BRUNEL UNIVERSITY LONDON

College of Engineering, Design and Physical Sciences

Department of Electronic and Computer Engineering

MSc Course: Sustainable Electrical Power (Part-Time)

Module Name: Power System Stability and Control
Module Code: EE5521
Assignment Code: 5521/1
Title of Assessment: Automatic Generation Control (AGC)

By
Student ID:
Submission Deadline:
Table of Contents
1.0 TABLE OF FIGURES .......................................................................................................... 2
2.0 INTRODUCTION ............................................................................................................... 3
3.0 TASK 1 ............................................................................................................................. 4
3.1 Solution to Task 1 ........................................................................................................ 4
4.0 TASK 2 ............................................................................................................................. 5
4.1 Solution to Task 2 ........................................................................................................ 5
5.0 TASK 3 ............................................................................................................................. 6
5.1 Solution to Task 3 ........................................................................................................ 6
6.0 TASK 4 ............................................................................................................................. 6
6.1 Solution to Task 4 ........................................................................................................ 7
7.0 TASK 5 ........................................................................................................................... 10
7.1 Solution to Task 5 ...................................................................................................... 10
8.0 TASK 6 ........................................................................................................................... 13
8.1 Solution to Task 6 ...................................................................................................... 13
9.0 CONCLUSION ................................................................................................................. 16
10.0 REFERENCES .................................................................................................................. 16

Assignment EE5521/1 Page | 1

1.0 TABLE OF FIGURES

FIGURE 1: SIMULINK FILE “5521_1.MDL” SCHEMATIC DIAGRAM OF TWO AREA SYSTEM.......................................................... 6

FIGURE 2: MATLAB CODE FOR K1=K2=0 ........................................................................................................................ 7
FIGURE 3: THE GENERATIONS IN AREA 1.......................................................................................................................... 7
FIGURE 4: THE GENERATIONS IN AREA 2.......................................................................................................................... 8
FIGURE 5: THE FREQUENCY DEVIATION IN AREA 1 ............................................................................................................. 8
FIGURE 6: THE FREQUENCY DEVIATION IN AREA 2 ............................................................................................................. 9
FIGURE 7: THE FLOW ON TIE-LINE BETWEEN AREA 1 AND AREA 2......................................................................................... 9
FIGURE 8: MATLAB CODE FOR K1=0 AND K2=0.001 ...................................................................................................... 10
FIGURE 9: THE GENERATIONS IN AREA 1........................................................................................................................ 10
FIGURE 10: THE GENERATIONS IN AREA 2 ..................................................................................................................... 11
FIGURE 11: THE FREQUENCY DEVIATION IN AREA 1 ......................................................................................................... 11
FIGURE 12: THE FREQUENCY DEVIATION IN AREA 2 ......................................................................................................... 12
FIGURE 13: THE FLOW ON TIE-LINE BETWEEN AREA 1 AND AREA 2..................................................................................... 12
FIGURE 14: MATLAB CODE FOR K1=0.001 AND K2=0.001 ............................................................................................. 13
FIGURE 15: THE GENERATIONS IN AREA 1 ..................................................................................................................... 13
FIGURE 16: THE GENERATIONS IN AREA 2 ..................................................................................................................... 14
FIGURE 17: THE FREQUENCY DEVIATION IN AREA 1 ......................................................................................................... 14
FIGURE 18: THE FREQUENCY DEVIATION IN AREA 2 ......................................................................................................... 15
FIGURE 19: THE FLOW ON TIE-LINE BETWEEN AREA 1 AND AREA 2..................................................................................... 15

Assignment EE5521/1 Page | 2

2.0 INTRODUCTION
The aim of this assignment is to:

• To know operations of governor-frequency control and LFC;

• To know how to calculate frequency drop in isolated areas;
• To know how to carry out simulation on AGC using MATLAB.
Automatic Generation Control (AGC) plays an important role in the large scale multi-area
interconnected power systems to maintain system frequency and tie-line powers at their
nominal values. Due to sudden disturbances or some other reasons if the generated active
power becomes less than the power demand, the frequency of generating units tends to
decrease and vice versa. This causes the system frequency to deviate from its nominal value
which is undesirable. To damp out the frequency deviation quickly and to keep the tie-line
power at its scheduled value, AGC concept is used.

Turbine-governor control eliminates rotor accelerations and decelerations following load

changes during normal operation. However, there is a steady-state frequency error ∆𝑓𝑓 when
the change in turbine-governor reference setting ∆𝑃𝑃𝑟𝑟𝑟𝑟𝑟𝑟 is zero. One of the objectives of load-
frequency control (LFC), therefore, is to return ∆𝑓𝑓 to zero. In a power system consisting of
interconnected areas, each area agrees to export or import a scheduled amount of power
through transmission-line interconnections, or tie-lines, to its neighboring areas. Thus, a
second LFC objective is to have each area absorb its own load changes during normal
operation. This objective is achieved by maintaining the net tie-line power flow out of each
area at its scheduled value [1].

The following summarizes the two basic LFC objectives for an interconnected power system.
Following a change in the load, each area should assist in returning the steady-state frequency
error ∆𝑓𝑓 to zero [1].
1. Following a change in the load, each area should assist in returning the steady-state
frequency error ∆𝑓𝑓 to zero.
2. Each area should maintain the net-line power flow out of the area at its scheduled
value, in order for the area to absorb its own load changes.

The following control strategy developed by N. Cohn meets these LFC objectives. The area
control error (ACE) defined as [1]:

𝐴𝐴𝐴𝐴𝐴𝐴 = �𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡 − 𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡,𝑠𝑠𝑠𝑠ℎ𝑒𝑒𝑒𝑒 � + 𝐵𝐵𝑓𝑓 (𝑓𝑓 − 50) OR 𝐴𝐴𝐴𝐴𝐴𝐴 = ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡 + 𝐵𝐵𝑓𝑓 ∆𝑓𝑓

Where:

• ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡 : The deviation in net tie-line powerflow out of the area from its scheduled value
𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡,𝑠𝑠𝑠𝑠ℎ𝑒𝑒𝑒𝑒 .
• ∆𝑓𝑓: The deviation of area frequency from its rated value (50 Hz) – in the UK
• 𝐵𝐵𝑓𝑓 : A frequency bias constant.

Assignment EE5521/1 Page | 3

3.0 TASK 1
A power system consists of two interconnected areas, Area 1 has 1000 MW of generation and
an area frequency response characteristic 𝛽𝛽1 = 80 MW/Hz. Area 2 has 2000 MW of
generation and 𝛽𝛽2 = 127 MW/Hz. Each area is initially operating at one-half its total
generation, at ∆Ptie1=∆Ptie2=0, when load in area 1 suddenly increases by 400 MW.
Determine the steady-state frequency error, generation change and the steady-state tie-line
error of each area. Assume no LFC is activated in the system. Neglect losses and the
dependence of load on frequency.

3.1 Solution to Task 1

No. Equation Description

Area 1 and Area 2 are
interconnected, therefore the
𝛥𝛥𝑃𝑃𝑚𝑚1 + Δ𝑃𝑃𝑚𝑚2 = �Δ𝑃𝑃𝑟𝑟𝑟𝑟𝑟𝑟1 + Δ𝑃𝑃𝑟𝑟𝑟𝑟𝑟𝑟2 � − (𝛽𝛽1 + 𝛽𝛽2 )Δ𝑓𝑓 steady-state frequency error ∆𝑓𝑓 is
1
the same for both Areas. Where
∆𝑃𝑃𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 is the change in reference
power setting.
Equation (1) becomes equation (2)
because the losses and the
400 + 0 = (0) − (80 + 127)Δ𝑓𝑓
dependence of load on frequency
Then; are neglected, the steady-state
2 increase in total mechanical power
400 of both Areas equals the load
Δ𝑓𝑓 = = −1.93237 Hz
− 207 increase of 400MW. Also ∆𝑃𝑃𝑟𝑟𝑟𝑟𝑟𝑟1
and ∆𝑃𝑃𝑟𝑟𝑟𝑟𝑟𝑟2 are both zero without
LFC Hence.
Since ∆𝑃𝑃𝑟𝑟𝑟𝑟𝑟𝑟1 = ∆𝑃𝑃𝑟𝑟𝑟𝑟𝑟𝑟2 = 0
∆𝑃𝑃𝑚𝑚1 = − 𝛽𝛽1 ∆𝐹𝐹
substituting this value to Area 1 and
∆𝑃𝑃𝑚𝑚1 = (−80) × (−1.93237) = 154.59 𝑀𝑀𝑀𝑀 Area 2.

3 And; Due the suddenly increase of load

in Area 1 by 400 MW, both Area 1
∆𝑃𝑃𝑚𝑚2 = − 𝛽𝛽2 ∆𝐹𝐹 and Area 2 generation increases by
∆𝑃𝑃𝑚𝑚2 = (−127) × (−1.93237) = 245.41 𝑀𝑀𝑀𝑀 154.59 MW and 245.41 MW,
respectively.
∆𝑃𝑃𝑖𝑖 = ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡 − ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡,𝑠𝑠𝑠𝑠ℎ𝑒𝑒𝑒𝑒
The tie-line power flow of Area 1
Therefore; and Area 2.

4 ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡1 = 154.59 − 400 = −245.41 MW The 245.41 MW from Area 2 is

transferred to Area 1 through the
And; tie-lines.

∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡2 = 245.41 − 0 = 245.41 MW

Assignment EE5521/1 Page | 4

4.0 TASK 2
If LFC is activated in area 2 alone, calculate changes in frequency, the generation in area 1
and power flow on the tie line. The area 2 frequency bias coefficient is set at B2=𝛽𝛽2=127
MW/Hz. Assume that LFC in area 1 is inoperative due to a computer failure. Explain your
results.

4.1 Solution to Task 2

No. Equation Description

Assume that LFC in Area 1 is
5 𝛥𝛥𝑃𝑃𝑚𝑚1 = Δ𝑃𝑃𝑟𝑟𝑟𝑟𝑟𝑟1 − 𝛽𝛽1 Δ𝑓𝑓 = −𝛽𝛽1 Δ𝑓𝑓 inoperative due to a computer
failure, so for Area 1: Δ𝑃𝑃𝑟𝑟𝑟𝑟𝑟𝑟1 = 0
𝐴𝐴𝐴𝐴𝐴𝐴2 = Δ𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡2 + 𝛽𝛽2 Δ𝑓𝑓2 = 0
ACE2=0 because LFC is activated
6 Therefore;
in Area 2.
Δ𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡2 = −𝛽𝛽2 Δ𝑓𝑓2
7 Δ𝑃𝑃𝑚𝑚2 = −𝐵𝐵2 Δ𝑓𝑓2 From Equation (3)
8 ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡2 = ∆𝑃𝑃𝑚𝑚2 From Equations (3) and (4)
9 ∆𝑃𝑃𝑚𝑚1 + ∆𝑃𝑃𝑚𝑚2 = 400 𝑀𝑀𝑀𝑀 Load increase from task 1
10 −𝛽𝛽1 Δ𝑓𝑓1 − 𝛽𝛽2 Δ𝑓𝑓2 = 400 𝑀𝑀𝑀𝑀 From Equations (3) and (9)
In steady-state operation, Δ𝑓𝑓 =
400 400 Δ𝑓𝑓1 = Δ𝑓𝑓2.
11 ∆𝑓𝑓 = − =− = −1.93237 Hz
(𝛽𝛽1 + 𝛽𝛽2 ) (80 + 127)
Results are the same as Task 1
∆𝑃𝑃𝑚𝑚1 = − 𝛽𝛽1 ∆𝐹𝐹
∆𝑃𝑃𝑚𝑚1 = (−80) × (−1.93237) = 154.59 𝑀𝑀𝑀𝑀 The increase generation in Area 1
and Area 2.
12 And;

∆𝑃𝑃𝑚𝑚2 = − 𝛽𝛽2 ∆𝐹𝐹 Results are the same as Task 1

∆𝑃𝑃𝑚𝑚2 = (−127) × (−1.93237) = 245.41 𝑀𝑀𝑀𝑀
∆𝑃𝑃𝑖𝑖 = ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡 − ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡,𝑠𝑠𝑠𝑠ℎ𝑒𝑒𝑒𝑒

Therefore;
The tie-line power flow of Area 1
13 ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡1 = 154.59 − 400 = −245.41 MW and Area 2.

Results are the same as Task 1

And;

∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡2 = 245.41 − 0 = 245.41 MW

Since the results from Equations (11, 12 and 13) are the same as Task 1, the LFC is not
effective when applied is one Area only.

Assignment EE5521/1 Page | 5

5.0 TASK 3
If LFC is activated in both areas, calculate changes in the system frequency and power flow
on the tie line. Explain your results. The frequency bias coefficients are 𝛽𝛽1=80 MW/Hz and
𝛽𝛽2=127 MW/Hz.

5.1 Solution to Task 3

No. Equation Description

𝐴𝐴𝐴𝐴𝐸𝐸1 = ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡1 + 𝛽𝛽1 ∆𝑓𝑓1 The Area Control Error (ACE) for
14
𝐴𝐴𝐴𝐴𝐸𝐸2 = ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡2 + 𝛽𝛽2 ∆𝑓𝑓2 Area 1 and Area 2.
∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡1 + ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡2 = 0 The net tie-line power flow when
15
neglecting losses.
16 𝐴𝐴𝐴𝐴𝐸𝐸1 + 𝐴𝐴𝐴𝐴𝐸𝐸2 = 0 = (𝛽𝛽1 + 𝛽𝛽2 )∆𝑓𝑓 From Equations (14) and (15).
In steady-state operation ( 𝚫𝚫𝒇𝒇 = 𝚫𝚫𝒇𝒇𝟏𝟏 = 𝚫𝚫𝒇𝒇𝟐𝟐 ) :

• Ace of Area 1 and Area 2 will be zero.

• Change in power of Area 1 and Area 2 tie-lines will be zero.
• Frequency error returns back to zero.
• Area 1 generation increases by 400 MW as per the load increase.
• Area 2 generation returns to its original state before the load increase.

6.0 TASK 4
Launch MATLAB and open the data file “5521_1.m” and the Simulink file “5521_1.mdl”.

Figure 1: Simulink file “5521_1.mdl” Schematic Diagram of two Area system

Figure 1 shows two area systems that are connected via a tie-line that allow power to flow
between the two areas. In the data file, set K1=K2=0 Run the data file and the double click on
“5521_1.mdl” and start the simulation. Record generations in both areas, frequency
deviation, and ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡12.

Assignment EE5521/1 Page | 6

 6.1 Solution to Task 4

Figure 2 below shows the MATLAB M-file for K1=K2=0.

Figure 2: MATLAB code for K1=K2=0

By setting K1=K2=0 as shown in figure 2 above, the LFC has been deactivated in Area 1 and
Area 2.

Figure 3 and figure 4 below shows the increase generations in Area 1 and Area 2,
respectively.

Figure 3: The generations in Area 1

Assignment EE5521/1 Page | 7

 Figure 4: The generations in Area 2

The generation in Area 1 and Area 2 match the calculated values obtained in task 1.

From task 1 the increase in generation for Area 1 (∆𝑃𝑃𝑚𝑚1 ) was 154.59 MW and for Area 2
(∆𝑃𝑃𝑚𝑚2 ) was 245.41 MW.

Figure 5 and figure 6 below shows the frequency deviations in Area 1 and Area 2,
respectively.

Figure 5: The frequency deviation in Area 1

Assignment EE5521/1 Page | 8

 Figure 6: The frequency deviation in Area 2

Figure 7 below shows the flow in the tie-line (∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡12 ) between Area 1 and Area 2. The
power flow from Area 1 to Area 2 (∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡12 ) is -245.41MW, which matches the calculated
values obtained in task 1.

Figure 7: The flow on tie-line between Area 1 and Area 2

Assignment EE5521/1 Page | 9

7.0 TASK 5
In the data file, set 𝐾𝐾1 = 0.0, 𝐾𝐾2 = 0.001 Run the data file and the double click on
“5521_1.mdl” and start the simulation. Record generations in both areas, frequency
deviation, and ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡12. Compare the dynamics with Task 4 and explain the differences.

7.1 Solution to Task 5

Figure 8 below shows the MATLAB M-file for K1=0 and K2=0.001.

Figure 8: MATLAB code for K1=0 and K2=0.001

By setting K1= 0, the LFC has been deactivated in Area 1 and setting K2= 0.001, the LFC
has been activated in Area 2.

Figure 9 and figure 10 below shows the increase generations in Area 1 and Area 2,
respectively.

Figure 9: The generations in Area 1

Assignment EE5521/1 Page | 10

 Figure 10: The generations in Area 2

The generation in Area 1 and Area 2 matches the calculated values obtained in task 2.

From task 2 the increase in generation for Area 1 (∆𝑃𝑃𝑚𝑚1 ) was 154.59 MW and for Area 2
(∆𝑃𝑃𝑚𝑚2 ) was 245.41 MW. The results are almost identical to the results from task 4, this
shows that the LFC is not effective when applied is one Area only.

Figure 11 and figure 12 below shows the frequency deviations in Area 1 and Area 2,
respectively.

Figure 11: The frequency deviation in Area 1

Assignment EE5521/1 Page | 11

 Figure 12: The frequency deviation in Area 2

Figure 7 below shows the flow in the tie-line (∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡12 ) between Area 1 and Area 2. The
power flow from Area 1 to Area 2 (∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡12 ) is -245.41MW, which matches the calculated
values obtained in task 2. The results are almost identical to the results from task 4, this
shows that the LFC is not effective when applied is one Area only.

Figure 13: The flow on tie-line between Area 1 and Area 2

Assignment EE5521/1 Page | 12

8.0 TASK 6
In the data file, set 𝐾𝐾1 = 0.001, 𝐾𝐾2 = 0.001 Run the data file and the double click on
“5521_1.mdl” and start the simulation. Record generations in both areas, frequency
deviation, and ∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡12.

8.1 Solution to Task 6

Figure 14 below shows the MATLAB M-file for K1=0.001 and K2=0.001.

Figure 14: MATLAB code for K1=0.001 and K2=0.001

By setting K1= K2= 0.001, the LFC has been activated in Area 1 and Area 2.

Figure 15 and figure 16 below shows the increase generations in Area 1 and Area 2,
respectively.

Figure 15: The generations in Area 1

Assignment EE5521/1 Page | 13

 Figure 16: The generations in Area 2

The generation in Area 1 and Area 2 match the calculated values obtained in task 3.
From task 3:
• Area 1 generation increases by 400 MW as per the load increase.
• Area 2 generation returns to its original state before the load increase.

Therefore, the LFC is effective when applied in both Area 1 and Area 2.

Figure 17 and figure 18 below shows the frequency deviations in Area 1 and Area 2,
respectively. This result matches the theory that when the LFC is activated for an
interconnected power system, following a change in the load, each area should assist in
returning the steady-state frequency error ∆𝑓𝑓 to zero.

Figure 17: The frequency deviation in Area 1

Assignment EE5521/1 Page | 14

 Figure 18: The frequency deviation in Area 2

Figure 19 below shows the flow in the tie-line (∆𝑃𝑃𝑡𝑡𝑡𝑡𝑡𝑡12 ) between Area 1 and Area 2. The
change in power of Area 1 and Area 2 tie-lines is zero. This result matches the theory that
when the LFC is activated for an interconnected power system, each area should maintain the
net-line power flow out of the area at its scheduled value, in order for the area to absorb its
own load changes

Figure 19: The flow on tie-line between Area 1 and Area 2

Assignment EE5521/1 Page | 15

9.0 CONCLUSION
With the LFC deactivate in an interconnected power system (Area 1 and Area 2), the turbine-
governor control eliminates rotor accelerations and decelerations following load changes
during normal operation in order to stabilise the frequency drop. This was the case in task 4
and task 5.

With the LFC deactivate in an interconnected power system (Area 1 and Area 2), one of the
objectives of load-frequency control (LFC), therefore, is to return ∆𝑓𝑓 to zero. Area 1 and
Area 2 agrees to export or import a scheduled amount of power through tie-lines and each
area absorb its own load changes during normal operation. This was the case in task 6.

This assignment has help me to enhance my knowledge about the AGC and LFC. The
MATLAB simulation results were almost ident similar to the calculated results

10.0 REFERENCES
[1] Book: Power System Analysis and Design by J. Duncan Glover, Thomas Overbye,
Mulukutla S. Sarma -6th Edition - Chapter 12, pages 767-768

[2] EE5521-Power System Stability and Control lecture notes - Dr A Zobaa, Dr B Rawn, Dr
M Abbod and Dr I Pisica

Assignment EE5521/1 Page | 16