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Design SSSC-based WADC and Select Robust Control Channel to Damp Inter-Area
Oscillations

Iraj Faraji Davoudkhani 1, Mahmoud Rerza Shakarami 2*

1
Department of Electrical Engineering, Lorestan University, Lorestan, Iran
2
Department of Electrical Engineering, Lorestan University, Lorestan, Iran
*
Shakarami.mr@lu.ac.ir

Abstract: This One of the critical issues in large power systems is how to damp inter-area oscillations. Following the
recent advances in WAMS, this problem can be solved more effectively. However, time delays of these signals may
weaken the damping performance or even make the power system unstable. An optimization-based method is proposed
presented in this study to design a WADC for SSSC to improve the damping of inter-area oscillations by considering the
time delays. For this aim, the proposed objective functions are considered the control gain value of WADC, shifting of
the critical modes, and the maximum time delay margins in the optimization problem. Moreover, to design WADC as
minimum-phase, the inequality constraints have also been taken into account. The grey wolf optimization (GWO)
algorithm, is utilized to solve the optimization problem. To install WADC for SSSC, two separate amplitude and phase
control channels are studied to choose a robust control channel against the time delay. The method is assessed on a two-
area four-machine power system with an SSSC. The obtained results from non-linear simulation and eigenvalues
analysis show the high efficiency and performance of the proposed method in designing WADC and choosing the most
robust channel against the time delays.

Keywords: SSSC, wide-area damping controller, time delay, inter-area oscillation, grey wolf optimization algorithm.

The frequency range of local LFEO is usually between 0.7-

1. Introduction
Nowadays, wide area measurement systems (WAMS)
are widely used for monitoring, controlling, and automation
of large-scale interconnected power systems [1–3]. The
WAMS technology using phasor measurement units (PMU)
allows for having online and high-accuracy access to all
dynamics of a power system including voltage, current,
voltage angle, frequency, and monitor the changes in the
dynamic behaviour of the system instantaneously. Using this
technology can significantly improve the control capability
and dynamic conditions of the power system [4–6]. During
recent years, many of economic and technical features of the
power industry in different sectors including generation,
transmission, and distribution have remarkably been
impacted because of restructures in the power systems, and
this has forced transmission networks to operate under
heavy loading conditions to satisfy the economic and
environmental constraints [7]. Moreover, multi-area power
systems that are interconnected through weak tie-lines and
high capacity of power to be transferred on the transmission
lines encounter significant stress and power oscillations [8].
The oscillations are low-frequency electromechanical
oscillations and occur when there is no balance between the
electromagnetic and mechanical torques of synchronous
generators [9]. Low-frequency electromechanical oscillation
(LFEO) is a common phenomenon in power systems. There
are mainly two types of LFEOs in power systems. One type
is associated with the oscillation of a single or multiple
generator within an area, known as local mode oscillation.
The other one is relevant to the oscillation of a group of
generators in different areas, called inter-area oscillation.
2.0 Hz, while it is between 0.1-0.8 Hz for inter-area LFEO
[10].
Inter-area oscillations are one of serious and critical
issues for limiting the transferred power and causing
instability in power systems[8]. These oscillations have to
be damp to maintain the power system stability. One of the
conventional methods to improve the damping of these
oscillations is using power system stabilizers (PSS), which
is placed besides generators[11]. But, in some local PSSs
with local signals to damp the inter-area oscillations need
very high gain of PSSs and such local measure leads to large
a control action which may compromise the voltage stability
[12]. In addition, due to the changing supply and demand
levels in stressful power systems, local PSSs are unable to
operate well for different operation conditions of power
systems. Moreover, local PSSs lack the capability of
necessary observability and controllability to damp inter-
area modes [13, 14].
Besides PSSs, flexible AC transmission devices
(FACTs) have also shown the ability to damp inter-area
oscillations. To this end, an additional control loop is
combined to the scheme[15–17]. Since the main objective of
exploiting FACTs controllers excludes power oscillation
damping, their places and observability to damp inter-area
oscillations are not always taken for granted [14, 18]. In
most studies regarding the FACTs-based stabilizers, local
signals like the current and power of transmission lines are
employed[19]. This results in low damping using FACTs.
Therefore, WAMS is used to solve this problem and
overcome the geographically limited access for the feedback
in different areas of power systems and remote signals are

1
easily accessible for the feedback[20, 21]. Using these
remote signals as a control signal, wide area damping
controller (WADC) can damp inter-area modes with facility.
However, the use of these signals, in addition to its merits,
causes a great challenge, i.e. the occurrence of time delays
due to telecommunication networks for remote signal
transmission [22]. The load change of telecommunication
networks in case of disturbances and switching the routes
lead to a remarkable change in the time delays of
communication signals[23]. To guarantee the stabilization
process, the controller should enjoy robust and adaptable
performance during the abnormal conditions and the change
of time delay[24]. Otherwise, the occurred time delay in the
signals not only will not help to improve the damping, but
reduces the damping or even makes the power system
unstable. Hence, the effects of time delay have to be
considered in the WADC design and the key factors
affecting the stability of the whole system damping
performance [13].
Different methods have been proposed in the literature
for the design of WADCs applied to FACTs devices and
other equipment, considering the time delay and without
considering it. These methods are classified into four main
groups: classic methods, robust control-based methods,
optimization-based methods, and artificial intelligence (AI)-
based methods. Some of these methods include Residual
method design [16], the relative gain array (RGA) [25],
Henkel singular value and right-hand zeros-based hybrid
method[26], participation coefficients[27], etc. Also, some
other robust methods have been introduced in the literature,
such as H∞ design method[28], decentralized/hierarchy
control [29], linear matrix inequality (LMI) [16, 30–32], and
hybrid H2/H∞ robust control[33, 34].
In addition to design methods, other nonlinear method
are also available in the literature, such as nonlinear
controller using Lyapunov function [35], Lyapunov methods
using artificial networks [36], adaptive neural network
methods [37], Youla dual parameterization method [38],
Reinforcement learning[39], Bang-bang modulation
method[40], fuzzy logic control method[6, 41], and
decentralized identification by applying N4SID algorithm
(Subspace State Space System Identification)[42].
Among other intelligence methods are the following:
damper coordinated design using firefly method [43],
concept design for telecommunication based on the event
incident for WADC [44], linear quadrature Gaussian control
(LQG) [45], adaptive wide area power oscillation damping
(WPOD) based on goal representation heuristic dynamic
programming (GrHDP) algorithm [46], and adaptive neuro-
fuzzy inference system (ANFIS) in dual heuristic
programming method optimized by particle swarm method
[47].
Other meta-heuristic methods like particle swarm [48,
49], genetic algorithm[50], differential evolution-pattern
search algorithm[51],Gravitational Search Optimization
Algorithm[52], seeker optimization algorithm [53],
evolutionary differential algorithm [54], gravitational search
algorithm [55], Shuffled Frog-Leaping Algorithm [56], and
hybrid particle swarm and bacteria foraging algorithm[57]
quadratic mathematical programming [19],etc. have been
presented for designing the damper.
In most of the above-mentioned methods there are
notable restrictions and problems; for instance, WADC not
being robust against time delays, high computational
complexities, long time required to design the WADC,
necessity to reduce the order of power system, using local
signals, disregarding the control channel for applying
WADC to FACTs, and application of weak algorithms for
solving the optimization problem. Furthermore, the design
of a simple controller with several parameters and
simultaneously considering several constraints in the design
by using the mentioned methods will be a challenging and
difficult task. Consequently, in the design of a robust
damper against time delays a method should be employed
that is easy to implement and can satisfy all necessary
constraints and conditions.
As a result, to overcome the mentioned problems in the
design of WADC a new method is proposed in this paper.
The method utilizes static synchronous series compensator
(SSSC) as a FACTs device to damp the inter-area
oscillations. An SSSC equipped with a suitable stabilizer in
capacitive and inductive modes can improve the system
stability through a voltage source converter (VSC) by
injecting a series voltage to the transmission line and
changing the control parameters.
An SSSC-based stabilizer can be employed separately
in both amplitude and angle control channels. This stabilizer
may play more effective role in each of these channels to
improve the inter-area oscillations and have a robust
performance against time delays. The time delays being
considered in wide area systems may affect the design
parameters and the selection of appropriate control channel.
Therefore, the new proposed method for designing SSSC-
based WADC is considered as a multi-objective
optimization problem. In contrast to the proposed method in
[32], where the damper parameters and time delay margin
were determined using classic and LMI methods,
respectively, a meta-heuristic method is exploited in this
method. In solving this optimal design problem, such as
reference[58], is used to design WAPSS, three objective
functions are considered. These objective functions
according to their properties are described as follows:
• Minimizing the control gain of WADC to reduce the
control costs,
• Shifting the critical modes (low-frequency modes) to
appropriate area to improve their damping,
• Optimal determination of the maximum time delay
margin associated with the transmitted signal to make
the damper robust.
Also, in the design of WADC, inequality constraints
are imposed to WADC parameters to design it as minimum-
phase. Fast response and small steady-state error are two
features of a minimum-phase controller. An SSSC-based
WADC has been studied to improve the inter-area
oscillation of both SSSC-related control channels and finally
select the robust control channel against time delays to place
the WADC.
A novel and most popular meta-heuristic method
known as grey wolf optimization (GWO) algorithm is
employed in this study to solve the optimization problem.
Simplicity, flexibility, few tuning parameters, avoidance of
local optima, easy implementation, and fast convergence
characteristic are among notable features of this algorithm
and it has been used in solving various problems[59–61].
The proposed method in this paper is implemented and
2
evaluated on a standard two-area four-machine power
system under different loading conditions. The obtained
results from simulation in three loading levels show the
efficiency and high performance of the proposed method in
designing WADC where it has minimum control costs, it is
designed as a minimum-phase system and indicates
improved damping of inter-area oscillations in the maximum
optimal time delay. Also, comparing the results of both
phase and amplitude control channels, it can be seen that the
phase control channel has a better performance than the
amplitude channel in terms of WADC control gain, inter-
area mode damping factor, and maximum time delay.
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[5] Smith, T., Jones, M.: 'The title of the paper', IET Syst.
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paper, IET Communications, 2012, 6, (5), pp 125-138

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[7] Jones, L., Brown, D.: 'The title of the conference paper'.
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[12] Smith, D., Hodges, J.: British Patent Application

98765, 1925

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