Voltage Stability Assessment using Synchrophasor
Measurements: Trends and Development
Jaime D. Pinzón
Institute of Electrical Energy
National University of San Juan - CONICET
San Juan, Argentina
jpinzon@iee.unsj.edu.ar
Abstract—An analysis of the state of the art of voltage stability
assessment using synchrophasor measurements is presented in
this paper. In the analysis, it is applied a bibliographic
classification methodology based on a systematic method of
evaluating features. The main features of methods for voltage
stability assessment are identified and an evaluation system of
these features is designed depending on the methodological,
functional or technological advantages; such as the ability to
assess in real time and the automatic control approach. Finally,
these methods are classified from the evaluation of each feature.
As a result of the implementation of the methodology, the trend
in the development of voltage stability assessment methods is
identified. In addition, the different approaches of voltage
stability assessment are detected according to the type of
disturbance (large or small) and the time in which the instability
occurs (short term or long term).
Index Terms—State of the art, Voltage stability, Phasor
measurement units, Wide-area monitoring, Disturbances, Real
time.
I. INTRODUCTION
In recent years, power systems have been operated near to
their stability limits due to the progressive increase in demand,
a lack of investment in transmission infrastructure and an
increase in the complexity of the operation. In these
conditions, an unexpected contingency, such as the loss of
critical transmission lines or generators, can cause an
avalanche of cascade outputs, the progressive increase of
system stress, a continuous decrease of bus voltages until
exceeding the operation thresholds reaching voltage
instability.
Voltage stability has become a serious concern for the
electricity sector, as several of the major collapses have been
related to voltage instability, as shown in [1], [2], which
caused large economic and social losses.
Nowadays, the phasor measurement unit (PMU) open new
opportunities for the design of novel early warning systems
and closed loop control applications, which can help to
prevent cascade outputs and collapses. The main advantages
of PMU technology are time synchronization of measurements
using GPS, high accuracy, and high sampling rate. Which
D. Graciela Colomé
Institute of Electrical Energy
National University of San Juan - CONICET
San Juan, Argentina
colome@iee.unsj.edu.ar
allow the development of advanced applications for voltage
stability assessment [3].
In this sense, new methodologies for voltage stability
assessment using PMUs were proposed by different authors.
The methodologies focus on a specific phenomenon such as
short-term or long-term voltage stability and use several
approaches to monitoring it. The analysis of different methods
allows identifying features, the trend in the subject and to find
research niche areas.
The paper is organized as follows. The methodology
proposed for the literature review is presented in Section II.
The selection and description of those features present in the
methods used for the voltage stability assessment are detailed
in Section III. Each feature is assigned a score in Section IV.
Results of the literature review according to the evaluation of
the features of the methods are presented in Section V.
Subsequently, the state of the art is characterized and the trend
of the methods is identified. Finally, conclusions are
presented.
II. METHODOLOGY FOR THE ANALYSIS OF THE STATE OF
THE ART
The analysis of the state of the art is from the
implementation of the methodology shown in Fig. 1. This
methodology allows identifying a large number of papers
from data bases and then finding the most relevant ones on
the subject by applying a set of filters. First, the descriptors or
keywords of the subject are defined to perform the search of
scientific documents in a database. The main bibliography
(98 papers) is collected from the search. Then the
combinations of quotations and references of papers of the
main search are analyzed to get those papers that quoted the
papers of the main search and papers that were referenced by
the papers of the main search. Subsequently, papers related
to voltage stability assessment using synchrophasor
measurements (72 papers) are selected examining the set of
papers of the main search plus references and quotations (152
papers). After analyzing the 72 papers, new methods with
singular features (29 papers) are chosen.
 Start
Definition of descriptors and search parameters
Bibliographic search in scientific databases
Bibliography of the main search
Analysis of references and quotes
Bibliography of search, references and quotes
Selection from title, abstract and conclusions
Bibliography for detailed analysis
Analysis and classification of papers
Identification of features
Evaluation of features
Final classification of papers
Characterization of the state of the art and
identification of the trend
End
Fig. 1 Flow diagram of the methodology
In the following step, the identification and evaluation of
the main features are performed in terms of the
methodological, functional or technological advantages that
they represent for the power system. Thus, the previously
selected papers are classified using the features and the
evaluation system of these features. Finally, the state of the
art is characterized and the trend in the subject is identified.
III. DESCRIPTION OF THE FEATURES
There are different methods for voltage stability
assessment, which have specific characteristics that allow
analyzing the phenomenon from different approaches. The
use of phasor measurements to compute the voltage stability
of the power system is the common feature of all methods
analyzed. Below the most important features that were
selected to analyze methods for voltage stability assessment
are presented.
A. Type of disturbance
Small-disturbance Voltage Stability: It is concerned with
a power system`s ability to maintain steady acceptable
voltages at all buses under small disturbances, such as
incremental load changes. This form of stability is influenced
by the characteristics of loads, continuous and discrete
controls at a given instant of time [4].
Large-disturbance Voltage Stability: It is concerned with
a power system`s ability to maintain steady acceptable
voltages at all buses under large disturbances, such as failure,
loss of generation or transmission lines contingencies [4].
This ability is determined by load characteristics and the
interactions of both continuous and discrete control and
protections [5].
B. Study time
The time frame in which voltage instability phenomenon
develops may vary from a few seconds to dozens of minutes.
On the one hand, when the period of interest is a few seconds
and the dynamic state of the system is dominated by loads
with fast dynamic behavior, such as induction motors,
electronically controlled loads, and HVDC converters, the
problem is related to Short-term Voltage Stability
On the other hand, when the period of interest extends to
several minutes and the dynamic state of the system is
dominated by the performance of slow response components,
such as under load tap changers (ULTC), loads controlled by
thermostats and overexcitation limiters (OEL), it is said that it
is a problem of Long-term Voltage Stability [4].
C. Type of study
Voltage stability assessment methods can be classified as
static and dynamic. On the one hand, Static methods use the
results of the standard analysis of load flows in a specific
operating condition, and allow to assess the long-term
stability [6], [7].
On the other hand, Dynamic methods generally use
results of time domain simulations and in order to detect
short-term and long-term voltage instability the power system
components are accurately modelled. In these methods, the
dynamic behavior of loads, generators, automatic voltage
regulators (AVR) and the ULTC of transformers are
considered in the simulation process [6], [8].
D. Type of application
Online Assessment: An online analysis involves using
data with low refresh rate or delay. Besides, the
computational process to determine the stability is not fast
enough [9].
Real-time Assessment: Input data exhibits the most recent
state of system conditions. The processing is completed with
short delay and therefore the output is available almost
instantly, typically in one or two seconds [9].
E. Type of monitoring
PMU-based voltage stability monitoring can be classified
into two broad categories [10]. On the one hand, methods
based on Local measurements exchange little or no
information between the monitoring points. These methods
only take advantage of the high sampling rate of PMU
measurements without the time synchronization.
On the other hand, methods based on Wide-area
measurements require observability of the entire zone prone
to voltage instability. These methods offer the potential
advantage of wide-area monitoring. The measurements must
be synchronized for accurate monitoring of the dynamics of differential-algebraic equations (DAE). The second group is
the power system states. related to Network Equivalent computation or estimation.
According to the maximum power transfer theorem when the
F. Type of assessment load impedance is less than the network impedance,
In general, any notification about the occurrence of instability occurs. Thus, several of these methods focus on
voltage instability in power systems has to be timely; so that tracking the Thévenin impedance. The third group is based on
the period between the time in which the voltage instability or Artificial Intelligence methods, which apply machine
collapse is reported and the time of its final occurrence must learning techniques, such as decision trees (DT), artificial
be large enough to allow applying effective corrective neural network (ANN) and support vector machine (SVM).
measures. Some methods of these three groups are combined with data
mining techniques to get more information from
In the international literature, there are several methods measurements, clustering, feature selection, feature extraction
for Voltage Instability Detection, which assess the voltage and dimension reduction.
stability in current operating condition. In addition, there are
methods for Voltage Instability Prediction, which assess IV. EVALUATION OF FEATURES
stability to future operating conditions [8]. In TABLE I the evaluation was performed assigning a
score to each feature. The last column shows for each feature,
G. Type of measurements used the percentage of publications (PoP) that include the feature.
These measurements used can be classified into three This value is calculated with reference to the total of
categories [8]. First, methods using measurement data of the publications.
Post-disturbance frame to voltage stability assessment of the TABLE I. EVALUATION OF FEATURES
operating state after the disturbance. Second, methods that do
Nº Feature Option Score PoP [%]
not need post-disturbance data and only use Pre-disturbance
Small disturbances - 53.33
data, for instance, methods that implement the concept of Type of
A Large disturbances - 30.00
voltage stability region as well as methods based on the disturbance
S&L - 16.67
modal analysis, PQ curve and PV curve. These methods are Long term - 90.00
not able to assess when there is dynamic behavior in devices; B Study time
Short term - 10.00
this is the main disadvantage, for example in the short-term Static 0.5 50.00
phenomenon. Third, methods that use Pre & Post- C Type of study
Dynamic 2 50.00
disturbance data for a complete analysis of stability consider Type of Online 1 26.67
the state of the power system before and after disturbance. D
application Real time 2 73.33
Type of Local 0.5 20.00
H. Control Approach E
monitoring Wide area 2 80.00
The information provided by the stability assessment and Type of Detection 1 76.67
the moment it is given defines the control approach of the F
assessment Prediction 2 23.33
method. The control approach can be of two ways [9], [11]: Type of Pre-disturbance 0.5 20.00
G measurements Post-disturbance 1 53.33
Manual Control: It is a type of control that is used Pre & Post 2 26.67
implemented by an operator after some kind of alert, who Control Manual 1 73.33
through monitoring different phenomena decides to H
approach Automatic 2 26.67
implement a control action. Methods with a manual control Type of Analytical - 30.00
approach provide indexes that allow the operator to identify if I assessment Network equivalent - 40.00
the system is stable or it is close to instability in order to method Artificial intelligence - 30.00
prevent a voltage collapse by executing control actions.
In relation to the type of study the fact of considering the
Automatic Control: It is a type of control that is dynamics allows a greater analogy with real systems as well
implemented when fast action is needed to stop the as the analysis of phenomena in the short and long term.
propagation of a disturbance. In the literature of voltage Therefore, it gets a higher score than the static study. For the
stability assessment, there are methods which provide type of application, the highest score is assigned to the real-
information directly to control systems for timely action, time assessment, because it is a feature that is looking at the
either in an open loop or closed loop emergency control stability assessment tools to give solutions to operation
system. problems. Moreover, wide-area monitoring of electrical
variables using time synchronization of PMUs is a desirable
I. Type of assessment method feature to get information on the stability of the whole power
Methods for voltage stability assessment can be broadly system.
classified into three groups. The first group is based on
Analytical methods, which compute indexes by solving
 In the type of assessment, the highest score is assigned to assessing small-disturbances stability, 16.67% analyzing
methods that are able to predict instability, because it small and large disturbances and 30% assessing only large
evaluates future operating conditions with a longer time to disturbances. The low PoP of the large disturbances feature is
apply control measures. Control measures must operate as mainly due to the difficulty in analyzing fast dynamics during
quickly as possible to prevent the spread of the disturbance, transients when outputs of transmission lines or generators
instability and collapse, so the automatic control approach has occur.
a score higher than the manual approach. For voltage stability
assessment the highest score in the type of measurement used There is a big gap concerning the study time. The long-
is for the pre & post-disturbance measurements, because it term phenomenon has been more studied and assessed than
allows to get a broader picture of the power system status the short-term phenomenon, long term with PoP equal to 90%
before the disturbance and to assess the impact of disturbance and short term with a very low PoP equal to 10%; those
to improve the performance of the assessment. methods that assess the short term are highlighted in TABLE
V. STATE OF THE ART AND TREND II. Some reasons for this great contrast are:
Results of the method of literature review are shown in
 Difficulty to solve differential-algebraic equations (DAE)
TABLE II; the evaluation of each method depends on the
which define the short-term dynamics.
score assigned to each feature in TABLE I.
 High computational time used in the stability assessment
From the PoP of TABLE I and the matrix information in
and in finding the points of operation in which the
TABLE II, the analysis of the state of the art and the trend in
combined transmission and generation systems are not
the development of methods of voltage stability assessment
able to dynamically supply power to load, making
using synchrophasor measurements is presented below.
difficult its application in real time or online.
It has been detected that methods are classified first by the
type of disturbance analyzed, of which there is a 53.33%  Difficulty to find short-term assessment outputs that are
physically representative and understandable.
TABLE II BIBLIOGRAPHIC CLASSIFICATION
Features
Ref. Year Total
A B C D E F G H I
[12] 2003 Small Long term 0.5 1 2 1 0.5 2 Network equivalent 7
[13] 2004 Small Long term 0.5 2 0.5 1 1 2 Analytical 7
[14] 2006 S&L Long term 2 2 0.5 1 1 1 Network equivalent 7.5
[15] 2008 Small Long term 2 2 0.5 1 1 1 Network equivalent 7.5
[10] 2009 Large Long term 2 2 2 2 0.5 1 Analytical 9.5
[16] 2009 Large Long term 2 2 2 2 0.5 1 Analytical 9.5
[17] 2009 Large Long term 0.5 1 2 1 2 1 Artificial intelligence 7.5
[18] 2009 Small Long term 0.5 1 0.5 1 1 1 Network equivalent 5
[19] 2009 Large Long term 2 2 2 1 1 1 Network equivalent 9
[20] 2010 S&L Long term 0.5 2 2 1 2 1 Artificial intelligence 8.5
[21] 2010 Small Long term 2 2 2 1 1 2 Network equivalent 10
[22] 2011 Small Long term 0.5 1 0.5 1 0.5 1 Network equivalent 4.5
[6] 2012 Small Long term 2 2 2 2 1 1 Artificial intelligence 10
[23] 2013 Large Short term 2 2 2 1 1 1 Analytical 9
[24] 2013 Small Long term 2 2 2 1 0.5 2 Analytical 9.5
[25] 2013 S&L Long term 0.5 2 2 2 2 1 Artificial intelligence 9.5
[26] 2014 Small Long term 2 2 2 1 1 1 Network equivalent 9
[8] 2014 Small Long term 2 2 2 2 2 2 Artificial intelligence 12
[8] 2014 Small Short term 2 2 2 2 2 2 Artificial intelligence 12
[27] 2015 Large Long term 0.5 1 2 2 1 1 Network equivalent 7.5
[28] 2015 Small Long term 0.5 2 2 1 1 1 Network equivalent 7.5
[29] 2015 Small Long term 0.5 2 2 1 0.5 1 Artificial intelligence 7
[30] 2015 Large Long term 0.5 2 2 1 2 1 Artificial intelligence 8.5
[31] 2015 Small Long term 0.5 1 2 1 1 1 Analytical 6.5
[32] 2015 S&L Long term 0.5 1 2 1 1 1 Network equivalent 6.5
[33] 2015 Small Long term 2 2 2 1 2 2 Analytical 11
[34] 2015 S&L Long term 0.5 1 2 1 2 1 Analytical 7.5
[35] 2015 Large Long term 2 2 0.5 1 1 2 Network equivalent 8.5
[36] 2016 Large Short term 2 2 2 1 1 1 Artificial intelligence 9
[37] 2016 Small Long term 0.5 2 2 1 1 1 Analytical 7.5
 The type of study is a high impact approach. It determines
the interactions between the system components that allow
analyzing the phenomenon. Static methods are proposed in
50% of the publications analyzed and the other 50% are
dynamic methods.
Real-time application methods are proposed in 73% of the
papers, this value and the analysis of the state of the art show
that real-time application is a useful feature for the operation
of power systems nowadays.
Methods have been proposed to assess the voltage
stability using time synchronization of the PMUs and
information of the electrical variables of the whole power
system. In relation to those publications analyzed, 80%
included wide-area measurements in a WAMS for stability
assessment, while 20% performed the assessment only from
local measurements.
In the type of assessment, 76.67% of the reviewed
literature was widely inclined to detect the instability
phenomenon and only 23.33% were able to predict it. The
prediction of instability with high accuracy in real time is
difficult due to the dynamic behavior of complex and large
power systems.
The determination of the time frame of the measurements
is still a challenge; 20% of the papers used pre-disturbance
measurements, 53.33% post-disturbance and 26.67% required
pre & post-disturbance measurements.
The control approach of the literature analyzed was
manual control, this approach has the PoP equal to 73.33%
versus a 26.67% oriented to automatic control. It should be
remarked that most papers focus on the long-term
phenomenon; therefore, in events that take a few minutes
with the possibility of operator intervention, it is sometimes
possible to dispense with automatic control. However, for fast
events and short study times it is necessary to choose the
automatic control approach.
In relation to the group of methods, those methods based
on equivalent network have the highest PoP equal to 40%,
these methods have advantages such as simplicity in the
computation, have good performance in assessing of long-
term stability under small disturbances and the complete
model of the network is not needed. There are some
limitations, such as the computation of the equivalent is not
the same PMUs update rate, they do not allow the dynamic
assessment. Moreover, during transients with changes in the
network topology, it is not possible to estimate the equivalent
in real time.
Analytical methods generally determine reactive power
reserves of generators. These methods have high
computational times because of the calculation of differential-
algebraic equations, which do not allow real-time results.
Besides, some methods need additional measurements to
those provided by PMUs as excitation field currents of
generators, which are not always available.
Finally, methods based on artificial intelligence have fast
processing and can respond in real time. In one hand, these
methods are able to handle a large amount of PMU-WAMS
information in large systems with complex dynamics.
Moreover, they can be used for the short-term and long-term
voltage stability assessment. On the other hand, the need of
electrical network dynamic models for the offline training is
one of their limitations and when power systems have
expansions or changes it is possible to need the retraining of
the learning machine, which is another limitation.
From the above it is recognized that the trend in the
development of voltage stability assessment methods is: 1)
the use of wide-area measurements with PMU-WAMS, 2) the
inclusion of dynamic components with difficult modeling, 3)
the possibility of performing the real-time detection of the
phenomena, 4) although the majority of the methods has
focused on the long-term phenomenon, in recent years
interest has increased in the short term phenomenon, 5)
methods assess mainly the effect of small disturbances, 6) the
use of post-disturbance measurements only, although there is
interest in pre & post-disturbance measurements for the
information they provide and 7) methods have generally
focused on manual control.
VI. CONCLUSIONS
In recent years, the use of PMUs in power systems has
been extended, which offers great advantages for voltage
stability assessment. Therefore, this paper has presented an
analysis of the different approaches proposed for the voltage
stability assessment through a method of systematic
bibliographic classification. The features of the different
methods were identified and the impact of these features in
the stability assessment was analyzed assigning a score to
each feature.
The trend in the long-term voltage stability assessment is
to detect real-time instability using wide-area measurements
at the post-perturbation stage. This was obtained through
bibliographic classification. State-of-the-art analysis has
shown that short-term stability assessment is still a challenge,
and PMUs represent a great opportunity for analyzing it. The
high update rate of the PMU measurements allows tracking
the fast dynamics of the system, while calculation capacity of
control centers allows delivering information in real time to
automatic control systems.
In relation to the type of disturbance, small disturbances
have been of concern and most of the methods have analyzed
them with a static approach. On the other hand, large
perturbations have fast dynamics and the real-time
assessment using PMU-WAMS technology and methods
based on artificial intelligence are required for their analysis.
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