Rotor Angle Stability Analysis using

Normal Form Method with High Penetrations of

Renewable Energy Sources
－Energy Index for Multi-Swing Stability－
Hiroyuki Amano Akihiko Yokoyama
Center for Advanced Power System Engineering Dept. of Advanced Energy
& Environmental Technology Research Laboratory The University of Tokyo
The University of Tokyo CRIEPI Tokyo, Japan
Tokyo, Japan

Abstract—Renewable Energy Sources (RES), especially wind
and photovoltaics, often inject power into the network through
power electronic converters resulting in the lack of inertia and
synchronizing torque in the whole network. Thus, increasing
RES penetration affects rotor angle stability. In this paper, the
rotor angle stability of the middle and western Japanese power
system model with a high penetration of RES is studied. The
transient stability of the model is mainly restricted by oscillatory
instability of inter-area modes. The high penetration of RES and
the de-commitment of the conventional generators would make
the power system more stressed and increase the effect of
nonlinearity. The scope of the small-signal stability analysis
would be very limited in such a situation. In contrast, it is shown
in this paper that a nonlinear stability analysis using normal
form method can provide the appropriate picture of the multi-
swing stability without time-domain simulations.
Index Terms--Rotor angle stability, normal form, nonlinearity,
multi-swing stability.
I. INTRODUCTION
Renewable Energy Sources (RES) are increasingly
replacing conventional generators in power grids. RES,
especially wind and photovoltaics, often inject power into the
In the stressed power system, the effect of nonlinearity
increases, and the scope of the small-signal stability analysis
would be very limited. In other words, the region where the
linear approximation is valid would be shrunk. Normal form
analysis, which is a standard theory of nonlinear dynamical
systems [4], [5], has achieved recognition as one of the
powerful techniques for power system analysis [6]-[19]. It can
handle the higher order nonlinear terms and provide more
information about the stability than the small-signal stability
analysis. The increased nonlinearity would raise the
importance of such technique. The authors have developed a
normal form method, where the stability of the oscillation can
be evaluated taking the nonlinearity into account [15-17]. The
effectiveness of the method is demonstrated in several power
system models [16]. In this paper, the normal form method is
applied to the middle and western Japanese power system
model with a high penetration of RES.
The contribution of this paper is twofold. First, it is shown
that the high penetration of RES and the de-commitment of
F
RES RES

network through power electronic converters resulting in the

lack of inertia and synchronizing torque in the grid. In addition,
its voltage support capability is usually lower than that of
synchronous generator. Thus, increasing RES penetration RES RES RES RES RES RES RES RES

affects rotor angle stability [1]-[3]. Figure 1. IEEJ West 10-machine system model.
In this paper, the rotor angle stability of the middle and
Ea0 Efd0 /100
western Japanese power system model with a high penetration 100 4.0
of RES is studied. The transient stability of this model is Ea
+ + 1 + 1
Efd
1.0
mainly restricted by oscillatory instability of inter-area modes, - 1+0.2s + 1+2.0s
- 0.0
which leads to multi-swing instability. The high penetration of -100
RES and the de-commitment of the conventional generators 0.1s
1+0.5s
would make the power system more stressed.
Figure 2. Rotating type exciter model.
 ω0 Pm0 Pm0 +0.05
+ 100 1 +
ω LVG
- 4 1+0.2s + s
Figure 3. Steam turbine governor model.
the generators would increase the effect of nonlinearity on the
rotor angle stability. Second, it is demonstrated that the
nonlinear stability analysis using the normal form method can
provide the appropriate picture of the multi-swing stability in
such a situation without time-domain simulations. Although
the approach is not really new, the results obtained show that
those technique would become more important under large-
scale RES penetration condition.
II. POWER SYSTEM MODEL
In this paper, IEEJ West 10-machine system model [20]
shown in Fig. 1 is studied. It represents the middle and
western 60-Hz area of Japan. However, the model is much
more stressed than the actual power system. There exists
several hundreds of generators in the actual power systems,
and each generator in this model corresponds to the several
tens of generators in the actual power systems. Each generator
is represented by a fifth order model (angle, speed, field flux,
d-axis damper flux, and q-axis damper flux) with a exciter
model and a governor model. The exciter model is shown in
Fig. 2, where Ea is the terminal voltage, and Efd is the
excitation voltage. The governor model is shown in Fig. 3,
where ω is the rotor speed, and Pm is the mechanical input.
In this paper, the generators are replaced with RES to a
certain extent. RES are represented as constant power
components, and the disconnection of RES after a fault is not
considered. The following three RES penetration scenarios are
examined;
 Scenario 1 (no generator de-commitment): No
synchronous generator is de-committed regardless of
the penetration of RES.
 Scenario 2 (100% generator de-commitment):
synchronous generators with 100% of RES capacity
are de-committed. For example, when the penetration
rate of RES is 40% (with respect to the total demand),
40% of generators are de-committed and 60% of
generators are remained on-line.
 Scenario 3 (50% generator de-commitment):
synchronous generators with 50% of RES capacity
are de-committed. For example, when the penetration
rate of RES is 40%, 20% of generators are de-
committed and 80% of generators are remained on-
line.
0.2 1.05
+ 1 1 1 + Pm
5.0 0.7
1+0.25s 1+9.0s
+
- -1000 0.0
0.3
The de-commitment of generators is mimicked by
changing the capacity of the generators in this model. The
over-generation problem is not considered here1.
III. TRANSIENT STABILITY ANALYSIS
The time-domain simulation of a three-phase-to-ground
fault (3LGO) was conducted for the three scenarios with the
fault clearing time varied, and the critical clearing time (CCT)
was obtained. The fault is applied at 0.1 sec at point F in Fig. 1,
and it is cleared by opening one of the double circuits. The
obtained CCT is shown in Fig. 4. It should be noted that the
transient stability is restricted by the oscillatory instability of
the inter-area modes in this power system model.
 In Scenario 1, the transient stability is improved as
the penetration of RES increases, because the net
load decreases2.
 In Scenario 2, the transient stability is deteriorated as
the penetration of RES increases, because the inertia,
synchronizing torque, and the voltage support of
synchronous generators are gradually lost.
 In Scenario 3, regardless of the penetration of RES
the transient stability is maintained at the no-RES
level, because the above two opposite effects are
almost balancing.
As shown in Fig. 4, the high penetration of RES and the
de-commitment of the generators would make the transient
stability worse. It should be noted that the generator capacity
as well as the RES capacity affect the stability. It is necessary
to keep the de-commitment of generators less than 50% with
respect to RES capacity in order to maintain the transient
stability at the no-RES level in this model.
As an example, the simulation results of 50% RES case in
Scenario 3 (25% of generators are de-committed) are shown in
Fig. 5. In Fig. 5(a), the ground fault is skipped (clearing time
is zero), and the oscillation converges in this case. In Fig. 5(b),
the clearing time is 0.04 sec. The behavior of the oscillation
significantly changes due to the nonlinearity, and the multi-
swing instability occurs. It seems that the oscillation modes
whose periods are about 3.0 sec and 1.5 sec are dominant.
1
If the over-generation problem is considered, the power
system might not be able to be operated in some cases studied
in this paper.
2
Although Scenario 1 is the most preferable in terms of the
transient stability, it should be noted that the over-generation
problem is the most severe in Scenario 1 since the largest
number of generators are on-line.
 0.10 1.0
Scenario 1 Scenario 1
Scenario 2 Scenario 2
Scenario 3
Critical clearing time (sec)

0.08 Scenario 3
0.8
0.06

Mode 3

Frequency (Hz)
0.04
0.6

0.02

0.4
0.00 Mode 2
0 10 20 30 40 5
Penetration rate of RE (%)
Figure 4. CCT for three RES penetration scenarios. 0.2
Mode 1

60
G1
G3
0.0
G5 -0.40 -0.30 -0.20 -0.10 0.00 0.10
G7 Dampimg (1/sec)
Rotor angle (deg)

G9
Figure 6. Trajectories of eigenvalues for three RES penetration scenarios.
30

0.4
Mode 1 (-0.19+j1.33)
0.3 Mode 2 (-0.19+j2.88)
Mode 3 (-0.09+j4.61)
0.2
Mode 1, 2, and 3 (pu)

0 0.1
0 2 4 6 8 10 12 14 1
0
Time (sec)
(a) Ground fault is skipped (clearing time is zero). -0.1

360 -0.2
G1
G3 -0.3
270 G5
-0.4
G7
Rotor angle (deg)

0 2 4 6 8 10 12 14 16
G9
180
Time (sec)
(a) Ground fault is skipped (clearing time is zero).
90
4

0 2
Mode 1, 2, and 3 (pu)

-90 0
0 2 4 6 8 10 12 14 16
-2
Time (sec)
(b) Clearing time is 0.04 sec. -4
Figure 5. Simulation results of 50% RES case in Scenario 3.
Mode 1 (-0.19+j1.33)
-6
Mode 2 (-0.19+j2.88)
IV. SMALL-SIGNAL STABILITY ANALYSIS -8
Mode 3 (-0.09+j4.61)

The trajectories of eigenvalues for the three scenarios are 0 2 4 6 8 10 12 14 16

shown in Fig. 6. In each scenario, the penetration rate of RES Time (sec)
is varied from 0% to 50%. The eigenvalues are calculated for (b) Clearing time is 0.04 sec.
the post-fault equilibrium point. The most dominant inter-area Figure 7. Waveforms of modes corresponding to Fig. 5.
modes (Modes 1, 2, and 3) are shown here. The oscillation
periods of Modes 1, 2, and 3 are about 5.0 sec, 2.5 sec, and 1.4
Now, by looking at the trajectories of the eigenvalues of
sec, respectively. The waveforms of those modes
Modes 2 and 3 in Fig. 6, it can be seen that those eigenvalues
corresponding to Fig. 5 are shown in Fig. 7. In Fig. 7(a), those
are destabilized in Scenario 1, and stabilized in Scenario 2 as
modes decay in accordance with the eigenvalues. In Fig. 7(b),
the penetration of RES increases. It should be noted that while
the nonlinearity significantly changes the behavior of those
the small-signal stability in Scenario 2 is improved, the
modes and the oscillatory instability is caused by Modes 2 and
transient stability in Scenario 2 is deteriorated as shown in Fig.
3.
4. The opposite applies in Scenario 1. It means that the high
penetration of RES and the de-commitment of the generators
 1 0 ̅ ̅
0 ̅ ̅
0 0
̅ ̅ ̅ ̅ ̅ ̅ ̅ ̅
̅ ̅ ̅ ̅ ̅ ̅ ̅ ̅ (7)
̅ ̅ ̅ ̅ ̅

can make the effect of nonlinearity increase and the scope of

the small-signal stability analysis very limited. In other words,
the stability of the equilibrium point can be evaluated properly, ,, , (4)
the region where the oscillation behaves in accordance with
the eigenvalues would be shrunk. Thus, an analytical method r
that can handle the nonlinearity would become more important. all the second order terms can be eliminated; that is, F2
becomes zero:
V. STABILITY ANALYSIS USING NORMAL FORM METHOD
dw/dt = Jw - Dh2(w)Jw + Jh2(w) + F2(w) + O(|w|3)
A. Formulation using Normal Form Theory
= Jw + F3'(w) + O(|w|4). (5)
When an oscillation is oscillatory unstable due to
3
nonlinearity for a large disturbance although an oscillation is The coefficients of h3 can be determined in the same way .
stable for a small disturbance, an oscillation usually repeats
When there exists resonance between eigenvalues where
periodically without decaying or diverging in the boundary
the eigenvalues satisfy the following condition:
case. Such orbit is called a "limit cycle". In the evaluation of
the oscillation stability, it is important to obtain the limit cycle λ ≃ or λ ≃ or ≃ , (6)
that anchors the transient stability boundary. The limit cycle r
can be obtained approximately using the normal form method some nonlinear terms corresponding to Fi cannot be
proposed in [15]. eliminated, and those terms determine the essential nonlinear
feature of the system.
The normal form theory provides a way of transformation
of a dynamical nonlinear system into the simplest possible In IEEJ West 10-machine system model, λ 3 is almost
form, which is called "normal form" [4], [5]. The remained twice of λ1 and λ2, and there exists 1:1:2 resonance between
nonlinear terms in the normal form represent the substantial Modes 1, 2, and 3. The normal form for 1:1:2 resonance
4
difference from the linear system, and they determine the between Modes 1, 2, and 3 can be written as (7) (See at the
essential feature of the nonlinear system. The formulation of top of this page). In polar coordinates, (7) can be written as
the normal form theory are explained briefly here. The detail follows:
description can be found in [4], [5], [15].
dr1/dt = f1(r1, r2, r3, 2θ1 - θ3, 2θ2 - θ3)
The dynamics of a power system described by a
dr2/dt = f2(r1, r2, r3, 2θ1 - θ3, 2θ2 - θ3)
differential equation dx/dt = f(x) can be transformed into the
following form: dr3/dt = f3(r1, r2, r3, 2θ1 - θ3, 2θ2 - θ3) (8)
dy/dt = Jy + F2(y) + F3(y) + ..., (1) d(2θ1 - θ3) /dt = f4(r1, r2, r3, 2θ1 - θ3, 2θ2 - θ3)
−1
where y = P (x − xSEP), xSEP is a stable equilibrium point, and d(2θ2 - θ3) /dt = f5(r1, r2, r3, 2θ1 - θ3, 2θ2 - θ3)
P is the matrix of right eigenvectors. Jy denotes the linear term
and Fi(y) denotes the i-th order term in the Taylor series The limit cycle can be approximately obtained as the
expansion of F(y). solution of the algebraic equation obtained by equating the
right-hand side of (8) to zero. We call the obtained ri "critical
Using a sequence of the following analytic coordinate amplitudes". Although the critical amplitudes of the resonant
changes: modes are associated with the degree of multi-swing stability5,
they are multiple indexes, and it is not straightforward to use
y = w + h2(w), w = z + h3(z), ..., (2)
them.
where hi consists of only i-th order terms, the following
normal form (the simplest possible form) can be obtained:
dz/dt = Jz + F2r(z) + F3r(z) + ... (3)
In this paper, the third-order normal form is used; that is, 3
up to the third order terms F3r(z) are considered in (3). However, it should be noted that the coordinate change y =
w + h2(w) transforms the third-order terms from F3 to F3'.
The coefficients of hi are determined so as to eliminate 4
Because 1:1 resonance between Modes 1 and 2 exists, J in
nonlinear terms in (3) as much as possible. For example, if (7) is not a diagonal matrix [13], [15].
there does not exist any resonance between eigenvalues, by 5
For example, if all of the critical amplitudes are small, the
determining the coefficients of h2 as follows: oscillatory instability is likely to occur for a disturbance.
 Thus, "critical energy" is used as an index for multi-swing 4.5
Normal form: Mode 1
stability in this paper6. The critical energy E is defined as the 4.0 Exact solution: Mode 1

Critical amplitude of Mode 1, 2, and 3

Normal form: Mode 2
maximum kinetic energy of the limit cycle during a oscillation 3.5 Exact solution: Mode 2
period: 3.0
Normal form: Mode 3
Exact solution: Mode 3

in Scenario 1
2.5
max ∑ ∆ (9)
2.0

where NG is the number of generators, Mj is the inertia 1.5

constant of generator j, and ΔωjCOA(t) is the rotor speed 1.0

deviation of generator j from the center of inertia. The critical 0.5
energy can be approximately calculated using the limit cycle 0.0
obtained by the normal form method. 0 10 20 30 40 50
Penetration rate of RE (%)
The critical energy would represent the degree of multi-
(a) Critical Amplitudes in Scenario 1.
swing stability. For example, if the critical energy is small, it
3.5
means that the oscillatory instability likely to occur for a Normal form: Mode 1
Exact solution: Mode 1
disturbance. The effectiveness of the critical energy is verified

Critical amplitude of Mode 1, 2, and 3

3.0 Normal form: Mode 2
in the next section. Exact solution: Mode 2
2.5 Normal form: Mode 3
Exact solution: Mode 3
B. Verification of Effectiveness of Normal Form Method and

in Scenario 2
2.0
Energy Index
1.5
Figs. 8 and 9 show the comparison of the critical
amplitudes and the critical energy between the exact solutions 1.0
and the normal form method. The exact solution of the limit 0.5
cycle was obtained by "shooting method" [21], where an
initial value of the limit cycle that satisfies the boundary 0.0
0 10 20 30 40 50
condition x(T) = x(0) is calculated using the Newton–Raphson
iterative procedure7. Here, the shooting method is just used to Penetration rate of RE (%)

verify the accuracy of the approximated limit cycle obtained (b) Critical Amplitudes in Scenario 2.
by the normal form method. It can be seen that the normal 4.5
Normal form: Mode 1
form method gives a good approximation of the limit cycle. 4.0 Exact solution: Mode 1
Critical amplitude of Mode 1, 2, and 3

Normal form: Mode 2

3.5 Exact solution: Mode 2
The multi-swing stability for the three RES penetration Normal form: Mode 3
scenarios suggested by the critical energy shown in Fig. 9 is as 3.0 Exact solution: Mode 3
in Scenario 3

follows: 2.5
2.0
 In Scenario 1, the oscillation stability is improved as
1.5
the penetration of RES increases.
1.0
 In Scenario 2, the oscillation stability is deteriorated 0.5
as the penetration of RES increases. 0.0
0 10 20 30 40 50
 In Scenario 3, regardless of the penetration of RES
the oscillation stability is almost maintained at the Penetration rate of RE (%)

no-RES level. (c) Critical Amplitudes in Scenario 3.

Figure 8. Comparison of critical amplitudes between the exact solutions
Now, by comparing the above results with the time- and the normal form method.
domain simulation results in Section III, it can be seen that the
critical energy can provide the appropriate picture of the
8
multi-swing stability in this model without time-domain Normal form: Scenario 1
simulations. Thus, the critical energy would be useful as a 7 Exact solution: Scenario 1
Normal form: Scenario 2
metric to maintain the rotor angle stability with the high 6 Exact solution: Scenario 2
penetration of RES. For example, it would be able to utilized Normal form: Scenario 3
Critical energy

5 Exact solution: Scenario 3

in generation unit commitment/dispatch and control design to
4
maintain or enhance the stability.
3

1
6
In [17], the critical energy is calculated by summing up the 0
energy of each mode. In this paper, the calculation method is 0 10 20 30 40 50

modified to calculate directly it using the obtained limit cycle. Penetration rate of RE (%)
7
The shooting method is time-consuming, and requires an Figure 9. Comparison of critical energy between the exact solutions and
the normal form method.
appropriate initial value before the iterative procedure.
 VI. CONCLUSION
In this paper, the rotor angle stability of the middle and
western Japanese power system model with a high penetration
of RES was studied. It has been made clear that the high
penetration of RES and the de-commitment of the generators
would increase the effect of nonlinearity and that the scope of
the small-signal stability analysis would be very limited. It
was shown that the proposed energy index based on the
normal form method can appropriately evaluate the multi-
swing stability without time-domain simulations. Application
to other power system models is the next step of the research.
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