabashi T, Kim CH. A coordinated control
method for leveling PV output power uctuations of PV-diesel hybrid
systems connected to isolated power utility. IEEE Transactions on Energy
Conversion 2009;24(1):15362.
[134] Kaneko T, Uehara A, Senjyu T, Yona A, Urasaki N. An integrated control
method for a wind farm to reduce frequency deviations in a small power
system. Applied Energy 2011;88:104958.
[135] Lee DJ, Wang Li. Small-signal stability analysis of an autonomous hybrid
renewable energy power generation/ Energy storage system part-I: Timedomain simulations. IEEE Transactions on Energy Conversion 2008;23
(1):31120.
[136] Das DC, Roy AK, Sinha N. GA based frequency controller for solar thermal
dieselwind hybrid energy generation/energy storage system. Electrical
Power and Energy Systems 2012;43:26279.
[137] Nayeripour M, Hoseintabar M, Niknam T. Frequency deviation control by
coordination control of FC and double-layer capacitor in an autonomous
hybrid renewable energy power generation system. Renewable Energy
2011;36:17416.
[138] Khalid M, Savkin AV. An optimal operation of wind energy storage system for
frequency control based on model predictive control. Renewable Energy
2012;48:12732.
[139] Mohamed TH, Morel J, Bevrani H, Hiyama T. Model predictive based load
frequency control design concerning wind turbines. Electrical Power and
Energy Systems 2012;43:85967.
[140] Castro LM, Esquivel CRF, Hernandez JHT. Solution of power ow with
automatic loadfrequency control devices including wind farms. IEEE Transactions on Power Systems 2012;27(4):218695.
[141] Bhatt SP, Ghoshal, Roy R. Coordinated control of TCPS and SMES for
frequency regulation of interconnected restructured power systems with
dynamic participation from DFIG based wind farm. Renewable Energy
2012;40:4050.
[142] Verma YP, Kumar A. Participation of doubly fed induction generator based
wind turbine in frequency regulation with frequency-linked pricing. Electric
Power Components and Systems 2012;40:1586604.
[143] Masuta T, Yokoyama A. Supplementary load frequency control by use of a
number of both electric vehicles and heat pump water heaters. The IEEE
Transactions on Smart Grid 2012;3(3):125362.
[144] Moutis P, Papathanassiou SA, Hatziargyriou ND. Improved load-frequency
control contribution of variable speed variable pith wind generators. Renewable Energy 2012;48:51423.
[145] Serban I, Marinescu C. Aggregate load-frequency control of a wind-hydro
autonomous micro-grid. Renewable Energy 2011;36:334554.
[146] Galus MD, Koch S, Andersson G. Provision of load frequency control by
PHEVs, controllable loads, and a cogeneration unit. IEEE Transactions on
Industrial Electronics 2011;58(10):456882.
[147] Bevrani H, Daneshmand PR. Fuzzy logic-based loadfrequency control concerning
high penetration of wind turbines. IEEE System Journal 2012;6(1):17380.
[148] Keyhani A, Chatterjee A. Automatic generation control Structure for smart
power grids. IEEE Transactions on Smart Grid 2012;3(3):13106.
[149] Ota Y, Taniguchi H, Nakajima T, Liyanage KM, Baba J, Yokoyama A. Autonomous distributed V2G (vehicle-to-grid) satisfying scheduled charging. IEEE
Transactions on Smart Grid 2012;3(1):55964.
[150] Pillai JR, Jensen BB. Integration of vehicle-to-grid in the western Danish
power system. IEEE Transactions on Sustainable Energy 2011;2(1):129.
[151] Concordia C, Kirchmayer LK. Tie line power and frequency control of electric
power systems. American Institute of Electrical Engineers Transactions
1953;72(pt. II):56272.
332
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
[216] Ahamed TPI, Rao PSN, Sastry PS. A reinforcement learning approach to
automatic generation control. Electric Power Systems Research 2002;63:
926.
[217] Talaq J, Al-Basri F. Adaptive fuzzy gain scheduling for loadfrequency control.
IEEE Transactions on Power Systems 1999;14(1):14550.
[218] Indulkar CS, Raj B. Application of fuzzy controller to automatic generation
control. Electric Machines and Power Systems 1995;23(2):20920.
[219] Chang CS, Fu W. Area load frequency control using fuzzy gain scheduling of PI
controllers. Electric Power System Research 1997;42:14452.
[220] Denna M, Mauri G, Zanaboni AM. Learning fuzzy rules with Tabu Search-an
application to control. IEEE Transactions on Fuzzy Systems 1999;7(2):295318.
[221] Ghoshal SP. Multi area frequency and tie line power ow control with fuzzy
logic based integral gain scheduling. Journal of Institute of Engineers
2003;84:13541.
[222] Ertugrul CAM. Load frequency control in two area power system. Teknoloji
2004;7(2):197203.
[223] Ertugrul cam, Kocaarslan I. Load frequency control in two area power
systems using fuzzy logic controller. Energy Conversion and Management
2005;46:23343.
[224] Juang CF, Lu CF. Power system load frequency control by genetic fuzzy gain
scheduling controller. Journal of the Chinese Institute of Engineer 2005;28
(6):10138.
[225] Pothiya Saravuth, Ngmroo Issarachai, Runggeratigul Suwan, Tantaswadi
Prinya. Design of optimal fuzzy logic based PI controller using multiple Tabu
Search algorithm for load frequency control. International Journal of Control,
Automation and Systems 2006;4(2):15564.
[226] Sinha SK, Patel RN, Prashad R. Application of GA and PSO tuned fuzzy
controller for AGC of three area thermalthermal-hydro power system.
International Journal of Computer Theory and Engineering 2010;2(2).
[227] Karnavas YL, Papadopoulos DP. AGC for autonomous power system using
combined intelligent techniques. Electric Power Systems Research 2002;62
(3):22539.
[228] Abdel-Magid YL, Dawoud MM. Optimal AGC tuning with genetic algorithms.
Electric Power Systems Research 1996;38(3):2318.
[229] Chang CS, Fu W, Wen F. Load frequency control using genetic-algorithm
based fuzzy gain scheduling of PI controllers. Electric Machines and Power
Systems 1998;26(1):3952.
[230] Al-Hamouz ZM, Al-Duwaish HN. A new load frequency variable structure
controller using genetic algorithms. Electric Power Systems Research
2000;55(1):16.
[231] Abdennour A. Adaptive optimal gain scheduling for the load frequency
control problem. Electrical Power Component System 2002;30(1):4556.
[232] Aditya SK, Das D. Design of load frequency controllers using genetic
algorithm for two area interconnected hydro power system. Electric Power
Components and Systems 2003;31(1):8194.
[233] Ghoshal SP. Application of GA/GA-SA based fuzzy automatic generation
control of a multi-area thermal generating system. Electric Power Systems
Research 2004;70(2):11527.
[234] Dangprasert Pataya, Avatchanakorn Vichit. Genetic Algorithms based on an
intelligent controller. Expert Systems With Applications 1996;10():46570.
[235] Juang Chia-Feng, Lu Chun-Feng. Power system load frequency control with
fuzzy gain scheduling designed by new genetic algorithms. In: Proc. 2002
IEEE international conference on fuzzy systems, vol. 1; 2002. p. 6468.
[236] Pingkang Li, et al., Genetic algorithm optimization for AGC of multi-area
power systems. In: Proceeding, of IEEE TENCON02, 2002; p. 18181821.
[237] Ngamroo Issarachai, Tippayachai Jarurote, Dechanupaprittha Sanchai. Robust
decentralized frequency stabilizers design of static synchronous series
compensators by taking system uncertainties into consideration. Electrical
Power and Energy Systems 28 2006:51324.
[238] Nikzad Mehdi, et al. Comparison of articial intelligence methods for load
frequency control problem. Australian Journal of Basic and Applied Sciences
2010;4(10):491021.
[239] Shari A, et al.. Load frequency control in interconnected power system using
multi-objective PID controller 2008. In: IEEE conference on soft computing in
industrial applications, Muroran, Japan; June 2008. p. 2527.
[240] Sabahi K, et al. Load frequency control in interconnected power system
using multi-objective PID controller. Journal of Applied Sciences 2008;8
(20):367682.
[241] Moorthi VR, Aggsrwal RP. Suboptimal and near-optimal control of a load
frequency control system. Proceedings of the IEEE 1972;119(11):165360.
[242] Ray Goshaidas, Prasad AN, Prasad GD. A new approach to the design of
robust load-frequency controller for large scale power systems. Electric
Power System Research 1999;51:1322.
[243] Bevrani Hassan. Robust load frequency controller in a deregulated environment: a m-synthesis approach. In: procedure of the 1999 IEEE, international
conference on control applications, Hawai, USA, Aug., p. 2227, 1999.
[244] Chaudhuri Balarko, et al. Mixed-sensitivity approach to H control of power
system oscillations employing multiple FACTS devices. IEEE Transactions on
Power Systems 2003;18(3):114956.
[245] Bevrani Hassan, et al. Automatic generation control: a decentralized robust
approach. Intelligent Automation and Soft Computing 2007;13(3):27387.
[246] Tan Wen, Xu Zhan. Robust analysis and design of load frequency controller
for power systems. Electric Power Systems Research 2009;79:84653.
[247] Kunish HJ, Kramer KG, Dominik H. Battery energy storageanother option
for load-frequency control and instantaneous reserve. IEEE Transactions on
Energy Conversion 1986;EC-1(3):4651.
333
[248] Aditya SK, Das D. Battery energy storage for load frequency control of an
interconnected power system. Electric Power Systems Research 2001;58
(3):17985.
[249] Lu CF, Liu CC. Effect of battery energy storage system on load frequency
control considering governor dead-band and generation rate constraint. IEEE
Transactions on Energy Conversion 1995;10(3):55561.
[250] Sasaki Tetsuo, Kadoya T, Enomoto K. Study on load frequency control using
Redox ow batteries. IEEE Transactions on Power Systems 2004;19(1):6607.
[251] Sheikh MRI et al., Improvement of load frequency control with fuzzy gain
scheduled superconducting magnetic energy storage unit. In: Proceeding of
the 2008 international conference on electrical machines.
[252] Tripathy SC, Juengst KP. Sampled data automatic generation control with
superconducting magnetic energy storage in power systems. IEEE Transactions on Energy Conversion 1997;12(2):18792.
[253] Banerjee S, Chatterjee JK, Tripathy SC. Application of magnetic energy storage
unit as load frequency stabilizer. IEEE Transactions on Energy Conversion
1990;5(1):4651.
[254] Tripathy SC, Balasubramanian R, Nair PSC. Adaptive automatic generation
control with superconducting magnetic energy storage in power systems.
IEEE Transactions on Energy Conversion 1992;7(3):43441.
[255] Tripathy SC, Balasubramanian R, Nair PSC. Effect of superconducting magnetic energy storage on automatic generation control considering governor
dead-band and boiler dynamics. In: IEEE transactions power syst., vols. 7, 3;
Aug. 1992. p. 12661273.
[256] Ngamroo I, Mitani Y, Tsuji K. Application of SMES coordinated with solidstate shifter to load frequency control. IEEE Transactions on Applied Superconductivity 1999;9(2):3225.
[257] Demiroren A. Automatic generation control using ANN technique for multiarea power system with SMES units. Electric Power Components and
Systems 2004;32(2):193213.
[258] El-Emary AA, El-Shibina MA. Application of static VAR compensation for load
frequency control. Electric Machines and Power Systems 1997;25
(9):100922.
[259] Shayeghi H, Shayanfar HA, Jalili A. LFC design of a deregulated power system
with TCPS using PSO. International Journal of Electrical Power & Energy
Systems Engineering 2009;2:2.
[260] Bhatt P, Ghoshal SP, Roy R. Load frequency stabilization by coordinated
control of Thyristor controlled phase shifters and superconducting magnetic
energy storage for three types of interconnected two-area power systems.
Electrical Power and Energy Systems 2010;32:111124.
[261] Asano H, Yajima K, Kaya Y. Inuence of photovoltaic power generation on
required capacity for load frequency control. IEEE Transactions on Energy
Conversion 1996;11(1):18893.
[262] Paradkar A, Davari A, Feliachi A, Biswas T. Integration of a fuel cell into the
power system using an optimal controller based on disturbance accommodation control theory. Journal of Power Sources 2004;128(2):21830.
[263] Chien LRC, Lin WT, Yin YC. Enhancing frequency response control by DFIGs in
the high wind penetrated power systems. IEEE Transactions on Power
Systems 2011;26(2):7108.
[264] Schlueter RA, et al. Modication of power system operation for signicant
wind generation penetration. IEEE Transactions on Power Apparatus and
Systems 1983;PAS-102(1):15361.
[265] Curtice DH, Reddoch TW. An assessment of load frequency control impacts
caused by small wind turbines. IEEE Transactions on Power Systems 1983;
PAS-102(1):16270.
[266] Amenedo JLR, Arnalte S, Burgos JC. Automatic generation control of a wind
farm with variable speed wind turbines. IEEE Transactions on Energy
Conversion 2002;17(2):27984.
[267] Bhatti TS, Kothari DP. Variable structure load-frequency control of isolated
winddieselmicro-hydro hybrid power systems. Journal of the Institute of
Engineering 2002;83:526.
[268] Jvid SH, Hauth RL, Younkins TD. A method for determining how to operate
and control wind turbine arrays in utility systems. IEEE Transactions on
Power Apparatus and Systems 1985;PAS-104(6):133541.
[269] Uctug Y, Demirekler M. Modeling, analysis and control of a wind-turbine
driven self-excited induction generator. Proceedings of the IEEE 1988;135
(4):26875.
[270] Lalor Gillian, Mullane Alan, Mark. Frequency control and wind turbine
technologies. IEEE Transactions on Power Systems 2005;20(4):190513.
[271] Johan, et al. Wind turbines emulating inertia and supporting primary
frequency control. IEEE Transactions on Power Systems 2006;21(1):4334.
[272] Rogerio, et al. Optimum generation control in wind parks when carrying out
system operator requests. IEEE Transactions on Power Systems 2006;21
(2):71825.
[273] Doherty Ronan, et al. An assessment of the impact of wind generation on
system frequency control. IEEE Transactions on Power Systems 2010;25
(1):45260.
[274] Schinas NA, et al. An autonomous system supplied only by a pitch-controlled
variable-speed wind turbine. IEEE Transactions on Energy Conversion
2007;22(2):32531.
[275] Lau Changling, et al. Strategies to smooth wind power uctuations of wind
turbine generator. IEEE Transactions on Energy Conversion 2007;22
(2):3419.
[276] Ullah Nayeen Rahmat, et al. Temporary primary frequency control support
by variable speed wind turbines-potential and applications. IEEE Transactions on Power Systems 2008;23(2):60112.
334
S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318334
[277] Conroy James F, Watson. Rick. Frequency response capability of full converter
wind turbine generators in comparison to conventional generation. IEEE
Transactions on Power Systems 2008;23(2):64956.
[278] Singh Bhim, Kasal Gaurav Kumar. Voltage and frequency controller for a
three-phase four-wire autonomous wind energy conversion system. IEEE
Transactions on Energy Conversion 2008;23(2):50918.
[279] Kanellos FD, Hatziargyrious ND. Control of variable speed wind turbines in
islanded mode of operation. IEEE Transactions on Energy Conversion
2008;23(2):53543.
[280] Senjyu T, Tokudome M, Uehara A, Kaneko T. A new control. methodology of
wind farm using short-term ahead wind speed prediction for load frequency
control of power system. In: Second IEEE international conference on power
and energy, Malaysia; Dec. 13, 2008.
[281] Mauricio Juan Manuel, et al. Frequency regulation contribution through
variable-speed wind energy conversion systems. IEEE Transactions on Power
Systems 2009;24(1):17380.
[282] Keung Ping-Kwan, et al. Kinetic energy of wind-turbine generators for
system frequency support. IEEE Transactions on Power Systems 2009;24
(1):27987.
[283] Chang-Chien Le-Ren, Yao-Ching Yin. Strategies for operating wind power in a
similar manner of conventional power plant. IEEE Transactions on Energy
Conversion 2009;24(4):92634.
[284] Ray PK, Mohanty SR, Kishor Nand. Proportional-integral controller based
small-signal analysis of hybrid distributed generation systems. Energy
Conversion and Management 2011;52(4):194354.
[285] Kanellos FD, Hatziargyrion ND. Optimal control of variable speed wind
turbines in islanded mode of operation. IEEE Transactions on Energy
Conversion 2010;25(4):114251.
[286] Milanovic JV, Soultainis N. The inuence of controlled and xed load
composition on operation of autonomous winddiesel system. Paper
accepted for presentation at ppt. In: IEEE Porto power tech conference;
Sept., 2001. p. 1013.
[287] Hoan Wayne T, Chow Mark. Transient stability analysis for Sohio Prudhoe
Bay emergency power system. IEEE Transactions on Industry Applications
1986;IA-22(3):4302.
[288] Henderson Douglas. An advanced electronic load governor for control of
micro hydro-electric generation. IEEE Transactions on Energy Conversion
1998;13(3):3004.
[289] Tanaka Kenichi, et al. Balancing control method by dispersed generators
based on H control theory in DC power feeding system. Renewable Energy
2011;36:1638.
[290] Ray PK, Mohanty SR, Nand Kishor. Small-signal analysis of autonomous
hybrid distributed generation systems in presence of ultra-capacitor and tieline operation. Journal of Electrical Engineering 2010;61(4):20214.
[291] das, Dulal Ch, Roy AK, Sinha N, Genetic algorithm based PI controller for
frequency control of an autonomous hybrid generation system. In: Proceedings of the international multi conference of engineers and computer
scientists, vol. 2, Hong Kong; 2011.
[292] Singh VP, Mohanty SR, Kishor Nand, Ray PK. H-innity robust load frequency
control in hybrid distributed generation. International Journal of Electrical
Power and Energy Systems 2013;46:294305.