Received June 28, 2017, accepted July 21, 2017, date of publication August 14, 2017, date of current

version September 6, 2017.

Digital Object Identifier 10.1109/ACCESS.2017.2735545

Load Frequency Control of an Isolated Micro Grid

Using Fuzzy Adaptive Model Predictive Control
S. KAYALVIZHI AND D. M. VINOD KUMAR
Department of Electrical Engineering, National Institute of Technology Warangal, Warangal 506004, India
Corresponding author: S. Kayalvizhi (kayaleee89@gmail.com)

ABSTRACT This paper presents a fuzzy adaptive model predictive approach for load frequency control of
an isolated micro grid. A generalized state space model of a typical isolated micro grid having controllable
and uncontrollable generating power sources is derived, and the same has been utilized to predict the future
output and control inputs for the micro grid frequency control. A centralized model predictive control (MPC)
is implemented with a single input multi-output system model based on the controllable distributed energy
resources in the micro grid. The parameter-driven MPC is made adaptable by dynamically adjusting its
parameter Rw using fuzzy controller. The proposed fuzzy MPC employs a rule-based fuzzy controller to
fuzzify the tuning parameter Rw present in the cost function of MPC, which plays an important role in
minimizing the frequency deviation in the system. The closed loop system response obtained by the proposed
fuzzy MPC has been found faster and adaptable for different scenarios in the system. The effectiveness has
been evaluated with performance index integral time square error (ITSE) value and has been compared with
MPC with constant tuning parameter value also with the proportional–integral controller response. Thus,
the efficacy of using proposed fuzzy MPC in secondary load frequency control has been validated thereof.

INDEX TERMS Load frequency control, fuzzy control, adaptive model predictive control.

I. INTRODUCTION load frequency control of conventional and distributed gener-

A reliable load frequency control is an important function of
modern power system which is dispersed geographically over
a large scale and interconnected with multiple generations
in a complex manner. This load frequency control equally
requires greater attention for microgrid operation in the dis-
tribution network especially, when the off-grid microgrids
are remotely operated in rural areas. Since the microgrid
accommodates converter based, low inertial and intermittent
renewable Distribution Generations (DGs), it involves greater
challenges and demands advanced control strategies to ensure
continuous supply to loads and to smoothen frequency fluc-
tuation in the system. Even though there are several works
on control and management of microgrid in different per-
spective over the past two decades [1], [2], the regulation
of frequency and voltage within specified nominal values in
isolated microgrid operation is really an important aspect for
reliable system operation [3] and one that has not received
adequate attention.
Hitherto, several control schemes and methods have been
reported in the area of LFC in standalone microgrid to study
the system dynamics under different system disturbances.
These methods range from classical droop controls to various
advanced control strategies that contribute to the secondary
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ation power system and comprehensibly summarized in [4].
Several such methods are applied to investigate differ-
ent aspects of secondary load frequency control in micro-
grid [5]–[9]. In [5], a hierarchical droop control method is
proposed for microgrid load frequency control whereas in [6],
a fuzzy based PID controller is employed for coordinat-
ing the aqua electrolyser and fuel cell to control the power
fluctuation in the microgrid. In [7] and [8], meta heuristic
optimisation algorithms such as combined Particle Swarm
Optimisation (PSO) with fuzzy logic and PSO based mixed
H2 /H∞ are proposed to enhance the frequency control in
microgrid. Numerical modeling of system dynamics with
active Distributed Secondary Loads with DGs sharing is pro-
posed for better frequency regulation in [9]. The uncertainties
and nonlinear complexities in the system necessitate robust
control techniques to get trade-off between the robust system
performance and the stability in the closed loop response
against system uncertainties and such robust techniques are
discussed in [10]–[13]. In recent times, Model Predictive
Control (MPC) is also widely adopted due to its simple
and fast implementation. Even though MPC is proved effi-
cient indigenously in process industry, due to its modelling
flexibility that involves straight forward design procedure,
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 S. Kayalvizhi, D. M. Vinod Kumar: Load Frequency Control of an Isolated Micro Grid

acceptable computational time and ease in constraint han- is explained in section IV. Simulations of various cases of
dling, it is well received in all control application and it is load frequency control and the discussions on the obtained
widely adopted in industries such as petrochemical industry, results are presented in section V. Section VI concludes the
electrochemical, power and water management sectors etc. paper.
Although so many variants of MPC are proposed in the
literature for different applications, the classical dynamic II. OUTLINE OF MODEL PREDICTIVE CONTROL (MPC)
matrix control (DMC) of MPC is predominantly applied to An MPC is a model based advanced control strategy which
the load frequency control problem. Some research which employs an optimization procedure at each sampling time
applied MPC to the load frequency control are discussed over prediction horizon to calculate the optimal control
in [14]–[19]. In [14], a distributed MPC (DMPC) is proposed actions. As there is extensive literature on MPC, this section
for load frequency control of four-area hydro–thermal inter- intends to present only the outline of MPC.
connected power system. In addition to that, the limit position The general discrete state-space model representation is
of the governor valve is controlled by a fuzzy model and given by:
the local predictive controllers are incorporated into the non-
linear control system. LFC design using distributed model x (k + 1) = Ad x (k) + Bd u (k) + Ed w(k) (1)
predictive control (DMPC) technique for the multi-area inter-
y (k) = Cd x (k) + Dd u(k) (2)
connected power system is proposed in [15]. The effect of
wind turbine generator participation on the load frequency Where, u - input variable vector; y- Process output vector;
control of two area system is analysed with MPC structure x(k)- State variable vector at kth step and w(k) is the distur-
and the overall closed loop system performance has demon- bance vector at kth step.
strated the robustness of control in face of uncertainty [16]. Since moving horizon control requires current information
Model predictive control is employed for load frequency of the plant for the prediction and control, it is implicitly
control of micro grid in the presence of Plugged-in Hybrid assumed that u(k) cannot affect output y(k) but u(k-1) at the
Electric Vehicle (PHEVs) [17], [18]. In [17], an aggregator kth instant can [20]. So, on taking difference on both sides
utilizing MPC strategy is proposed to impose control actions of (1) and rearranging
on the participating units such as a cluster of PHEVs and
1x(k + 1) 1x(k)
   
controllable thermal appliances and a decentralized Com-
bined Heat Plant (CHP) unit for load frequency control.   = A  + Bu (k) + Ew(k) (3)
y(k + 1) y(k)
Whereas in [18], to avoid a large number of PHEVs for better
frequency regulation, the smoothing of wind power produc-
1x(k)
 
tion by pitch angle control using MPC method is proposed.
In [19], an Explicit MPC (EMPC) is proposed to give affine y (k) = C   (4)
y(k)
control law which is calculated offline by partitioning the
state space into Critical Regions (CRs) by solving Multi- Where,
Parametric Quadratic Programming (MP-QP). Optimization  
is implemented online using the look up table of CRs and Ad 0Td
" # " #
Bd Ed
controls. EMPC is illustrated on the isolated industrial power A= ; B= Cd Bd ; E= Cd Ed
Cd Ad 1
system frequency control. Most of the MPC used for load
frequency control is transformed from centralised to decen- z }| {
C = 0Td
 
tralised/distributed MPC but few have investigated improving 1 0d = [0 0 0 0]
the adaptability of MPC. This paper proposes a new adaptive Where, m is the number of state variables. A, B and C are
MPC where parameter Rw in its cost function has been tuned augmented state space model used in design of predictive
by a fuzzy controller to make MPC a robust control for control. This prediction is described within an optimization
different operating scenarios. window of length Np. Since the disturbance in current step is
The main contributions of the paper are: not reflected in the future, the disturbance matrix is omitted
1) It proposes a new fuzzy adaptive model predictive in the prediction window [20].
controller for the load frequency control for a typical Suppose at sampling instant k, k > 0, the future control
microgrid and tested for various cases. trajectory at sampling instant k is given by
2) The input tuning parameter Rw present in the cost
function of MPC has been fuzzified using fuzzy logic 1u (k) , 1u (k + 1) , · · · , 1u (k + Nc − 1) (5)
controller.
This paper is structured as follows: Section II provides a While the rest of 1u(k) for k = Nc, Nc+1,. . . ...Np is assumed
brief outline of the model predictive control and the MPC to be zero. Where Nc is the control horizon that gives the
implementation for load frequency control of an isolated number of future control inputs to be predicted and it is
micro grid is discussed in detail in section III. The proposed chosen to be less than Np. With given x(k) and predicted
rule based fuzzy inference system for parameter (Rw ) tuning control inputs, future state variables and output are predicted

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S. Kayalvizhi, D. M. Vinod Kumar: Load Frequency Control of an Isolated Micro Grid

FIGURE 1. Load frequency control model of an isolated micro grid.

sequentially over the prediction window. This has been shown III. MPC IMPLEMENTATION FOR LOAD FREQUENCY
in Appendix-A. The compact form of output is shown (6). CONTROL OF AN ISOLATED MICRO GRID
The simplified load frequency model of a typical microgrid
Y = Fx (k) + 81U is considered in this paper and it is shown in Fig.1. The micro
  grid consists of a diesel unit, fuel cell, wind, solar and battery
CA storage of ratings given in [6]. The frequency control in the
 CA2 
 3 
 micro grid is achieved by predicting the future outputs and
F =  CA 

control signals i.e. frequency deviation and control actions
 .. 
 .  to the controllable units respectively. The renewable sources
CANp are assumed to be operated at maximum power point. Hence,
diesel unit and fuel cell are considered as controllable units
...
 
CB 0 0 0 in the microgrid. The prediction was accomplished by using
 CAB CB 0 ... 0  a Model Predictive Control (MPC) design where a state space
2 ...
 
8 =  CA B
 CAB CB 0  model of the system is used. From the model of the system
.. .. .. ..

shown in Fig.1, the dynamics of the system is defined with
. . ... . .
 
 
nine state equations with nine state variables for the micro
CANp−1 B CANp−2 B CANp−3 B . . . CANp−Nc B grid considered. This has been explained in the Appendix-B
(6) for case of generator-load transfer function model. The state
equations are shown in (10)-(18):
For a given reference signal r(k) at sample k, the objective
1Ps_filt + 1Pmd + 1Pw − 1PL +
 
is to predict an output close to the reference signal. And this 1
1f =
˙ (10)
r(k) remains constant in the optimization window. The control 2H 1Pf _filt − 1Pbat − D ∗ 1f
objective is given by: ˙ s_inv = 1 1Ps − 1Ps_inv
1P


(11)
Tinv
J = (Ys − Y )T (Ys − Y ) + 1U T R̄in 1U (7)
˙ s_filt = 1 1Ps_inv − 1Ps_filt
1P


(12)
Tfilt
To find the optimal control vector 1U that minimize J is
˙ gd = 1 1Pcd − 1f − 1P
 
∂J 1P (13)
found by ∂1U =0
Tg R gd

˙ md = 1 1Pgd − 1Pmd
−1
1P


1U = 8T 8 + R̄in 8T (Ys − Fx (k)) (8) (14)
Tt
˙ fc = 1 1Pcf − 1f − 1P
 
1P
T
Ys = 1 1 . . . 1 r (k) (15)

R̄in = Rw ∗ INc∗Nc ; (9) Tfc R fc

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 S. Kayalvizhi, D. M. Vinod Kumar: Load Frequency Control of an Isolated Micro Grid

˙ fi nv = 1 1Pfc − 1Pf _inv

1P of predicted control input vectors in making J as small as


(16)
Tinv possible. Rin is a diagonal matrix and is given as
˙ f _filt = 1 1Pfi nv − 1Pf _filt
1P


(17) R̄in = Rw ∗ INc∗Nc (22)
Tfilt
1P˙ bat = 1 (1f − 1Pbat ) (18)
The prediction horizon for the output is taken as 10 time
Tb steps and the control horizon for the control input is taken
Where, as 2 time steps with a sampling interval of 0.01s. These values
are considered from the literature of typical load frequency
1f - Change in frequency problems using MPC.
D - Damping Coefficient; R-Frequency droop Table 1 gives the values of time constant associated with
H - Inertia of rotating masses of the micro grid DERs and other parameters used in the frequency control
1PL - Change in load power; 1Ps - Change in solar model shown in Fig.1.
power
1Ps_inv - Change in power outputs from inverter circuit TABLE 1. Parameter values of the microgrid.
of solar unit
1Ps_filt - Change in power outputs of filter circuit of
solar unit.
1Pmd - Change in turbine mechanical power output
from the diesel unit
1Pgd - Change in governor output of diesel unit
1Pf _filt - Change in power from filter circuit of fuel cell
1Pf _inv - Change in power from filter circuit of fuel cell
1Pfc - Change in power output from fuel cell
1Pbat - Change in the battery power
Pw - Power generated by wind turbine IV. FUZZY LOGIC CONTROLLER FOR
1PCd - Control inputs given to the diesel PARAMETER (Rw ) TUNING
1PCf - Control inputs given to the fuel cell MPC is a simple and straightforward procedure with less
Tt -Turbine time constant; Tg – Governor time computational efforts. But like all other control algorithms,
constant it is also parameter driven and it needs to be properly chosen
Tfilt - Time constant of filter circuit for better performance of MPC. In MPC, we have some
Tinv - Time constant of inverter circuit such parameters - Prediction horizon Np, Control horizon Nc,
Tfc - Time constant of the fuel cell Sampling time Ts and Input tuning parameter Rw . Adapt-
Tb - Time constant of the battery ability of the MPC is achieved only through the extensive
analysis of the qualitative and quantitative relationship of
The above developed nine state equations of the system
these parameters with the behaviour of the control algorithm
dynamics and the output equation are represented in a com-
of MPC.
pact form and are shown in (19) and (20) respectively.
The impact of these parameters on MPC behaviour is
Ẋ = AX + BU + EW (19) randomly studied by trial and error method for load frequency
Y = CX + DU (20) control. It is found that optimal values of these parameters for
ideal behaviour of MPC remains unchanged for different case
Where, the matrices X, A, B, U, and C are shown at the bottom studies except Rw . Thus, the idea of fuzzy adaptive MPC is
of next page. proposed in this paper where ‘Rw ’ is a scalar and dynamically
The frequency regulation is achieved only through the con- adjusted by the fuzzy controller over each prediction window
trollable generating units in the system, therefore, the diesel of MPC keeping other procedures unchanged.
unit and the fuel cell inputs are taken as controlled variable in Three main components of fuzzy logic control are: Fuzzi-
the MPC formulation to minimize cost function to measure fication, fuzzy rules, and defuzzification which are described
the predicted performance. in the following subsections:
Mathematically, it is formulated as follows:
 T    1P T A. FUZZIFICATION
cd
J = 1f − 1f
ref pred
1f − 1f
ref pred
+ Fuzzification process is mapping the crisp value of inputs
1Pcf
to linguistic variables using membership functions. Here
1Pcd
 
× R̄in (21) inputs to fuzzification block are: Magnitude of Frequency
1Pcf Deviation (FD) and parameter (Rw ) and the output is
The first term in the objective function expressions refers to the change in parameter (1Rw ) shown in Fig.2. The tri-
the minimization of error between predicted output and the angular membership functions are considered for fuzzy
reference point whereas the second term considers the impact mapping and five linguistic variables are considered for

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FIGURE 2. Inputs and output of fuzzy logic controller.

each input variable such as VS (very small), S (small),

M (medium, B (big), VB (very big) whereas the output
variable (1Rw ) is represented in five linguistic values
such as ZE (zero error), PS (positive small), PM (posi-
tive medium), PB (positive big), PL (positive large). The
membership functions for inputs and outputs are shown
in Fig.3. The universe of discourse for the magnitude
of frequency deviation is taken as 0-0.25Hz whereas for
Rw and 1Rw it is taken as 1-75 and 1-25 respectively.
B. FUZZY INFERENCE SYSTEM: FUZZY RULES
FORMULATION
Fuzzy rules are formulated using Mamdani-type fuzzy rules
which comprise ‘‘IF/THEN’’ conditional statements. In this
paper, a total of 25 (5 × 5 = 25) rules are formulated
FIGURE 3. Membership Functions a). Magnitude of Frequency
Deviation (|FD|) b). Input parameter (Rw ) c). Change in Rw (1Rw ).
using ‘‘IF/THEN’’ statements with the membership functions
of two input variables and one output variable which are
tabulated in Table 2.
In this paper, the impact of parameter Rw in the cost
function of MPC formulation is studied on load frequency
control by trial and error method. The system response for
different values of Rw is shown in Fig.4. Thus, based on

X = 1f 1Psinv 1Psfilt 1Pgd 1Pmd 1Pfc 1Pfinv 1Pffilt 1Pbat

 

D 1 1 1 1
 
− 0 0 0 0 −
 2H 2H 2H 2H 2H

 0 1 
− 0 0 0 0 0 0 0 

 T inv


 1 1 
 0 − 0 0 0 0 0 0 

 Tfilt Tfilt 

 1 1 
−
 RTg 0 0 − 0 0 0 0 0 
 Tg 

 1 1 
A= 0 0 0
Tt
−
Tt
0 0 0 0  
1 1
 
0 0 0 0 0 0 0 

− −

 Rfc T fc 
1 1
 
 0 0 0 0 0 − 0 0 
 
 Tinv T inv 

 0 1 1 
0 0 0 0 0 − 0 
Tfilt Tfilt
 
 
 1 1 
0 0 0 0 0 0 0 −
Tb Tb
   
0 0 −1/2H 1/2H 0
 0 0   0 0 1/T inv 

  
 0 0   0 0 0 
   
 1/Tg 0   0 0 0 
 
 
B= 0 0   E = 0 0 0 


 0 1/Tfc   0 0 0 
   
 0 0   0 0 0 
   
 0 0   0 0 0 
0 0 0 0 0
T T
U = 1Pcd 1Pcf ; W = 1PL 1PW 1PS
 

C = [1 0 0 0 0 0 0 0 0] ; D=0

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 S. Kayalvizhi, D. M. Vinod Kumar: Load Frequency Control of an Isolated Micro Grid
FIGURE 4. System response of the micro grid for different values of Rw .
TABLE 2. Fuzzy rules for variation of 1RW .
the relationship of the parameter Rw with the behaviour of
the control algorithm of MPC, the logic for the rule base is
established.
Accuracy in solution is achieved by using more tuning
rules at the cost of computational complexity. Since fre-
quency deviation is expected to be tracked closely to the
minimum value as far as possible, 25 rules are designed
to determine the change in input parameter (1Rw ). For
example:
Rule 1: IF |FD| is S (small) AND Rw is S (small) THEN the
output 1Rw is PS (positive small). As the frequency deviation
is small and it can still be reduced to very small values by
increasing Rw to small extent that corresponds to PS (positive
small) in output 1Rw .
Rule 2: IF |FD| is B (big) AND Rw is S (small) THEN the
output 1Rw is PL (positive large). The frequency deviation is
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big and it demands a higher increment in Rw that corresponds
to PS (positive small) in the output 1Rw . All other rules are
similarly fired based on the logic established between the
inputs and outputs.
C. DEFUZZIFICATION
Among the 25 designed rules, a maximum of four rules may
fire and a minimum of one rule will fire. The output obtained
from the fuzzy controller is fuzzy in nature, so defuzzification
is required to convert from fuzzy to crisp value. Centroid
method is used for defuzzification of output.
V. SIMULATION AND RESULTS
This section presents the simulation and discussion of various
cases of load frequency control in a typical isolated micro-
grid. The cases include the load and generation variation and
parametric variation in the system. The frequency control
model shown in Fig.1 is built in MATLAB/Simulink on a
personal computer of i5 processor 2.5GHz, 4GB RAM. All
the cases have been compared to the system response with
constant Rw value of 15 which is chosen randomly from
the Fig.4.
A. CASE -1 (BASE CASE SYSTEM RESPONSE WITH
ALL DERs)
The load frequency control of a micro grid with all sources
such as PV, Wind, fuel cell, diesel and battery storage is sim-
ulated in this case. This case presents the frequency deviation
response of the system with a step load change of 0.02p.u and
solar power change i.e. 1Ps taken as 0.2p.u. The mean wind
velocity for this case is taken as 7m/s. Appropriate value of
Rw is selected by the fuzzy controller using rule base system.
The comparison of system response is shown in Fig.5.(a)
The proposed fuzzy MPC gives better and faster response
when compared to PI controller. Fig.5.(b) shows the response
of cost function evaluated within MPC procedure which has
to be minimized to achieve the desired frequency deviation
response in the system. Since it is an isolated micro grid,
the frequency regulation is supposed to be taken care of by
the dispatchable diesel unit and the fuel cell and thus become
controlled outputs from the MPC block to the respective
units. The response of control inputs i.e. change in diesel and
fuel cell units is shown in Fig.5.(c) The simulation period
and sampling time is taken as 10s and 0.01s respectively.
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FIGURE 5. (a). Comparison of system response of the micro grid for case-1 b). Response of Cost functions of MPC over simulation period for
case-1 (c). Response of control inputs to diesel and fuel cell for case-1.

FIGURE 6. (a). Comparison of system response of the micro grid for case-2 b). Response of Cost functions of MPC over simulation period for
case-2 (c). Response of control inputs to diesel and fuel cell for case-2.

FIGURE 7. (a) Comparison of system response of the micro grid for case-3 b). Response of Cost functions of MPC over simulation period for
case-3 (c). Response of control inputs to diesel and fuel cell for case-3.

The prediction horizon and the control horizon are taken as
10 and 2 time steps respectively. The optimal Rw value from
the proposed MPC is 38.5 for this case.
B. CASE -2 (SYSTEM RESPONSE WITH
DISPATCHABLE DERs)
This case studies the frequency regulation in the system when
there are only dispatchable units such as diesel unit, fuel
cell and battery in the system. The load change is 0.02p.u.
The comparison of system response is shown in Fig.6.(a).
Since there are only two dispatchable generation units in this
case, the response shows the negative frequency deviation
for the load change. The corresponding response of cost
function and the change in control inputs are respectively
shown in Fig.6.(b) and Fig.6.(c). The tuned Rw value for
this case is 41. There is increase in the control inputs to
reduce the negative frequency deviation in the system. The
simulation period and sampling time is taken as 10s and 0.01s
respectively.
C. CASE -3 (SYSTEM RESPONSE WITH SERIES OF STEP
LOAD VARIATION)
This case evaluates the system response of the micro grid
with series step changes in the load. The load changes are
implemented with increase and decrease in value of 1PL .
The system response for this case is shown in Fig.7.(a).

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 S. Kayalvizhi, D. M. Vinod Kumar: Load Frequency Control of an Isolated Micro Grid
FIGURE 8. (a) Comparison of system response of the micro grid for case-4 b). Response of Cost functions of MPC over simulation period for
case-4 (c). Response of control inputs to diesel and fuel cell for case-4.
FIGURE 9. (a) Comparison of system response of the micro grid for case-5 b). Response of Cost functions of MPC over simulation period for
case-5 (c). Response of control inputs to diesel and fuel cell for case-5.
Fig.7.(b) and Fig.7.(c) shows the response of cost function
and control inputs respectively for the step load variation in
the system. The control inputs are accordingly varied by MPC
to meet the load changes for minimum frequency deviation in
the system. The optimal value of Rw is found to be 30 for this
case.
D. CASE-4 (SYSTEM RESPONSE WITH WIND
PERTURBATION OF 2m/s)
In this case, the wind gust component of magnitude 2m/s is
introduced for 6s in the wind velocity and the mean velocity
of the wind is taken as 6.5m/s. The change in solar power is
maintained constant at 0.05p.u. and load change of 0.02p.u.
The system response for this case is shown in Fig.8.(a). The
performance of the proposed method is better and faster than
PI controller. Corresponding cost function and the control
inputs are shown in Fig.8.(b). and Fig.8.(c) respectively. The
control inputs to diesel and fuel cell are lowered by MPC
when there is an increase in wind power generation due to
increase in wind velocity in the system. The optimized value
of Rw is found to be 16.5 for this case.
E. CASE-5 (SYSTEM RESPONSE WITH STEP CHANGES
IN SOLAR POWER)
This case considers a series step increase in solar power.
In this case, the wind power change (1Pw ) is simply taken
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as 0.05p.u throughout the simulation and the load change
of 0.02p.u. The corresponding system response is shown
in Fig.9.(a). The cost function of MPC and the control inputs
to the controllable units are shown in Fig.9.(b) and Fig.9.(c)
respectively. As there is increasing step change in solar
power, the control inputs to diesel and fuel cells are lowered
accordingly by MPC so as to maintain zero frequency devia-
tion. The obtained value of Rw for this case is 28.
F. CASE-6 (ALL DISTURBANCE SUCH AS 1PL , 1Pw AND
1Ps IN THE SYSTEM)
This case presents the system response when all possible
disturbances exist in the system. This case applies the distur-
bance considered in case-3, case-4 and case-5 simultaneously.
The frequency deviation response of the micro grid for this
case is shown in Fig.10.(a). The cost function of MPC and the
control inputs to diesel and fuel cell are shown in Fig.10.(b)
and Fig.10.(c) respectively. The optimal value of Rw for
this case is found to be 19.5. The comparison of proposed
fuzzy MPC with PI controller is assessed by comparing the
performance index ITSE value for all cases of simulation and
has been tabulated in Table 3. It is depicted that the optimal
value of Rw obtained in each case of simulation is unique and
has to be optimally selected for different operating conditions
of the system. Hence, the proposed method is found to be
efficient for load frequency control.
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S. Kayalvizhi, D. M. Vinod Kumar: Load Frequency Control of an Isolated Micro Grid
FIGURE 10. (a) Comparison of system response of the micro grid for case-6 b). Response of Cost functions of MPC over simulation period for
case-6 (c). Response of control inputs to diesel and fuel cell for case-6.
FIGURE 11. (a) Comparison of system response of the micro grid for case-7 b). Response of Cost functions of MPC over simulation period for
case-7 (c). Response of control inputs to diesel and fuel cell for case-7.
TABLE 3. Comparison of performance index.
G. CASE-7 (PARAMETRIC VARIATION IN THE SYSTEM)
This case introduces the parametric variation in the system
model and studies the system response by the proposed fuzzy
adaptive Model Predictive Control. The parametric variation
is incorporated as follows: R = +30%; D = −40%;
H = +50%; Tt = −50%; Tg = +50%; Tb = −45%.
The change in solar power is kept as 0.05p.u. and the
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load is 0.02p.u whereas the wind velocity is maintained
at 6.5m/s. The response comparison is shown in Fig.11.(a).
The respective cost function and the control inputs are shown
in Fig. 11.(b) and Fig.11.(c). The optimal Rw value is found to
be 27.5 for this case. The efficiency of the proposed method
is tested and found robust for both type of disturbance in the
system.
VI. CONCLUSION
This paper proposed a new fuzzy adaptive MPC for effective
and faster load frequency control for an isolated micro grid.
The impact of tuning parameter Rw on the performance of the
model predictive control is demonstrated in the paper for load
frequency control. The adaptability of MPC is achieved by
tuning parameter ‘Rw ’ using a fuzzy controller. Rw has been
dynamically adjusted with fuzzy ‘‘IF/THEN’’ rule base to
make it robust control irrespective of different scenarios of the
problem. The proposed fuzzy adaptive MPC is implemented
for load frequency control of a typical micro grid. Simulation
results and analysis have confirmed the benefits of proposed
fuzzy MPC in achieving comparatively better and faster sys-
tem response with damped oscillations compared to MPC
with constant parameter value and also with PI controller
response for different cases. Hence, the proposed fuzzy MPC
can be used for effective frequency regulation in extended
smart grid applications.
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 S. Kayalvizhi, D. M. Vinod Kumar: Load Frequency Control of an Isolated Micro Grid
APPENDIX
A. PREDICTION OF STATE VARIABLES AND
OUTPUT AT kth INSTANT
The future state variables are calculated sequentially using set
of future control parameters
xx(k + 1 | k) = Ax(k) + B1u(k)
x(k + 2 | k) = Ax(k + 1) + B1u(k + 1)
= A2 x(k) + AB1u(k) + B1u(k + 1)
..
. grids and example cases around the world—A review,’’ Renew. Sustain.
x(k + Np | k) = ANp x(k)+ANp−1 B1u(k)+ANp−2 B1u(k +1)
+ · · · + ANp −Nc B1u(k + Nc − 1)
From the predicted state variables, the predicted output
variables are calculated by substitution
y(k + 1 | k) = CAx(k) + CB1u(k)
y(k + 2 | k) = CA2 x(k) + CAB1u(k) + CB1u(k + 1)
y(k + 3 | k) = CA3 x(k) + CA2 B1u(k)
+ CAB1u(k + 1) + CB1u(k + 2)
..
. Power Energy Syst., vol. 43, no. 1, pp. 969–976, 2012.
y(k + Np | k) = CANp x(k) + CANp −1 B1u(k)
+ CANp −2 B1u(k + 1) + · · ·
+ CANp −Nc B1u(k + Nc − 1)
The predicted variables are formulated in terms of current
state x(k) and the future control vectors 1u(k+j), where j =
0, 1, . . . .. Nc-1. Thus the output and input vectors are given
as
 T
Y = y(k + 1|k)y(k + 2|k)y(k + 3|k) · · · y(k + Np |k)
1U = [1u(k) 1u(k + 1)1u(k + 2) · · · 1u(k + Nc − 1)]T
B. DERIVATIONS OF STATE EQUATION WITH
GENERATOR-LOAD TRANSFER FUNCTION MODEL
The block diagram of generator-load model from Fig.12 is
represented as follows:
If we write power balance equation for the above transfer
function model:
1Ps_filt + 1Pw − 1PL + 1Pf _filt + 1Pmd − 1Pbat
= [D + 2Hs] 1f
FIGURE 12. The block diagram of generator-load model.
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On rearranging the above equation,
1 
1f˙ = 1Ps_filt + 1Pw − 1PL + 1Pf _filt + 1Pmd
2H
−1Pbat − D1f

Similarly, all other state equations are derived by evaluating
the transfer function model shown in Fig.12.
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S. Kayalvizhi, D. M. Vinod Kumar: Load Frequency Control of an Isolated Micro Grid
S. KAYALVIZHI received the B.E. degree
in electrical and electronics engineering from
Krishnasamy College of Engineering and Tech-
nology in 2010 and the M.E. degree in power sys-
tems engineering from the College of Engineering
Guindy, Anna University, Chennai, India, in 2012.
She is currently pursuing the Ph.D. degree in the
Department of Electrical Engineering, National
Institute of Technology Warangal, Warangal,
India. Her areas of interests are planning studies
in active distribution network, evolutionary algorithms, and multi-objective
optimization in smart grid and power system studies, and control and
management of microgrid operation.
VOLUME 5, 2017
D. M. VINOD KUMAR received the B.E.
degree in electrical and the M.Tech. degree
in power systems from Osmania University,
Hyderabad, in 1979 and 1981, respectively, and
the Ph.D. degree from IIT Kanpur in 1996. He was
a Post-Doctoral Fellow with Howard University,
Washington, DC, USA. He joined the National
Institute of Technology (NIT) at Warangal,
Warangal, India, in 1981, as a faculty member. He
is currently a Professor of electrical engineering
with NIT at Warangal. He has authored over 70 papers in international
journals and conferences. His areas of interest are power systems operation
and control, power system stability and security, neural networks, fuzzy logic
and evolutionary computing applications, FACTS, smart grid technologies,
and renewable energy systems.
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