IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 24, NO.

4, OCTOBER 2009

2159

Empirical-Mode Decomposition With Hilbert

Transform for Power-Quality Assessment
Stuti Shukla, S. Mishra, Senior Member, IEEE, and Bhim Singh, Senior Member, IEEE

AbstractThe aim of this paper is to develop a method based

on combination of empirical-mode decomposition (EMD) and
Hilbert transform for assessment of power quality events. A
distorted waveform can be conceived as superimposition of various oscillating modes and EMD is used to separate out these
intrinsic modes known as intrinsic mode functions (IMF). Hilbert
transform is applied to first three IMF to obtain instantaneous
amplitude and phase which are then used for constructing feature
vector. The work evaluates the detection capability of the methodolpogy and a comparison with S-transform is made to show the
superiority of the technique in detecting the PQ disturbance like
voltage spike and notch. A probabilistic neural network is used as
a mapping function for identifying the various disturbance classes.
Results show a better classification accuracy of the methodology.
Index TermsEmpirical-mode decomposition (EMD), Hilbert
transform, intrinsic mode function, power quality (PQ), probabilistic neural network.

I. INTRODUCTION
EMICONDUCTOR devices are being immensely employed in various equipments nowadays. Though proliferation of these devices has given a lot of convenient solutions
to various problems yet their usage poses a significant threat to
power system engineers. The need therefore arises to eliminate
the harmful effects posed by them. Mitigation of undesired
power quality (PQ) event requires assessment methodologies
which makes right classification imperative. The distorted
waveforms from the power systems are being processed using
various digital processing techniques (DSP) and features hence
extracted are fed to the pattern classifiers like ANN, FL, etc. to
classify PQ events. Extraction of features of the distorted waveforms has been constantly an interest area of PQ engineers. A
number of studies on signal processing techniques are reported
in the literature. Among these, the Fourier transform (FT) [1]
technique is commonly used in practice to provide harmonic
information about the signals monitored. FT identifies the
different frequency sinusoids and their respective amplitudes
which combine to form an arbitrary waveform. Although FT
is one of the fast technique but its efficiency is limited to
stationary signals only. Most PQ events are nonstationary and

Manuscript received June 03, 2008; revised May 04, 2009. Current version
published September 23, 2009. Paper no. TPWRD-004222008.
The authors are with the Department of Electrical Engineering, Indian
Institute of Technology Delhi, New Delhi 110016, India (e-mail: stutianoopshukla@gmail.com; sukumar@ee.iitd.ac.in; bsingh@ee.iitd.ac.in).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TPWRD.2009.2028792

hence require technique that would not only provide frequency

information but also capture the timing of occurrence of the
disturbance. As an improvement to FT technique, the short-time
FT (STFT) has been reported in the literature [2][4]. Here, the
algorithm employed a stationary window function. However it
has been found out that STFT technique requires a significant
amount of computational resources. In the literature [5][9],
wavelet transform (WT) has been shown to be suitable for the
analysis of nonstationary signals. By allowing variations in
time and frequency plane, a multiresolution analysis can be
obtained. The idea is to increase time resolution at higher frequency and frequency resolution at lower frequency. The main
disadvantage of wavelet transform is its degraded performance
under noisy situation. The Stockwel transform most commonly
known as S-transform is yet another technique [10], [11] which
is being widely used by PQ engineers. The S-transform is
an extension of wavelet transform and is based on localizing
Gaussian window. Here, the modulating sinusoids are fixed
with respect to time axis while the Gaussian window scales
and moves. In [12], authors have used Hilbert transform for
feature extraction of distorted waveform. Hilbert transform
generates a quadrature signal and thereby an analytical signal
for which the instantaneous amplitude and phase can be easily
evaluated. However, as given in [13], the Hilbert Transformer
gives a better approximate of a quadrature signal only if the
signal approaches a narrow band condition. In [14], the author
has presented a methodology, which is a combination of Prony
analysis and Hilbert transform, where a signal is reconstructed
using linear combination of damped complex exponential.
Here, a prediction model is developed which estimates the
different modes of a signal and hence the signal as combination
of these modes. The estimated signal best fits the original
signal only if condition of minimization of least square error
between the original signal and estimated signal is satisfied.
The Hilbert transform applied on the estimated signal then gives
the envelope of the voltage waveform which is informative
about the severity of voltage flicker. The technique employed
is well capable of detecting a voltage envelope of distorted
waveform. One limitation that the Prony technique suffers
with lies in the selection of number of modes. The accuracy
of the estimation depends upon the number of modes, based
on which a prediction model is developed. There are no rules
which can guide in the selection of this number and generally
it is chosen randomly. The Prony technique has been applied to
PQ event such as sag with a consideration of eighteen modes.
Fig. 1 shows the approximated signal obtained using Prony
analysis for event like harmonic and sag. The graph shows
the measured or the actual signal and its reconstruction by the

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EMD from other techniques namely FFT or wavelet lies in deriving its basis functions from the signal itself thereby making
it adaptive in nature. This paper is organized into nine sections.
Section II gives a brief introduction on empirical mode decomposition and implementation of EMD on a distorted waveform
and its corresponding IMFs. Section III deals with Hilbert
transform. Section IV details the methodology on extracting
features. Later in Section V detection capability of Hilbert
transform is examined. Section VI explains the classification
of events using PNN and in Section VII a comparative study is
made between S-transform and H-transform. In Section VIII
real-time implementation of the methodology is discussed and
finally conclusion of the work is given.
II. EMPIRICAL MODE DECOMPOSITION

Fig. 1. Approximate signal obtained using the Prony technique: (a) harmonic
and (b) sag.

Prony technique. It is seen that the Prony technique efficiently

constructs harmonic signal as the constructed signal completely
overlaps the actual signal, however, for the event like sag the
technique performs unsatisfactorily.
As stated in [13], nonstationary signal may not be represented well by sinusoidal components and since frequency is
defined well for sinusoidal components it looses its effectiveness for non-stationary signal. This has given rise to notion
of Instantaneous Frequency (IF). Instantaneous frequency has
a meaning for monocomponent signal comprising of a single
frequency or a narrow band of frequencies. This motivates to
decompose a signal into number of monocomponent modes for
which (IF) can be defined. A distorted signal can be conceived
as superimposition of undulations (oscillations) of various
time scales. This paper thus, puts forward an approach of
PQ assessment based on expanding a distorted signal into its
intrinsic mode oscillations. (EMD) is a time frequency analysis
method developed by Huang et al., [15] which is based on
the local characteristic time scale of signal and decomposes
the complicated signals into number of IMFs. These IMFs
are mono-component signals and give well behaved Hilbert
transform and thus help in obtaining instantaneous frequencies
of nonstationary signals. The characteristic which differentiate

It is known that frequency of sinusoidal waveform is a well

defined quantity. However, in practice, signals are not purely
sinusoidal or stationary. Thus representing such nonstationary
signals as combination of different sinusoidal components will
be a compromise with the accurate assessment of an event. For
such signal the term frequency looses its effectiveness and a
need for a parameter which accounts for the varying nature of
the phenomena arises. This gives rise to an idea of instantaneous
frequency (IF) IF has a meaning for a signal which is either
composed of a single frequency or a narrow band of frequencies.
This requirement suggests a methodology to separate different
components of a signal such that for each component instantaneous frequency can be defined.
Most PQ events are nonstationary and information on instantaneous frequency would be of great help in assessing PQ disturbances. Therefore it becomes necessary to separate different
modes of a signal. Empirical mode decomposition [15] is basically a sifting process in which different modes of oscillation
are sieved out of original signal. The modes thus extracted are
monocomponent signals comprising of a narrow band of frequencies. Thus, a signal could be decomposed into number of
intrinsic mode function (IMF) which must satisfy the following
conditions.
1) For a data set, the number of extrema and the number of
zero crossings must either be equal or differ at most by
one.
2) At any point, the mean value of the envelope defined
by the local maxima and the envelope defined by local
minima is zero.
The decomposition starts with finding out an upper envelope
and lower envelope of the signal. Upper envelope includes all
the maximum points of signal and lower envelope includes all
the minimum points of the signal. An average of these two envelopes is obtained and subtracted from the original signal. The
resulted signal is then checked to satisfy the two conditions of
IMF. If the condition does not satisfy then the resulted signal is
treated as original signal and the process of finding envelopes,
mean and difference signal is repeated till one gets a signal that
truly satisfies the condition of IMF.
The detailed description of the methodology is given step
wise for the understanding of the reader.
1) The decomposition method requires use of envelopes
defined by the local maxima and minima separately.

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III. HILBERT TRANSFORM

The imaginary counterpart of a real valued signal is required
to define its instantaneous phase. For developing phase contour
of the IMFs hilbert transform has been used in this work. The
is
conventional Hilbert transform of a continuous signal
computed as shown in (6)
(6)
The continuous Hilbert transform consists of a
radian
phase shift (for ve frequencies only) in the frequency domain.
Thus the transfer function of Hilbert transform becomes
(7)
Fig. 2. Voltage sag with corresponding intrinsic mode functions.

The transfer function of the discrete Hilbert transform is defined

as

2) After identifying the local extremas cubic spline functions are used for connecting local maximas as the upper
envelope and local minimas as the lower envelope.
. The differ3) The mean value of envelops is defined as
is the first comence between the original data and
as shown in (1)
ponent
(1)
4) If
satisfies the two IMF conditions then
is the first
is not an IMF then it
intrinsic mode function else if
is treated as original signal and steps from (i)(iii) are
as shown in (2)
repeated to get component

(8)
The method for computing the discrete Hilbert transform is
based upon its transfer function and utilizing the discrete Fourier
transform (DFT) as a tool [16].
Steps for Hilbert transform calculation.
where
1) Compute the DFT of the signal
where
is a vector
.
having elements same as that of
is multiplied by the mask
where
is defined as
2)

(2)
5) After repeated sifting i.e. up to k times,
IMF, that is as shown in (3)

becomes an
(3)

.
3) Compute the inverse DFT to obtain
Thus Hilbert transform of signal
as shown in (9) as
signal

results in an analytical

Then it is designated as

(9)
(4)

6)

in which

is the first IMF component from the original data.

from
as in (5)
Separate
(5)

7) Now treating
as the original data and repeating the
above processes second IMF can be obtained.
8) The above procedure is repeated n times and n IMFs of
are obtained.
signal
9) The decomposition process can be stopped when
becomes a monotonic function from which no more IMF
can be extracted.
To give more insight into the EMD methodology, the above
algorithm is implemented on a distorted waveform. Fig. 2 shows
the intrinsic mode functions of sag in voltage.
A pure sinusoidal signal will have only one mode of oscillation, the signal itself and it satisfies the condition of IMF.

Since Hilbert transform is convolution of a signal with

it
emphasizes the local properties of a signal. The Hilbert transform on each mode of oscillation i.e. IMFs, which satisfy condition of local symmetry w.r.t. zero mean, can give information
)
about instantaneous frequencies (which is given by
in each mode.
IV. FEATURE EXTRACTION BY APPLYING
HILBERT TRANSFORM ON IMFS
Once the intrinsic mode functions of distorted waveforms are
obtained, the task that lies next is extraction of features. It is necessary to note at this point of discussion that certain PQ events
like harmonic or flicker have only one mode of decomposition

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Fig. 3. Feature extraction from distorted waveforms.

while disturbances like sag and transient result in six intrinsic

mode functions. With different disturbances having different
number of IMFs, the question that arises is how to extract equal
number of features for each of them. To target this problem
a simple approach is adopted. Here for each disturbance first
three IMFs are considered for feature extraction. The reason for
choosing first three IMFs comes from the experience and also
by assuming that most frequency content lies in the first three
mode of oscillation. For the disturbances having only one mode
of oscillation, the remaining two modes are taken as zero. Next
is application of Hilbert transform to each of the three IMFs.
From each of the Hilbert transformed array following three features are extracted.
1) Energy of the elements corresponding to magnitude of
the Hilbert-array at each sample.
2) Standard deviation of the amplitude contour.
3) Standard deviation of the phase contour.
Thus in all, nine features are extracted. For the events which
have one mode of oscillation, six features are zero. Fig. 3 shows
the flow diagram for extracting features from distorted waveform.

Fig. 4. (a)(c) Sag and its detection with S transform and IMF-H transform. (a)
Voltage sag. (b) Sag detection with S-transform. (c) Sag detection with IMF-H
transform.

V. DETECTION CAPABILITY OF THE METHODOLOGY (HILBERT

TRANSFORM OVER IMFS)
So far it has been seen that empirical mode decomposition
separates the different modes of oscillation in a signal and features are extracted by applying Hilbert transform on first three
decomposed modes (this methodology is referred as IMF-H
transform in the rest of the paper). However, the efficiency
of a methodology lies not only on its ability to classify or
identify the event but also on its detection capability. It has
been seen that the amplitude plot of Hilbert transform of first
IMF rightly detects the event. Fig. 4(a)(c) show the sag in the
voltage waveform and its detection by IMF-H transform and
S-transform, respectively. Figs. 5 and 6(a)(c) show occurrence
of spike and notch in the waveform and their detection by
IMFH-transform and S-transform respectively. From these
figures, it is seen that detection capability of IMFH-transform
is better than S-transform for events like voltage spike and
notching.
VI. CLASSIFICATION USING PROBABILISTIC
NEURAL NETWORK
Probabilistic neural networks (PNNs) [11] are a kind of radial basis network suitable for classification problems. The PNN

Fig. 5. (a)(c) Spike and its detection with S transform and IMF-H transform.
(a) Voltage spike. (b) Spike detection with S-transform. (c) Spike detection with
IMF-H transform.

model belongs to the family of supervised learning networks,

but it is distinct from others in the following manner.
1) It is implemented using the probabilistic model with a
Gaussian mapping function.
2) No requirement of setting initial weights of the network.
Only the spread of the Gaussian function needs to be
specified.
3) No relationship between learning processes and recalling processes.
4) The difference between the inference vector and the
target vector are not used to modify the weights of the
network.

SHUKLA et al.: EMD WITH HILBERT TRANSFORM FOR PQ ASSESSMENT

2163

number of input layers;

number of hidden layers;
number of output layers;
number of training examples;
number of classifications (clusters);
smoothing parameter (standard deviation);
input vector;
Euclidean distance between the vectors
and
, i.e.

connection weight between the input layer

and the hidden layer ;
connection weight between the hidden layer
and the output layer .
Fig. 6. (a)(c) Notch and its detection with S transform and IMF-H transform.
(a) Voltage notch. (b) Notch detection with S-transform. (c) Notch detection
with IMF-H transform.

Fig. 7. Architecture of a PNN [11].

High learning speed of PNN model makes it suitable for diagnosing PQ events. Fig. 7 shows architecture of PNN model
composed of radial basis layer and the competitive layer.
For a classification application, the training data is classified
according to their distribution values of probabilistic density
function. A simple PDF is shown as
(10)
Modifying and applying (10) to the output vector H of the
hidden layer in the PNN is as
(11)

and,
, else

, where

then

VII. RESULTS AND DISCUSSION

Empirical mode decomposition in combination with Hilbert
transform qualifies to be an efficient methodology for PQ assessment. This technique decomposes a distorted signal into
number of modes which are actually monocomponent signals
where each mode comprises of narrow band of frequencies. To
help reader gain more insight into the processing technique it is
assumed a discrete signal with N number of samples. Applicacomplex
tion of S-transform to this signal gives
values from which different frequency modes can be obtained.
However with EMD it is possible to derive different modes of
oscillation of a distorted signal. The number of modes depends
upon the complexity and level of distortion present in the signal.
For an event like sag, it is six. As has already been mentioned,
EMD is a sieving process and the first IMF represents the finest
scale oscillation of the signal. Hence, an event like spike which
occurs for an instant can be detected by this methodology.
Another major aspect in PQ analysis is the classification of
various events. Fig. 8 shows some typical PQ events.
Classification of events requires extraction of signal features.
As mentioned in Section IV, nine features are extracted out of
distorted waveforms. Nine types of PQ events are taken for case
study as:
1) C1-Sag;
2) C2-Swell;
3) C3-Harmonic;
4) C4-Flicker;
5) C5-Notch;
6) C6-Spike;
7) C7-Transient;
8) C8-Sag with harmonic;
9) C9-Swell with harmonic.
For each of the above events 135 cases are taken. These cases
are generated in MATLAB with a sampling frequency of 3.2
kHz. Out of these, 35 cases are taken for training the PNN
and 100 cases are taken for testing. For same type of training
and testing data a comparative study between S-transform and
IMF-H transform is made. Classification results using IMF-H
transform and S-transform over the same set of data are shown in

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TABLE II
CLASSIFICATION RESULTS FOR S-TRANSFORM

accurate detection lies in the following argument: it is well

known that in Fourier transform, any deviation from sine or
cosine function results in harmonic components in the Fourier
spectrum. However, the presence of nonlinearity and nonstationarity may cause existence of certain spurious harmonic
components which further result in energy spreading. As a
consequent energy frequency distribution gets highly polluted
resulting in misleading results. Since the S transform is a
Fourier-based technique, it suffers from some of the drawbacks
of FFT. On the other hand, in the IMF-H transform, different
oscillation modes of a signal are extracted. These modes are
associated with different intrinsic time scales. Application of
Hilbert transform to these IMFs can indicate the instantaneous
frequencies. Thus, EMD with Hilbert transform can give a
reasonably better time-frequency distribution for nonstationary
signals. Hence, IMF- H transform is better suited for nonstationary signal such as spike and notch where as the S-transform
performs better for near-stationary signals.

Fig. 8. Some typical PQ events.

TABLE I
CLASSIFICATION RESULTS FOR IMF-H TRANSFORM

VIII. REAL-TIME IMPLEMENTATION

the Tables I, II, respectively. Overall efficiency for the methodology is calculated using the formula given as in (12)

(12)
From Tables I and II, it is found that overall efficiency of
IMF-H transform is 97.22% and that of the S-transform is
95.55%. Further it has been seen that the S transform performs
unsatisfactorily for the cases C5 and C6 where seventeen of
C5 cases and twenty three of C6 cases are misclassified, on
the other hand IMF-H transform performs comparatively better
for the same cases. The maximum error in Table I occurs for
the case C9 where the technique fails to identify the swell
component though harmonic component has been recognized.
Further the detection capability of the IMF-H transform for
cases C5 and C6 is much more superior to the S transform
which is clearly depicted in Figs. 5, 6. Reason for such an

Captured real-time data through data acquisition system suffers from many uncertainties owing to the choice of sampling
frequency. A careless choice may deprive of the samples corresponding to peak value (as the peak values are required for obtaining upper and lower envelopes). A real-time captured signal
may not necessarily start from zero value as in the case of ideal
simulated signal and further a particular sampling frequency
may fail to capture samples of utmost frequency. Under such
condition the obtained envelope of extremum may not be accurate and as a result a real-time event may sieve out to second or
third IMF. Thus, in real-time event detection, other IMFs need
to be given consideration apart from the first IMF. We are in
the process of conducting real-time simulation of PQ events and
evaluate the effectiveness of the methodology. The further step
is to experimentally study the effect of noise on the construction
of IMFs.
IX. CONCLUSION
Decomposing a signal into its different modes of oscillation
such that each mode satisfies the requirement of local symmetry

SHUKLA et al.: EMD WITH HILBERT TRANSFORM FOR PQ ASSESSMENT

about zero mean could be used as a tool to extract instantaneous frequency information of each mode, thereby making it
an important tool in the assessment of PQ events. Decomposition is based on extraction of energy associated with intrinsic
time scales. Thus, full time and frequency information can be
obtained by this methodology. Apart from assessment, detection capability validates the potential of the algorithm.
ACKNOWLEDGMENT
The authors acknowledge Dr. N. Senroy for his valuable help
in developing an understanding towards the EMD methodology.
His contributions and work in the related field helped us to think
a stage ahead and apply the efficient features of the algorithm
for PQ assessment problem.
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Stuti Shukla received the B.Tech. degree in electrical
engineering from Uttar Pradesh (UP) Technical University, Lucknow, UP, India, in 2004, and the M.Eng.
degree in power systems from Birla Institute of Technology, Ranchi, Jharkhand, India, in 2007.
She is currently a Research Scholar in the Electrical Engineering Department of the Indian Institute
of Technology, Delhi, India. Her research interest
includes artificial intelligence application to power
system, power quality, and digital signal processing.

S. Mishra (M97SM04) received the B.E. degree

from University College of Engineering, Burla,
Orissa, India, and the M.E. and Ph.D. degrees from
the Regional Engineering College, Rourkela, Orissa,
in 1990, 1992, and 2000, respectively.
In 1992, he joined the Department of Electrical Engineering, University College of Engineering Burla,
as a Lecturer and subsequently became a Reader in
2001. Presently, he is an Associate Professor with the
Department of Electrical Engineering, Indian Institute of Technology, Delhi, India. His interests are in
soft computing applications to power system control and power quality and renewable energy.
Dr. Mishra has been honored with many prestigious awards such as the INSA
Young Scientist Medal in 2002, the INAE Young Engineers Award in 2002,
and recognition as the DST Young Scientist in 2001 to 2002, etc. He is a Fellow
of Indian National Academy of Engineering and Institute of Electronics and
Telecommunication Engineering.

Bhim Singh (SM99) was born in Rahamapur, India,

in 1956. He received the B.E. degree in electrical engineering from the University of Roorkee, Roorkee,
India, in 1977 and the M.Tech and Ph.D. degrees
from the Indian Institute of Technology (IIT) Delhi,
New Delhi, India, in 1979 and 1983, respectively.
In 1983, he joined the Department of Electrical
Engineering, University of Roorkee, as a Lecturer,
and in 1988 became a Reader. In December 1990,
he joined the Department of Electrical Engineering,
IIT Delhi, as an Assistant Professor. He became
an Associate Professor in 1994 and Professor in 1997. His areas of interest
include power electronics, electrical machines and drives, active filters, FACTS,
HVDC, and power quality.
Dr. Singh is a Fellow of the Indian National Academy of Engineering (INAE),
the Institution of Engineers (India) [IE (I)], and the Institution of Electronics
and Telecommunication Engineers (IETE). He is a Life Member of the Indian
Society for Technical Education (ISTE), the System Society of India (SSI), and
the National Institution of Quality and Reliability (NIQR).