Electrical Power and Energy Systems 107 (2019) 19–33

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Electrical Power and Energy Systems

journal homepage: www.elsevier.com/locate/ijepes

Non-linear sliding mode control for frequency regulation with variable- T

speed wind turbine systems
Sheetla Prasada,b, , Shubhi Purwarb, Nand Kishorb
⁎

a
School of Electrical, Electronics and Communication Engineering, Galgotias University, Greater Noida, India
b
Department of Electrical Engineering, Motilal Nehru National Institute of Technology, Allahabad, India

ARTICLE INFO ABSTRACT

Keywords: This paper presents a new control strategy to minimize mismatch between the generations and loads in the wind
Load frequency control integrated power system. This in turn enhances the integration level smoothly and reduces frequency deviation
Variable-speed wind turbine-generator systems in the system. The proposed control strategy is able to establish better dynamic response and provide better
Non-linear sliding mode control coordination between conventional two-area and wind power systems. The said objective is achieved by de-
Linear matrix inequality
signing a non-linear sliding mode control in two-area thermal system, in addition with droop control and
modified pitch angle control for wind generator to provide frequency support. The proposed controller has
ability to vary closed-loop system damping property according to uncertainties and load disturbances and thus
ensures asymptotic stability. The wind power output and frequency regulation remain insensitive to gusts,
changes in wind speed and as well as inertia. Several simulations are performed on two-area with wind in-
tegration and IEEE 39 bus system to illustrate the effectiveness of the proposed controller design.

1. Introduction
The technical and economic growth is affecting the energy demand
all over the world. The impact on environment and reduction of fossil
fuel reserve capacity are two major factors affecting the substantial
growth of energy industry. Due to commercially viable nature of re-
newable energy, more attention is being given on utilization of re-
newable energy resources. Wind energy is expected to supply a sub-
stantial part of energy demand worldwide in future. Several large
offshore wind farms have been already installed and integrated to
power network. In the United States by 2030, 40% of total energy is
expected to be produced from wind energy farms [1].
With large scale development of wind farms, the grid frequency
stability and power system operation becomes more challenging. Due to
randomness and non-dispatchable features of wind power, the fre-
quency stability in the region gets affected [2]. The contribution of
wind generators are either small or zero towards frequency stability
[3]. Modern wind farms are mostly decoupled from the grid frequency
due to interface via power electronic converters; such wind farms do
not contribute to the power system inertia. Only, all rotating generators
and motors that are connected synchronously to the electrical network
provide apparent inertia and play a significant role to support fre-
quency stability [4]. Therefore, the apparent inertia of the power
system is decreased with high penetration of variable renewable
generation and can lead to power system oscillations [5–7]. The un-
certainty in the wind power output, inertia reduction and its effect on
the load frequency control (LFC) has been discussed in [8–17]. There-
fore, a supplementary control scheme is designed for doubly-fed in-
duction generator (DFIG) power converters such that effective inertia
contributed by these wind generators to the system is increased [18].
Their study is also validated against sudden wind speed change in the
form of wind gust downs and wind ramp downs. The advantage of
smoothing of wind power fluctuations before admitting the wind power
into the grid has been also investigated in [19], which in turn enhanced
the frequency stability in power system.
The frequency stability is interrelated to power balance in the
electrical system. Thus, UK and Ireland have already considered and
developed a controlled way of participation of wind power in primary
frequency control [20]. The wind turbines are not always operated to
extract the maximum available power from wind. Several authors have
designed additional controllers based on inertia [9,14,18], droop [10]
and de-loading [21] control schemes. The coordination control between
the automatic generation control (AGC) of power plants and the wind
farms is discussed in [22].
The above reported studies [10,13,15,19–22] have designed and
investigated different control schemes using conventional controller,
i.e. PI, PID, etc. without satisfactorily addressing the existence of fre-
quency oscillations. These oscillations might propagate into wide area

⁎
Corresponding author at: School of Electrical, Electronics and Communication Engineering, Greater Noida, India.
E-mail address: sheetla.prasad@galgotiasuniversity.edu.in (S. Prasad).

https://doi.org/10.1016/j.ijepes.2018.11.005
Received 13 June 2018; Received in revised form 4 October 2018; Accepted 6 November 2018
Available online 15 November 2018
0142-0615/ © 2018 Elsevier Ltd. All rights reserved.
S. Prasad et al.
Fig. 1. LFC scheme for wind integrated conventional two-area thermal power system.
and reduce the frequency stability in the region. Thus, wind farms in-
tegration not only injects additional fluctuations to the already variable
nature of frequency deviation, but also decreases frequency stability by
reducing the system inertia and the regulation capability [10,21]. The
authors [23] have emphasized on the control design at individual level
to maintain the frequency and tie-line power schedule with neigh-
bouring control areas at nominal value. Hence, the penetration level in
wind integrated power system affects the frequency regulation and it
can be described in two ways. First, reduction of total system inertia, in
relative terms, caused by the asynchronous power conversion and
second, due to lack of coordination of their generations in frequency
support. Hence, to reduce the frequency deviations in face of high wind
power penetration; there is a need to apply robust control algorithms to
coordinate the generations among different resources.
In the past, to provide robustness in the system, several researchers
have proposed different variants of sliding mode controller for wind
system and wind integrated power system [24,26–28]. A coordinated
distributed model predictive control for LFC is proposed to provide
robust stability and performance [24]. Several maximum power point
tracking based control schemes [6,25,26] are reported to extract max-
imum power from wind. The authors [27] have estimated all pertur-
bations of doubly-fed induction generator (DFIG) using robust state
feedback control to extract maximum power smoothly. The wind
20
Electrical Power and Energy Systems 107 (2019) 19–33
turbine non-linearities, generator uncertainty and wind speed ran-
domness are fully compensated using robust SMC [28].
However, the LFC in wind integrated power system raises following
challenges; (i) Reduction of total inertia in relative terms and (ii) lack of
coordination among generation resources including wind system.
Due to intermittency in the wind velocity, thermal generation plant
integrated to wind farm undergo frequency deviations, resulting into
requirement of governor action. This in turn increases the wear and tear
of actuators in governor.
In the context of above challenges, the proposed design of SMC
results to achieve insensitiveness of LFC on plant uncertainty and dis-
turbances. The main objective of the paper is to reduce the frequency
deviations through minimization of power mismatch between genera-
tion and disturbances (load/wind variation), even in presence of high
wind power penetration level. The desired characteristics of power
plant can be obtained using proper selection of non-linear switching
surface. Robustness of the system can effectively deal with plant para-
meter uncertainty, load variation and plant non-linearities such as
generation rate constraints (GRC). The proposed non-linear switching
surface varies the damping ratio/ratios of the closed-loop system from
its initial low value to final desired value whenever disturbance occurs
in the system. The chattering is minimized via variation in feedback
gains [31]. As discussed later, the non-linear sliding mode control
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33

improves the robustness and performance of the system. The con- k = rank (Bu ) and z = [[z1](n k)×k [z2 ]k × k ]T and represented as:
tribution of this paper is summarized as follows:
z1 A11 A12 z1 0 D1
= z2 + u+ Pd
z2 A21 A22 Bu 2 0
1. Design of non-linear SMC scheme on thermal plant and wind system.
2. Non-linear function is defined to vary the system damping ratio/ y = CTcr z = [C1 C2 ] z (6b)
ratios from low to high whenever power signal and frequency de-
viation occurs.
2.2. Wind turbine system
3. Control of thermal and wind power generation against uncertainties
in wind speed turbulence and power system.
The basic variable-speed wind turbine-generator system (VS-WTGS)
4. Optimized wind power capture using MATLAB function “fminsearch”
is considered (see upper dashed box in Fig. 1). The mechanical torque of
in addition droop control and modified pitch angle control at the
WTGSs produced from wind energy is transmitted via the shaft to the
time of frequency deviation.
generator rotor. The generator produces an electrical torque. Any dif-
5. Demonstration on robustness and improved transient and steady
ference between the mechanical torque and the electrical torque de-
state response simultaneously at desired level.
termines whether the mechanical system accelerates, decelerates or
remains at constant speed. Thus, the mechanical power is considered as
Remaining sections of the paper is organized as follows; Section 2
net output power of wind system.
describes briefly the modeling of two-area power system and wind
The aerodynamic model of the WTGS is represented by well-known
system, followed by non-linear SMCs design in Section 3. The objective
Cp ( , ) curve that depends on the blade design and is described by the
function optimization is described followed by formulation of proposed
wind turbine manufacturer [29].Cp is known as power coefficient. The
control strategy in Section 4. The Lyapunov’s stability analysis for both
tip-speed-ratio is given as:
systems is included in Section 5. The effectiveness of proposed scheme
in maintaining the frequency regulation is analyzed and discussed in tR
=
Section 6. Lastly, the conclusions drawn from the presented study are vw (7)
given in Section 7.
where, t is rotor speed (rad/sec), R is the blade length (m) and vw is
wind speed (m/sec). In this study, the mathematical approximation of
2. System configurations
the curve fitting used for the 3.6 MW wind turbine is taken from [25].

In this section, modeling of wind system for integration into two-

4 4
Cp ( , ) = i j
area thermal power system is discussed. ij
i=0 j=0 (8)

2.1. Two-area thermal power system where, ij coefficients are given in [29] and is chosen in the range of
2 < < 13 for suitable curve fitting of the Cp . The mechanical (aero-
The traditional linearized model consists of governor; turbine-gen- dynamic) power is extracted from the mechanical torque TM for a given
erator unit, rotating mass and load. The conventional two-area power Cp and calculated as:
system is shown in Fig. 1. The dynamic model of non-reheat type tur- PM = t TM (9)
bine-governor system is considered. The generated wind power is Cp ( , )
considered as a positive disturbance in this control model. The equa- Moreover, Cq ( , ) = , then mechanical torque is calculated
tions that govern the dynamics of two-area are as follows: where, i, as:
j = 1, 2. R3Cq ( , ) vw2
TM = 0.5 (10)
1 K pi K pi K pi
fi (t ) = f (t ) + Pmi (t ) Pij (t ) Pdi (t ) The aerodynamic torque will drive the wind turbine at speed t . The
Tpi i Tpi Tpi Tpi (1) low speed torque Tls acts as braking torque on the rotor, while the
generator is driven by high speed torque Ths and braking electromotive
1 1
Pmi (t ) = Pmi (t ) + Pvi (t ) torque Tgref . To increase rotor speed, gear box ratio ng is used to obtain
Tchi Tchi (2)
generator speed r while the low-speed torque is augmented. The shaft
dynamics are represented as two-mass system given as [30]:
Ei (t ) = KEi Bi fi (t ) + KEi Pij (t ) (3)
2Ht t = TM Dt t Dtg ( t r) Ttg
Pij (t ) = 2 T1 ( fi (t ) f j (t )) (4) Ttg = Ktg ( t r)

1 1 1 1 2Hg r = Ttg + Dtg ( t r) Dg r Tgref (11a)

Pvi (t ) = f (t ) Pvi (t ) Ei (t ) + ui (t )
Ri Tgi i Tgi Tgi Tgi (5)
where, Ht , Hg are, inertia constants, Dt , Dg are mechanical damping
Pij (t ) = Pji (t ) = Ptie ; where i , j = 1, 2 and i j. coefficients of the turbine and generator respectively. In this study, the
The states f1 (t ), Pm1 (t ), E1 (t ), P12 (t ) = Ptie (t ), Pd1 (t ) and gear ratio is considered as unity and therefore Tls = Ths = Ttg . Ttg and Dtg
Pv1 (t ) are the thermal plant state variables. The nomenclatures of are the speed torque of the model, shaft stiffness and damping coeffi-
variables/parameters are given in Table 1. The state-space model for cient of the flexible coupling (shaft) between the two masses respec-
two-area Eqs. (1)–(5) is now represented as: tively. The modified pitch angle servo system has low-pass filter with T
time constant and represented as:
x ( t ) = A x (t ) + B u u (t ) + D Pd (t )
y (t ) = Cx (t ) (6a) =
1
+
1
( opt
2 fi
r r)
T T (11b)
The dimension of system matrices (6) are considered as A , Rn × n
Bu Rn × k , D Rn × r and C Rm × n respectively and given in Appendix where, fi is the frequency deviation in ith area of the conventional
A.1, and x Rn , u Rk , y Rm and Pd Rr are considered as “n” power system and, ropt is known as optimized turbine shaft angular
states, “k” input, “m” output, “r” load disturbance vectors respectively. speed and determined from optimization function as discussed in
The thermal plant Eq. (6a) is converted into regular form [31] using Section 6. Then the turbine dynamics are represented in state matrix
z = Tcr x̄ , such that Tcr TcrT = I & Tcr Bu = [0(n k ) × k [Bu2 ]k × k ]T , where form as:

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S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33

Table 1
Nomenclature of variables/parameters for i area and i j , where i = j = 1, 2.

State variables/parameters Nomenclature State variables/parameters Nomenclature

fi Deviation in frequency (Hz) Tgi Governor time constant (sec.)

Pmi Deviation in generator output (p.u.MW) Tchi Turbine-generator time constant (sec.)
Ei Deviation in integral control (p.u.MW) T1 Interconnection tie-line gain (p.u.MW/rad/sec.) between area-i and j
Pij = Ptie Deviation in tie-line power flow (p.u.MW) x State variables vector for thermal plant
Pdi Deviation in load disturbance (p.u.MW) u Input vector
Pvi Deviation in governor valve position (p.u.MW) y Output vector
Kpi Power system and machine gain (Hz/p.u.MW) xw State variables vector of WTGS
Ri Speed regulation coefficient (Hz/p.u.MW) Tgref Input vector of WTGS
KEi Integral control gain constant yw Output vector of WTGS
Bi Frequency bias factor (p.u.MW/Hz) TM Mechanical torque of WTGS
Tpi Power system and machine time constant (sec.) Pitch angle of WTGS
z w1 , z w 2 State vector in regular form z1, z2 State vector in regular form

x w = Aw x w + B w Tgref + Dw TM Remark 1. The matrix pair (Ac , Buc ) of power system should be
controllable. Then it implies that the pair (Ac11 , Ac12 ) is also
y¯w = Cw x w (12a)
controllable in regular form [31].
The wind system state variables are given in Table 1. The dimen-
sions of variables x w Rnw , ȳw Rmw , TM Rrw , u w = Tgref Rkw are
3.2. Non-linear function selection
considered to “nw” state, “mw” output, “rw” load disturbance and “kw”
input vectors respectively and given in Appendix A.2.
After state transformation, the non-linear switching surface is de-
Similarly, WTGS state Eq. (12a) is also converted into regular form
signed. The dynamic performance and robustness during the reaching
using transformation matrix Twcr . The transformation matrix Twcr is
phase against the uncertainties is guaranteed by selection of non-linear
calculated similarly as described above for thermal plant and re-
switching surface. The selection of non-linear function is not unique as
presented as:
discussed in [31] and it is given as:
zw1 Aw11 Aw12 zw1 0 Dw 1
= zw2 + T ref + TM z c1 (t )
zw2 Aw21 Aw22 B w2 g 0 c (t ) = sc z c (t ) = [ sc1 sc 2 ]
z c 2 (t ) (15)
yw = Cw Twcr zw = [Cw1 Cw2 ] zw (12b)
where, sc1 = diag (s1, s w1) , sc2 = I3 are non-linear switching surface and
K c = diag (K , Kw ) is the feedback gain for concatenated system. The
3. Selection of non-linear switching surface and design of terms s1 = K linear T
(y ) A12 P , K Rn × (n k) , (y ) Rm × m are
non linear
optimized power coefficient sub-part of non-linear switching surfaces, state feedback gain and non-
linear function for two-area power system with y as function of fre-
A separate selection of non-linear switching surface is considered for quency deviation and s w1 = K w T
w (yw ) Aw12 Pw ,
linear non linear
each conventional two-area thermal power system and wind system. Kw Rnw × (nw kw ) , Rmw × mw are sub-part of non-linear
w (yw )
The concatenation and non-linear function selection are discussed as: switching surfaces, state feedback gain matrices and non-linear function
for wind system with yw is wind power error (Pgopt Pg Pgdemand) . The
3.1. System concatenation variables y and yw are used to vary damping ratio/ratios of two-area
and wind system respectively. Thus, non-linear function for conven-
The state Eqs. (6b) and (12b) are now concatenated to make simple tional two-area power system is selected as:
analysis for better understanding of non-linear SMC design and re- (y ) = diag ( (16)
1 (y2 ), 2 (y2 )) and = diag ( 1, 2)
presented as: 2
where, i (yi ) = 1 e 1 (e i
e , where, i, j = 1,2.
(1 ((yi x 0)/(rs x 0 )) ) 1)
z c1 (t ) = Ac11 z c1 (t ) + Ac12 z c 2 (t ) + Dc1 (t ) where, x 0 is initial condition of frequency deviations, rs is a small
z c 2 (t ) = Ac 21 z c1 (t ) + Ac 22 z c 2 (t ) + Buc 2 uc (t ) + Dc 2 (t ) non-negative scalar and c = diag ( , w ) is a tuning parameter.
yc (t ) = [Cc1 Cc 2 ] z c (t ) (13) Similarly, Eq. (10) in terms of non-linear function for wind system is
given as:
where, z c = [ z c1 z c 2 , z c1 = [ z1 zw1 z c 2 = [ z2 zw2 are the states of
]T ]T , ]T
¯ 2
the concatenated system; z1 and z2 , zw1 and zw2 are the states of the w (yw ) = we
kyw (17)
conventional and wind system with proper dimensions respectively.
where, k̄ is a small non-negative scalar and c = diag ( , w ) is a tuning
The concatenated system matrices are given in Appendix A.3. The
parameter that determines the positive-definite matrices
overall state representation of state Eq. (13) is given as:
Pc = diag (P , Pw ) for the system (14) via linear matrix inequality (LMI)
z c = Ac z c + Buc uc + Dc optimization.
yc = Cc z c (14) The overall non-linear function for wind integrated thermal system
is given as:
where, z c = [ x x w ]T R (n+ nw ) , = [ Pd TM ]T R (m + mw ) ,
uc = [u u w ]T R (k + kw ) and yc = [ y y¯w ]T R(r + ww ) are the states, c (yc ) = diag ( (y ), w (yw )) (18)
disturbance, input and output of the overall system (14) respectively. It is important to note that the selection of non-linear functions is
Ac11 A c12 Dc1
The matrices are Ac = R(n + nw ) , Dc = R (m + mw ) , not unique and any function having the following characteristics can be
Ac 21 A c 22 Dc 2
considered in the design [31].
0
Buc = R (k + kw ) and Cc = [Cc1 Cc 2 ] R (r + rw ) . Aforementioned
• Changes
B uc 2
general system matrices are considered in the following sections. from 0 (or a very low negative value) to c as the

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S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33

frequency deviation and power error occurs in the system (as shown
in Fig. 1), where c > 0
• Differentiable with respect to time in order to ensure existence of the
sliding mode

The design and stability analysis of non-linear SMC is given in

Section 5.

3.3. Design of optimized power coefficient

The standard maximum power extraction control schemes always

keep the operating point of turbine at peak of its curve. Cpmax and max
are optimized power coefficient and optimized tip-speed ratio at that
operating point. The accuracy of energy capture from the wind depends
on uncertainty in variation of the optimum point due to wind turbu-
lence. These uncertainties would lead to high mechanical stress and
transfer aerodynamic power fluctuation. The curve fitting is used to
represent the mathematical expression of Cp [29] for analysis and given
by Eq. (29). The curve fit is a good approximation for values of
2 < λ < 13 and the coefficients ij are given in [29]. In order to ob-
tain optimized energy capture with minimum frequency regulation, the
power coefficient is described as an objective function with the con-
straints as:
4 4
Max. Cp ( , ) = i = 0 j = 0 ij i j
min max
Subject to
0 max
(19)

where, limit of the tip-speed ratio, pitch angle are chosen as min = 2,
max = 13
, max = 30o . The performance objective function is solved
using “fminsearch” using MATLAB® optimization toolbox to obtain op-
timized power coefficient within the range of Cpmax = 0.4288 and
Cpmin = 0.2880 . The graph of tip-speed-ratio vs Cp for different values of
is shown in Fig. 2(a).

4. Proposed control strategies

This study addresses the minimization of mismatch between the

generations and loads with proper design of non-linear SMC for wind
integrated two-area power system. In addition, droop and modified
pitch angle control is applied to enhance the frequency stability and
regulation capability. The proposed control schemes without and with
frequency support are described as control strategy-I and control
strategy-II respectively. The WTGS is considered to be integrated in
area-1 of thermal power system. As shown in Fig. 2(b), control strategy-
I is implemented as independent design of non-linear SMC for each
Fig. 2. Performance coefficient and proposed control strategies.
conventional thermal system and wind turbine system. In addition,
pitch angle control is considered along with optimized power extraction
in WTGS. The non-linear SMC in WTGS controls the wind output power design follows the same steps for non-linear SMCs in both thermal and
using power error. Thus, in this control strategy, frequency regulation is wind systems. When the sliding mode occurs with the state trajectories
achieved via control action in conventional thermal system only. The confined to σc (t) = 0 and c (t) = 0 for t > 0
proposed control strategy-II is illustrated in Fig. 2(c). In this case, Substituting σc (t) = 0 in (15)
proper coordination between generations (conventional thermal and z c 2 (t ) = sc 21 sc1 z c1 (t ) = sc1 z c1 (t ) (20)
WTGS) against load disturbances and variation in wind velocity is es-
tablished. The active power mismatch resulting into frequency devia- and substituting (20) into (13) gives
tion is considered as feedback via droop constant to design the SMC for z c1 (t ) = (Ac11 Ac12 sc1) z c1 (t ) + Dc1 (t ) (21)
WTGS. The droop control is only based on instantaneous thermal power
deviation corresponding to frequency deviation. The pitch angle control During the sliding mode, the stable dynamics of the system (21) are
depends not only on variation in instantaneous angular speed but also decided mainly by switching surface sc1 from (15), which consists of
on frequency deviation. Thus, the power and speed error signals are linear and non-linear terms. The linear term comprises of feedback
modified as is evident in Fig. 2(c). gains K c and is designed at low damping ratios. The non-linear terms
consist of c (yc ) and positive definite matrix Pc . The variation in
damping ratio of closed-loop system with non-linear function is de-
5. Non-linear smc design and it’s convergence law
scribed in Remark 2.
After design of non-linear switching surface, the stability of system Remark 2. Whenever, the wind power error exists either due to
(14) with designed non-linear switching surfaces is analyzed. The frequency deviation or due to the wind speed uncertainty, the non-

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S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33

linear term c (yc ) approaches an intermediate value between zero to inequality, using Schur complement as:
− c . The overall system damping ratio now increases from low value
cI Mc
( c1) to final damping ratio ( c2 ) using non-linear switching surface, >0
where, c 2 > c1. On this condition, the value of the non-linear function MTc cI (30)
reaches − c . This leads to system dynamics to damp out with minimum The equivalent controller is derived when dynamic trajectory satisfy
under/over-shoots. On attaining the desired final damping ratio ( c2 ), = 0 . Differentiating (15) and its substitution give
c (t)
c (yc ) starts to decrease from non-positive intermediate value to zero. In
the next step, corresponding damping ratio also starts to reduce from c (t ) = sc1 z c1 (t ) + sc1 z c1 (t ) + z c 2 (t ) = 0 (31)
final damping ratio ( c2 ) to low damping ratio ( c1) with minimum Substituting (13) into (31) and after simplification gives
settling time. Therefore, closed-loop system operates at low damping
ratio ( c1) with feedback gain K c . Thus, proposed non-linear SMC has uc 2eq = Buc 2 [(sc1 Ac11 + Ac 21 + sc1) z c1 (t ) + (sc1 Ac12 + Ac 22 ) z c 2 (t )
ability to achieve minimum over/under-shoots and reduced settling + (sc1 Dc1 + Dc 2) (t )] (32)
time simultaneously with minimum chattering effect.
Substituting (32) into (13) and after simplification, gives
The non-linear function varies with the wind power error and fre-
quency deviations. Hence, further, the discussion is divided into two z c1 (t ) = Ac11 z c1 (t ) + Ac12 z c 2 (t ) + Dc1 (t )
subsections with system having (i) both wind power error and fre- z c 2 (t ) = (sc1 A c11 + sc1) z c1 (t ) sc1 Ac12 z c 2 (t ) sc1 Dc1 (t )
quency deviation as zero and (ii) wind power error due to frequency Equivalent dynamic equation is obtained using (20) and (13):
deviation or wind uncertainty or both.
T
z c1 (t ) = ((A c11 K c Ac12 ) + c (yc ) A c12 Ac12 Pc ) z c1 (t ) + Dc1 (t ) (33)
i. Whenever, the wind power error and frequency deviation in con-
The stability of the system (33) is proved by Theorem 1.
ventional system is zero, then c (yc ) becomes zero. In otherwords,
(y ) and w (yw ) are also zero. Thus, state Eq. (20) becomes: Theorem 1. If (Ac11 K c A c12 ) is stable and c (yc ) is defined by (18), then
system (33) is stable. Consider the Lyapunov’s function for the system (33)
z c1 (t ) = (Ac11 Ac12 K c ) z c1 (t ) + Dc1 (t ) (22)
to be defined as:
The feedback gain K c is designed through pole assignment [31] to
V (z ) = z cT1 (t ) Pc z c1 (t )
ensure that (A c11 A c12 K c) is Hurwitz matrix. The initial value of low-
damping ratio of both systems is considered as those of dominant poles. After differentiation, substitution and simplification, it gives
To ensure the stability of Eq. (22), the following constraints should be
satisfied. V (z ) = z cT1 (t )((Ac11 K c Ac12 )T Pc + Pc (Ac11 K c Ac12 )
T
+2 c (yc ) A c12 Ac12 Pc ) z c1 (t ) +2 z cT1 (t ) Pc Dc1
Pc > 0
[(Ac11 A c12 K c )T Pc + Pc (Ac11 Ac12 K c )] < 0 (23) The non-linear function is a negative function with negative final
value and above equation is represented as:
ii. Whenever, the wind power error exists either due to frequency de- V (z ) z cT1 (t ) Qz c1 (t ) + 2 Pc Dc1 z cT1 (t )
viation or due to the wind speed uncertainty or both then, c (yc )
increases from zero to some non-positive intermediate value (zero to V (z ) z c1 (t ) [ µ z c1 (t ) + 2 Pc Dc1 ]
− c ), and increases the overall damping ratios of the systems to
where, is the maximum bound in disturbance and overall
final damping ratios. Then, Eq. (21) can be written as:
system state trajectories enter into bounded region with radius
z c1 (t ) = (Ac11 Ac12 K c T
c A c12 Ac12 Pc ) z c1 (t ) + Dc1 (t ) (24) ((2 Pc Dc1 )/ µ) . Therefore, V (z ) < 0, this proves asymptotic stability
of the system Eq. (33).
The system (24) decides the final damping ratios ( 2 ) and written as: Thus, stability of system (33) is decided by the positive definite
T matrix Pc and non-linear functions c (yc ) . Pc is obtained by solving both
z c1 (t ) = (Ac11 Ac12 (K c + c Ac12 Pc )) z c1 (t ) + Dc1 (t ) (25)
LMIs (23) and (30) simultaneously. The positive definite matrix Pc is
Suppose the desired feedback gains are Fc = diag (F , Fw ) , where, F obtained via the LMI optimization and given as:
and Fw are final feedback gains at final damping ratio for conventional Choose Pc at given c to minimize c such as:
system and wind system respectively. Then, the gain matrix is written
Pc > 0
as:
[(Ac11 A c12 K c )T Pc + Pc (Ac11 Ac12 K c )] < 0
T
Fc = K c + c Ac12 Pc (26) cI Mc
>0
The above equation becomes: MTc cI (34)
Fc Kc
AcT12 Pc =0 Remark 3. The switching gains vary in a small range from initial
c (27)
feedback gain K c (low damping ratio/ratios) to final feedback gain
To ensure the stability of the overall system (13), the matrix Pc needs Fc (high damping ratio/ratios). The small range is decided by final value
to satisfy (23) and (27) simultaneously. However, it may not always be of non-linear function. Thus, the gain always remains within the range
possible for the matrix Pc to satisfy constraints (23) and (27) simulta- and the magnitude of chattering in the control signal reduces. Hence,
neously. Then constraints (27) may be relaxed as [35]: the wear and tear problem in governor valve actuator is minimized.
Mc c (28)
5.1. Convergence of the control law
where, Mc = diag (M , Mw ) ; c = diag ( , w) and for a sufficient small,
c > 0 where,
The two-area thermal power plant and WGTS plant is represented
Fc Kc by Eq. (14) in Section 3. The convergence of the overall system (14) is
Mc = AcT12 Pc
c (29) proved by Theorem 2.
The above constraint equation can be converted to a linear Theorem 2. The system (14) is guaranteed to be asymptotically stable with

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S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33

Table 2
Parameters of Non-linear SMC
Parameter Thermal Power Plant WTGS

Desired System Pole Locations (low damping ratio/ratios) −3.5, −5.8, −3 + 2.9690i, −3–2.9690i, −5.6145, −4.8238, −7 −1.0, −3.0
Final value of non-linear function 1 = 2 = 100 ¯
w = 10, k = 0.04
Controller terms 4 0 0.002 0 w = 0.04 , w = 0.03
= =
0 4 0 0.003

control laws given by: 6. Results and discussions

d c (yc ) u
uc = Buc12 scT Ac z c AcT12 Pc sc1 + ¯c sc + sign (sc ) = u The performance of proposed control strategies are evaluated via
dt w
simulations in MATLAB®. Each area of the two-area power system is
modelled as two equivalent generators and corresponding parameters
(
Bu21 sT Az
d (y ) T
dt
A12 Ps1 + ¯s + ¯ sign (s ) ) of two-area power system and each wind system units are given in
Bw21 ( swT Aw zw
d w (yw ) T
dt
Aw12 Pw s w1 + ¯ w sw + w sign (s w ) ) (35)
Appendix A. The control parameters of the non-linear sliding mode
controller for two-area power system and WTGS are selected as dis-
where, ¯c = diag ( ¯, ¯ w ) , = diag ( ¯, w ), ¯ > 0, ¯ w > 0 , ¯ Pd and cussed in Section 6 and given in Table 2.
T ref
. The above control laws force the trajectories of the system (14) Following simulations are performed to demonstrate the effective-
w g
to slide from any initial condition to the sliding surface in finite time and ness of the proposed control schemes:
remains on it thereafter.
A. Implementation of non-linear SMC in conventional thermal system
Proof. Select a quadratic function as without WTGS.
v = 0.5 T
c c (36) B. Performance of control strategy-I in WTGS integrated thermal
system.
Its time derivative, C. Performance of control strategy-II in WTGS integrated thermal
v= T
c c (37) system.
D. Validation of robustness of control strategy-II for variation in wind
From (15), Eq. (37) becomes speed and random load disturbances.
v= T
c [sc1 z c1 + z c 2 + sc1 z c1] (38) E. Comparison of the control strategy-II (non-linear SMC) and Integral
SMC [33].
Substituting (13) and (15), in (38) and after solving it gives F. Effectiveness of control strategy-II at the time of reduced system
d c (yc ) inertia and in presence of GRC.
T
v= c scT Ac z c AcT12 Pc sc1 + (sc1 Dc1 + Dc 2) + Buc 2 uc G. Validation of the control strategy-II on IEEE 39 bus system.
dt

Using (35), in the above equation: All the above cases discussed are simulated at random load dis-
T turbance applied in conventional power system and wind speed profile
v c [ c sign ( c ) + (sc1 Dc1 + Dc 2 ) ]
for wind system as shown in Fig. 3. Wind speed profile consists of 50 sec
v T
c sign ( c ) min ( ) c
2 + c ( sc1 Dc1 + Dc 2 ) data set of full-field turbulent wind that is generated using the “Class-A
Kaimal” turbulence spectra. It has a mean value of 10 m/s [32].
where, min ( ) is the minimum Eigen value of .
1
If the condition; c > [( sc1 Dc1 + Dc 2 ) ] is satisfied
min ( )
A. Non-linear SMC applied in conventional power system
then < | c| for some > 0 . This is known as the reachability
condition which ensures finite time convergence. This completes the
The designed non-linear SMC is applied in conventional two-area
proof. □
power system and the variation in frequency deviation; tie-line power
deviation and generator power deviation in area-1 are given in Fig. 4 at
5.2. Summary of the proposed control design steps random load disturbance. It clearly depicts that the frequency deviation
settles down quickly in less than 2 sec. The tie-line power deviation
Detailed design of the proposed approach is summarized in the obtained using non-linear SMC does not have any sustained oscillation.
following steps: Thus, it may be said that the non-linear SMC improves both over/
under-shoots and as well as settling time simultaneously with minimum
Step (1) Obtain the state-space model in regular form using trans- chattering in the control signal. Hence, it is evident that the proposed
formation from the linear model of the systems and test the con- controller effectively meets the robust performance against un-
trollability condition as given in Remark 1. certainties.
Step (2) Choose K c such that (Ac11 Ac12 K c ) has stable eigenvalues
and the dominant poles have low damping ratio.
B. Performance of control strategy-I in WTGS integrated thermal system
Step (3) Obtain performance coefficient by solving performance
objective function (19) using “fminsearch” solver in MATLAB® op-
In this subsection, the effect of wind power integration in conven-
timization toolbox within the range.
tional power system is illustrated using proposed control strategy-I. The
Step (4) Design real symmetric positive-definite matrix Pc by solving
non-linear SMCs are obtained for both systems using the LMI optimi-
the LMI (35) using “feasp” and “mincx” solvers in MATLAB® Robust
zation problem (31) in MATLAB® toolbox. The frequency deviations,
Toolbox [35] with proper selection of non-linear function and its
tie-line power and generator power deviation in area-1 are shown in
final value.
Fig. 5. It is evident that the maximum frequency deviations in area-
Step (5) Use non-linear switching surface (15), to obtain non-linear
1increases from zero to nearly ± 0.01 Hz and frequency perturbations
SMC (35).
get introduced due to wind power integration. These frequency

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S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33

Fig. 3. Load disturbance pattern and wind speed profile.

deviations lead to increased tie-line power exchange between two-
areas, which deteriorate the system stability.
C. Performance of control strategy-II in WTGS integrated thermal system
As discussed in the previous subsection, the control strategy-I is not
capable to sufficiently damp out the frequency deviation (see Fig. 5).
So, the said control strategy is modified by inclusion of droop loop with
SMC in the wind system. As a result, the wind output power can be
smoothened. The frequency deviation, tie-line power deviation and
wind output power are shown in Fig. 6. It is evident that the maximum
frequency deviation in area-1 remains in the range of ± 0.005 Hz against
± 0.01 Hz as observed in control strategy-I. Thus, it improves the power
system dynamics. It also reduces the oscillations in frequency and tie-

Fig. 4. Non-linear SMC applied in two-area power system.

26
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33

Fig. 5. fi , Ptie , and Pm1 response of conventional two-area power system with control strategy-I.

Fig. 6. fi , Ptie , and Pm1 response of conventional two-area power system with control strategy-II.

Fig. 7. Tip-speed-ratio, pitch angle, optimized generator speed and power coefficient responses.

line power which indicates that net level of synchronous power reserves
in the system is effectively improved. Hence, proposed control strategy-
II enhances the stability of wind integrated power system. The tip-
speed-ratio, optimized wind output power, generator speed reference;
optimized power coefficient and pitch angle responses of wind system
are shown in Fig. 7. The variations in these variables lie within the
constrained limits of the objective function defined in eqn. (31). It is
evident that proposed control scheme reduces the train-drive and blade
mechanical stress of the wind system. The control signals for wind in-
tegrated power system with control strategy-I (Subsection B) and pro-
posed control strategy-II (Subsection C) and required torque control
signal with both strategies are shown in Fig. 8. It is evident that for
almost same control effort the deviation in frequency is significantly
reduced using proposed control strategy-II (Fig. 6) against control

27
S. Prasad et al.
Fig. 8. Control efforts and wind generator speed responses.
strategy-I (Fig. 5). Moreover, the wind speed response in the case of
control strategy-II has significantly reduced oscillations as compared to
control strategy I. The above study indicates the superior performance
of control strategy-II with reduced oscillations, over/under-shoot and
settling time of frequency deviation.
D. Robustness of proposed control strategy-II
Further, to test the robustness of the proposed control strategy-II, a
step variation in wind speed pattern as shown in Fig. 9 is applied. The
variations in pitch angle, optimized power coefficient and wind output
power are given in Fig. 9. The frequency deviation, tie-line power de-
viation, generator power deviation in area-1 and control effort signals
are illustrated in Fig. 10. It is clear that even for step change in wind
profile (high to low value), the variation of response lies in desired
range.
The deviation in frequency and tie-line power remains minimum. It
is evident that the variation in wind speed has negligible effect on
system variables due to the robustness of the non-linear SMC. It can be
seen that the proposed control strategy-II provides sufficient robustness
against wind turbulence uncertainties and random load disturbance.
When the wind speed drops below the cut-in speed, frequency and tie-
line power deviations reduces to zero scale. In other words during this
period, the impact of wind output power is not observed due to the
action of SMC applied in conventional power system. Thus, proposed
Fig. 9. Step change wind field pattern, pitch angle, optimized power coefficient and wind output power responses.
28
Electrical Power and Energy Systems 107 (2019) 19–33
control strategy-II provides better coordination between conventional
two-area power system and wind system.
E. Comparison of control strategy-II (non-linear SMC) and integral SMC
In this subsection, the effectiveness of the proposed non-linear SMC
based control strategy-II is compared with integral SMC [33] based
control strategy-II in both thermal and wind systems. The responses of
proposed non-linear SMC based control strategy-II are compared with
integral SMC [33] based control strategy-II as shown in Fig. 11. It is
evident that the proposed non-linear SMC reduces the oscillations,
over/under-shoots and settling time as compared to integral SMC. Thus,
the proposed scheme has significantly improved the frequency stability.
The non-linear SMC based control strategy-II maintains robust perfor-
mance and grid stability by minimizing the effects of various un-
certainties and disturbances. Hence, the non-linear SMC is the most
suitable controller for use in the proposed control strategy-II.
F. Effectiveness of control strategy-II under reduced system inertia and in
presence of GRC
In this subsection, impact of changes in inertia constant on the
proposed control strategy is analyzed on the basis of study [2]. Due to
penetration of WTGS, 25% and 40% reduction in system inertia is ap-
plied in both thermal areas and results are illustrated in Fig. 12. The
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33

Fig. 10. Control strategy-II responses of wind integrated conventional power system at step change in wind profile.

wind penetration level affects the system inertia. It is clear that pro-
posed control strategy-II has less impact on the variable oscillations;
over/under-shoots and settling time. Thus, proposed control strategy is
also applicable for future extra power demand from wind system.
Further, the scheme is analyzed with inclusion of generation rate
constraint (GRC) in thermal power system. The GRC limits defined in
[31] is considered. Fig. 13 illustrates the dynamic response of closed-
loop system in presence of GRC. The closed-loop system dynamics have
oscillation in the presence of GRC and reachability conditions in the
non-linear SMC. The variations in frequency deviations are observed to

Fig. 11. Comparison with non-linear SMC and Integral SMC [33].

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S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33

Fig. 12. Response of control strategy-II with reduction in system inertia.

be satisfactory and remain within permissible limits. Table 3

IEEE 39 bus system parameters in per unit [34].
G. Validation of control strategy-II on IEEE 39 bus system Generators M D Tg Tch Linearization
(bus no.) (Moment (Gener- (Governor (Turbine- parameters of the
Further, the proposed control strategy-II is validated on the New of inertia ator’s time generator governor
of the dampi- constant) time characteristic
England test system (IEEE 39 bus system) [34] at random load dis- generator) ng constant)
turbance. This IEEE 39 bus system is the well-known 10-machine New- ratios) Kt eT r
England power system. The IEEE 39 bus system is divided into three-
areas. The control area-1 and area-2 have three generators, and area-3 G1(39) 3.0 4.0 0.25 0.2 250 39.4 19
G2(31) 2.5 4.0 0.25 0.2 250 39.4 19
has four generators, which are operating in parallel. The generators in
G3(32) 4.0 6.0 0.25 0.2 250 39.4 19
each area are represented as a single equivalent generator and order of G4(33) 2.0 3.5 0.25 0.2 250 39.4 19
the system is 27. The connected loads in area-1, area-2 and area-3 and G5(34) 3.5 3.0 0.25 0.2 250 39.4 19
total power generation are 265.5 MW, 233 MW, 125 MW and 842 MW G6(35) 3.0 7.5 0.25 0.2 250 39.4 19
G7(36) 2.5 4.0 0.25 0.2 250 39.4 19
respectively. The parameters of the IEEE 39 bus system are given in
G8(37) 2.0 6.5 0.25 0.2 250 39.4 19
Table 3. The WTGS is integrated in IEEE 39 bus system at bus number G9(38) 6.0 5.0 0.25 0.2 250 39.4 19
10 in area-1. G10(30) 3.0 5.0 0.25 0.2 250 39.4 19
The variations in frequency, tie-line power and turbine-generator
power responses at different random load disturbance are shown in
Fig. 14. The controller maintains robust performance and grid stability and reduced settling time. The control effort signals for three areas are
by minimizing the effects of the disturbances. Thus, the proposed control shown in Fig. 15. As discussed above, the designed control signal pro-
strategy-II reduces the frequency oscillations and thereby reduces tie-line vides significantly reduced chattering effect, resulting in decreased wear-
power exchange deviation oscillation with minimum under/over-shoots out of actuators (valve) of governors for steam turbines.

Fig. 13. Response of control strategy-II in presence of GRC.

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S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33

Fig. 14. IEEE 39 Bus System responses using proposed control strategy-II.

H. Performance index
The integral square error is calculated for frequency deviation in
area-1 of the above simulations (A-F) and shown in Table 4. It is evident
that the control strategy-II performs satisfactorily even in high wind
power penetration and able to provide coordination among power
generations against load disturbance, including GRC in order to reg-
ulate frequency deviation.
7. Conclusion
The study presented a non-linear SMC for load frequency regulation
for variable speed wind system integrated in conventional power
system. The designed non-linear SMC (control strategy-II) with inclu-
sion of droop loop and modified pitch angle control for wind system
performed well in extraction of smoothened optimized wind power. The
non-linear SMC was used to increase the damping ratios of the system
whenever, any perturbation occurred and achieved reduced frequency
oscillations with small over/under-shoots against wind speed turbu-
lence uncertainties, inertia reduction and GRC non-linearity in the
power system. Additionally, in study, the performance of non-linear
SMC was compared with integral SMC and also validated on IEEE 39
bus system. The designed control signal provided reduced chattering
effect, signifying minimum wear-out of actuators (governor) in steam
turbine. The control strategy-II provided better coordination between
conventional two-area and wind systems.
In future, the proposed control strategy-II will be analyzed con-
sidering communication network properties towards frequency reg-
ulation using the Lyapunov-Krasovskii function approach.

Fig. 15. Control signal using proposed control strategy-II.

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S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33

Table 4
Integral square error.
Simulation Integral square error (ISE) Simulation Integral square error (ISE)

−06
A 3.7101 × 10 D 3.8730 × 10−05
B 0.0045 E 0.0025
C 6.3291 × 10−04 F 0.0033 (25%), 0.0129 (40%)

Appendix A

A.1. Two-area power system matrices and parameters are given as in [31]

1 K p1 K p1
Tp1
0 Tp1
0 0 0 0 0
Tp1

1 K p2 K p2
0 Tp2
0 0 0 0 0
Tp2 Tp2

1 1 zeros (7, 2)
0 0 Tch1 0 0 0 0 0 Bu = 1 1
Tch1 diag ( T , )
g1 Tg 2
1 1
0 0 0 Tch2
0 0 0 0 Kp K p2
Tch2 1
A= , D = diag ( Tp1 , Tp2 )
K1 B1 0 0 0 0 0 K E1 0 0
zeros (7, 2)
0 K2 B2 0 0 0 0 KE 2 0 0
I2
2 T1 2 T1 0 0 0 0 0 0 0 C=
zeros (7, 2)
1 1 1
R1 Tg1
0 0 0 0 0 0
Tg1 Tg1

1 1 1
0 R2 Tg2
0 0 0 0 0
Tg2 Tg2

See Table A.1

Table A1
Power system parameters
Area Tch TG Kp Tp R B KE T1

1 0.3 0.1 1.0 10 0.05 41 0.5 3.77

2 0.17 0.4 0.67 8 0.05 81.5 0.5

A.2. WGTS matrices and its parameters [28]

(Dt + Dtg ) 1 Dtg

2Ht 2Ht 2Ht 0 0
Aw = Ktg 0 Ktg , Bw = 0 , Dw = 0 , Cw = 1 0 0 , x w = [ t r Ttg ]T
1 1 0 1 0
Dtg 1 (Dt + Dtg ) 2Hg 2Ht
2Hg 2Hg 2Hg

Rated capacity:3.5 MW; number of blades:3; blade diameter:104 m; wind speed (variable): 8–13 m/sec; cut-in wind speed: 5 m/sec; cut-out wind
speed: 27 m/sec; mechanical shaft system (on 3.6 MW base): Ht = 2.49 sec; Hg = 0.9 sec; Dt = Dg = 0 ; Dtg = 1.5; Ktg = 296.7 pu. opt = 6.212 pu;
base = 1.335 pu; Cp = 0.4288 pu; r = 1.33 pu; rmin = 0.7 pu; Cp_ max = 0.4288; Cp_ min = 0.288 i, j coefficients of Cp are given Table 4–7 in [28].
opt max

A.3. Concatenated system matrices:

The matrices are calculated as: Ac11 = diag (A11 , Aw11) , Ac12 = diag (A12 , Aw12 ) , Ac 21 = diag (A21 , Aw21 ) , Ac 22 = diag (A22 , Aw22 ) ,
Dc1 = diag (D1, zeros (1, 2)) , Dc 2 = diag (zeros (2, 2), Dw2) , Buc 2 = diag (Bu2, B w2) , Cc1 = diag (C1, Cw1) and [Cc 2 = diag (C2, Cw2)].

Appendix B. Supplementary material

Supplementary data to this article can be found online at https://doi.org/10.1016/j.ijepes.2018.11.005.

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