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    Renewal Susan Reviews 75 (2017) 717-727 ELSEVIER journal homepage: www. Contents lists available at ScienceDirect Renewable and Sustainable Energy Reviews wvier.com/locate/rser A review of droop control techniques for microgrid Usman Bashir Tayab*, Mohd Azrik Bin Roslan*, Leong Jenn Hw. * rinesity Maa Perk Malye Unterty Malas Sarat Malai ARTICLE INFO ABSTRACT Kent Drovp cota cage Rewer covsMack ', Muhammad Kashif" ‘Coordination of diferent distributed goneration (DG) units is essential to meet the inewasing demand for ectiaty. Many contol statis, suchas droop conto, masterdave coal, and average current hating ‘contol, have been extensively implemented worlwide to operate paale-connected inverters for lod sharing ‘in DC network Among thse methods, the droop contrel technique has bocn widely acceptot inthe scenic ‘community because of the abounce of eieal communication links among paralle-connecte inverters to ‘coordinate the DA units within a miroprid. Thus, this study highlights the stat-of-theart review of droop control techniques applied carey to cordate the DU wnt within» miro 1. Introduction [Non-renewable resources, such as diese, coal, and gas, ane major energy sources of electrical energy produced by traditional power tenerators worldwide. However, the increasing demand for electrical energy, depletion of reserves of non-renewable resources, and genera- tion of electrical energy from non-renewable resources have rested in environmental pollution [1-3]. Therefore, the development of a distributed generation (DG) system that utilizes renewable resources to generate electricity is necessary (4, 'DG systems are suitable for providing highly reliable electric power I). Several types of energy resources, such as solar thermal panels, photovoltaic panels, fuel cells, and mieroturbines, are currently avail able [7,8]. These renewable resonrees are felt to connect directly to ‘a blty grid A mlcrogri isan interface Detween distributed renewable respurces and the uly grid. This interface is a low-voltage disteibu- tion system consisting of DG units, energy storage devies, and load Furthermore, a mierogrd ean be operated separately or connected to 2 rain distribution system [9-11]. Fig. 1 lustrates the general archi tecture of a microgrid (12). tn addition, compared with a single DG uit, © microgrid has high capacity and eoatrol fleibiity to full power-quality requirements (13) Ly contrast, the electric power generated from several renewable resources is in direct current (DC) form and eonverted to alternating current (AC) by an inverter [1]. Thus, an inverter is a crucial component of a microgrid. Furthermore, an inverter acts as an inter face between the DG unit, load, and grid [15]. Inverters are also used parallel o a microgrid to improve performanee. Parallel operation of © = Carresponiing autho. ‘Bima lr ean yaya com (UR. Tp tation 10 1016/1 2017.08.08 tom 2017 vier A igh seve inverters often provides high reliability, because the remaining mod- ules can stil deliver the required power tothe loadin case an inverter fails [16]. Several control techniques have een proposed for proper ‘operation of purallel-connected inverters in mierogrid. Among these ‘methods, voltage and frequency droop control has gained popularity and is considered as a well-established methed [17-19]. Thus, this paper presents an overview of recent studies on the droop control technique. Section 2 provides an averview of the conventional droop control technique, Section $ presents the vietual impedance loop-based droop control technique. Thereafter, Section 4 discusses the working principle Of the adaptive droop and robust droop control technique. Section 5 focuses on simulations to support the analysis. Soction 6 provides a discussion on diferent methods and future work, Finally, Section 7 concludes this report 2. Conventional droop control “The inverter output impedance in the conventional droop control [20-22] is assumed to be purely inductive because ofits high inductive Tine impedance and large inductor fle. The equivalent circuit of two inverters connected in parallel to a point of common coupling bus is shown in Fig. 2(), and the phasor diagram is shown in Fi. 2b). In an inductive system, the active and reactive power drawn to a bus from each inverter ean be expressed a follows [29,2] EV sin x © Um Taga ea 4a. wee 1 Gitconeced Mood Renewable and Ssnabe Brergy Reviews 76 2017) 717-727 —e® aa. (0) Bled Mo lg A General areata oa lei (4) Greene ier (D) Mandal mic Invern e260 Epiaet med of tr verter etl in pr opt of come soup ba (0) Menge, EV coma vt x @ where Band Vate the amplitudes ofthe inverter output voltage nd the common bus voltage, respectively, is the power angle, and X is the ‘utpnt reactance of the inverter. Based on Eqs. (1)-(2) and small power angle atsin « ~ a and cosa=1), the active power injected from the inverter to the common bus is predominantly influenced by the power angle. By contrast, the reactive power is strongly dependent on the amplitude difference between £ and V. In addition, the inverter output voltage pphase can be changed by altering the inverter output voltage frequency. Consequently, the wireless eontrol of the parallel-con- nected inverters primarily uses the frequency droop and output voltage droop to control the outpat power of the inverter. ‘A block diagram of the conventional droop control is shown in ‘ig. 8. Moreover, the equations of the droop characteristics of!" ~ and Q~£ in Fg. (a) and (b) can be waitten as follows: mali @ By = Et mq o where Thy Ors me: and ne are the reall active power output, eval reactive power output, frequency droop coefficient, and voltage droop coeficent ofthe K™ inverter, respectively. Purthermore, «fs the rated frequeney, and £* is the rate voltage amplitude. The frequency and ‘voltage droop eneficent are designed from Eqs. (3) an), follows: me Fe © _ ar Ora © where Aw and AE are the maximum allowed deviation of frequency and voltage, respectively. Fem td Oka are the nominal active and active power supplied by the system, respoctively. Esinio) ig. 3. Bock gram feet dep contr Tnereasing the droop cneficents results in good power sharing but degraded voltage regulation [25]. The inherent trade-off of this controller is the selection of the droop coefficient value, The main advantage of the droop control technique is its avoidance of extial ‘communication inks among paralle-eonnected inverters. The absence of communication links between parallel connected inverters provides significant fleibility and high reliability [26], However, the conven- tional droop technique has several drawbacks [27-0], such as slow transient response, inherent trade-off between vollage regulation and load sharing, poor harmonie load sharing between paralle-conneeted inverters in the case of nor-linear Toads, Tine impedance mismatch between parallel-connected inverters that affect active and reactive power sharing, and poor performance with renewable energy re 3. Virtual impedance loop-based droop control “The conventional droop control cannot provide a balanced reactive power sharing among paralle-onnested inverters under line impe ‘dance mismatch, Therefore the imbalance in reactive power sharing is a serious problem in an AC microgrid. Several studies have achieved balanced reactive power sharing implementing virtual output impe- ance in droop control method through a fast control Toop which emulates the line impedance (Wg. 6) 31,32]. Thus, the reference voltage from each inverter can be modified, as follows Mga WE-% o Um Taga ea Renewable and Ssnabe Brergy Reviews 76 2017) 717-727 ig. 5 (0) Heed modelos alpen an (2) Pha gi. where Z, i the virtual output impedance, “The equivalent model of virtual impedance and the phasor diagram of Z, > Z, are illustrated in Vig. 5(a) and (b), respectively. The virtual fulput impedance is generally selected to dominate line impedance [99], Ths, the virtual output impedance ean be chosen through the summation approach, in which balanced reactive power sharing is achieved if the valtage drop from every inverter to AC bus i a fllows (a Woagt = Ca + Zala = Ving = Cn + Zan 6 Hence, Z, and 22 are the virtual output impedance of two parallel connected inverters, Furthermore, Zand Zi are line impedance of to Eines) ig. 6 Vita ingame op dp cont. parallel connected inverters, respectively, In the summation approach, one virtual output impedance is set to zero, and another virtual output impedance is set to emulate the line impedance. Based on Ea. (8) and considering that one line impedance is larger than another, that is, Z > Zz. which permits the selection of Z q=0, and Hg. (8) can be simplified as follows: Ly bo o ‘The value of the virtual impedance i reduced using the summation approach, which minimizes the degradation of voltage regulation. Reactive power sharing is improved if the change in outpat voltage is ‘markedly higher than the vollage drop aeross the line than the reactive power. 8.4. Virtual impedance loop-based droop control for single-phase inductive microgrid Several droop control techniques have been proposed to overcome: the limitations of the conventional droop control technique and Improve the performance of paralle-eonnected inverters in DG sys tems. In [35], an improved droop eontral is introduced in whic an integral-derivative term and virtual output impedance using high ase filter are added to the conventional static droop technique. This technique achieves good transient response and effectively shares the non-linear load. However, the suitable coefficients of an integral- erivative term and filter gain are diffeult to choose. In addition, vollage regulation is poor Voltage regulation is improve by designing a controller using three ‘main loops, samely, inner, intermediate, and outer loops (36,371. The inner loop is developed using a proportional-integral-derivative con troller that can well-regulate voltage. Meanie, the intermediate and ‘outer loops are designed based on the droop control technique using a Virtual impedance Toop. This technique provides proper transient response and excellent active and reactive power sharing, without frequency or amplitude steady-state deviations. However, the droop control technique cannot avoid the initial carrent peaks and provide the hot-swap operation Tn [35,29], a modification of the droop control technique is presented. This technique involves conteol method that uses adaptive Virtual output impedance to achiov elective reactive power sharing. A Um Taga ea soft-stat operation is also included to avoid inital current peaks and provide hot-swap operation. In addition, a current harmonic loop is ‘added to properly share the linear and non-linear loads. This loop is often tested to consider different line impedances of two DG units without considering the distinct power capacities ofthese DG units. In [00}, an improved droop control technique using virtual complex ypedance is proposed to consider the effects of complex Tine dance, This technique provides excellent current sharing. and minimizes harmonic circulating currents. However, Q sharing is not presented. “Another modified droop control technique thet uses voltage aapli- tude droop loop with zero steady-state error control and virtual impedance loop is presented in [41]. These loops are effective in avoiding frequency deviation and improving the accuracy of the sharing ‘and control of reactive power. However, these loops can increase the total harmonie distortions of voltage components. Therefore, in [42], 8 voltage amplitude correction method is included to improve the quality of output voltage. ‘The proposed techniques in [512] ae implemented for islanded, rmicrogrid, However, some cases of autonomous operation are required. ‘Thus, an enhanced droop control technique was developed in [3] to achieve the autonomous operation of a paralleleonnected inverter. ‘This strategy can accomplish a tight P and Q regulation performance and proper transient response In (4446), an improved droop contol strategy is implemented in parallelconnected inverters by including a virtual impedance loop, feeder current-sensing loop, and a second-order general-integrator scheme, The aceuraey of reactive power sharing and inability to perform the time-derivative function are some issues of these strate- fies, Furthermore, these strategies can achieve fast transient response, improved current harmonic sharing, and lowest total harmonie distor- tion of outpat voltage. Brabandere eta, proposed a virtual impedance droop uulizing a virtual power frame transformation to avoid the coupling between active and reactive power. This method provides excellent voltage and frequency control as wel 2s mitigation of voltage harmonies (47,48. 22. Virtual impedance loop-based droop control for three-phase inductive mierogrid In [49-52), another novel structure of droop controler utiizing Virtual impedance loop is presented. ‘The proposed techniques ean generally achieve accurate reactive power sharing and perform stable ‘operation of paralle-connected inverters. The virtual power transfor- sation frame is another interesting structure to implement the droop control with virtual impedance [55]. A transformation frame depen- dent on R/X value of lines is used to calculate the virtual powers. The P/Q is decoupled if the distributed system is purely inductive or estimation of R/X value is known. Similar to [53], a virtual frequency and voltage frame is proposed [454-50]. This strategy also effectively decouples power control and enhances the system stability and transient response. Ifthe line impedance of parallel-conneeted DG inverters are mismatched, then the transformation angles will vary, and the reference frame will not be synchronized. These phenomens fare common drawbacks ofa virtual transformation-based controller, 3.3. Virtual impedance loop based droop contro for single-phase resistive mierogrid Droop contol for resistive line impedance that uses resistive virtual ‘output impedance and harmonic power-sharing loop is introduced [57] and shown in Fig. 7. This strategy is based on P-F and Q-o droops {ha afford. improved dynamic response and active power sharing and often obtains automatic harmonic sharing. In addition, active power Sharing can be further improved by applying new control algorithm presented in [55]. The downside of resistive droop control is the Renewable and Ssnabe Brergy Reviews 76 2017) 717-727 ‘Stow lg 7 Rest vital npn lop dr ot. vitinting of Q share performance [59]. However, in (60), the reactive power sharing isimproved by including the R-C virtual impedance Toop ln the conventional droop control. 34. Virtual impedance loop based droop control for three-phase resistive mierogrid In (61,62), an enhanced droop control technique was designed by ading a virtual negative impedance tothe conventional droop control approach. The enhanced droop control technique ean achiove accurate active power sharing although two DG units have different power capacities. Furthermore, voltage double-loop control is added to avoid voltage deviation caused by the P-E droop, 4, Adaptive and robust droop controls “The conventional droop control involves several issues tobe solved, such as Tine impedance dependency, inaccurate power sharing, and slow transient response (63). Consequently, variants of the conven- tional droop control have been proposed to address these problems. 41. Adaptive droop control Kim etal, proposed the adaptive droop control strategy in 2002 to considerably maintain the voltage amplitude with accurate reactive power sharing (64). Tn this technique, the maximnm reactive power (ace deawn from each unt i stored and compared with reference value of reactive power Q,y. Ifthe maximum reactive power is less than the roference value, then the vllage amplitude follows the traditional Q/E. «droop equation. However, when the maximum reactive power exceeds the reference value, then the voltage amplitude will become as follows (ssh B= EY 0 ~ mas ~ 0,0) ao Hence, Q> Qror “The basic concept of adaptive droop control i shown in Fig. 8. The difference between the output reactive power Q and reference value of reactive power Q,,i¢ utilized a8 an additional value to set the desired voltage amplitude, When @ >Qq. the voltage amplitude turns from lines 10 and 20 to lies 11 and 21. The maximum reactive power is ‘ored, ad mul Ones ~ Quy) is subtracted rom the voltage amplitude a8 constant value. Therefore, when Q becomes lower than Qr, again the vollage amplitude doesnot revert to lines 10 and 20 but tofines 12 and 22. Tis phenomenon can be expressed as Eq. (1!) B= B= nO ~ Msn Ont ay Um Taga ea Fig 8. Bac conerl of adaptive de conta nti Bsintoy— a) ig 9. ok gram fone oop ten with apie droop conta ig. 10. Rt dp cont 4.1.1. Adaptive droop control for single-phase inductive mierogrid ‘The adaptive droop control is one of the interesting strategies among several variations of the traditional droop control. Several Sudies have proposed different approaches to determine the adaptive AGroop coefficient in adaptive droop control. In [65], a sevond-order fier and a modifad equation of voltage droop were adapted to ove the reactive power sharing and transient response. In [66~ 68, the adaptive integral loop technique was implemented to improve power-sharing dynamic response and remedy the effects of line impedance on cireulating current, but the control parameters are too complex to determine, In (62), the adaptive droop parameters were predetermined by calculating the microgrid impedance, This technique ensures effective power sharing and reduces line losses. 4.1.2, Adaptive droop control for three-phase induetive mierogrid 1. Derivativeterm-hased Technique: The transient response of paral- Rene and Sana egy Ravine 76 (2017) 717- Esin(or=#) Esin(ox=#) Ielconnected inverters in DG systems is improved by including the following derivative term in the adaptive droop contol in (70) = og +H Pag) + bea ay, 0, Veo Me thd Or ~ snd) + ha Gh ax ‘The change in the output voltage of an inverter inereases the power oscillation in transient conditions. Thus, adaptive transient Gerivative drops are used in [70] to decrease power oscillation. In [71], « modified derivative controler-based control technique is presented to enhance the performance of the proposed controler in [70] The proposed contol strategy equations that work ae defined 2s fellows: Cs ding h so = milling Ua) + hE = Be ay He Oeng ~ OD +4 f Ons ~ Op as In [72], another derivative-term-based technique is presented. ‘This technique ensures active damping of power osillation. In addition, this control strategy yields the desired transient response toavoid the circulating current under different operating conditions. ‘The equations for frequency (Eq. (12)] and voltage (Ea. (13)] droops based on the derivative term in [72] are defined as follows: Hom? — me + m2 ee em mag, + ey a6) ao. Wem Ve = 0+ mE — mg an In addition, the proposed contro! method decreases the oscilla sen ra a een Sele Deg Rakes 6207) 717-727 2000 1500 E 000 z 500 —Canvenional Droap Convenor Bro6p rua! Impedance droop Vial impedance Groop ° Adaptive Boop. ° ‘Adapve Bro. 0.00 002 004 006 008 0.10 ow 0.02 0.04 0.06 = 0.08 0.10 Time (6) Time(s) ® ® 200 200 150 . 10 £ = zm 5 0 80 ‘Conventional Droop: 50, — Conventional Droop Virtual impedance Droop — Virtua impedance Oroop 5 Adaptive Doo ° —Adaptve broop 0.00 002 004 006 008 0.10 o 0.02 0.04 0.06 0.08 0.10 Time (6) Time (8) ie) (d) 4000 3600 380, 3000 200, E 2500 3 200 ¥ 2000 p= a! 1500 of 10 ‘ 100 000 ‘Conventional Droop — Conventional Droop 500. Virtual Impecance Droop| 50: — Virtual Impedance Droop, 3 Adaptive broop ° — Adaptive broop too 002008 008 008 010 doo ob2 004 008 008 010 Time (6) Time(s) fe) (U) tion frequencies and stable power-sharing performance. However, power sharing ean be improved using the proposed strategy in [73], as depicted in Fig 9 2. Algorithm and Optimization-based Technique: In [74], an algorithm Js presented to modify the adaptive droop cocllcient based on operating conditions. This technique can improve the active power sharing but does not consider the reactive power sharing. An algorithm to achieve a good reactive power sharing is presented in [75], However, this algorithm is complex and sensitive to parameter tolerance. In (76), an optimization-based technique is proposed in Which the control parameters are adjusted by compromising, be- tween reactive power sharing and voltage regulation. The adaptive ‘droop constants were derived by solving a specific optimization ‘issue. In (77), the optimization-based strategy in [76] is presented, but the adaptive droop constants are determined hased on a small signal analysis ofthe system, ‘Tis technique improves the stably of, the microgrid operation. However, the power sharing performance is, not presented. Power sharing is improved using the genetic algo- wa smc el es 9297-7 s00 500 10a 48 49.6. 496 2 =i ee Eas2 = 492 [Conventional Droop 2 Conventional Droop 49.0. ‘Virtual Impedance Droop 42.0: irtual Impedance Droop (Cote Drop tee eave Ga ea te 488 484: 000 ab ah obs ob aie «om aka abe ads obs OT Tino) Tiree fa tb) Wo rege a sith prt compete srt (and nie age peer yan, swarm optimization [80] to obtain the adaptive droop coefficient, x KE @) but the improvement isnot significant. 8. Theory:based Lechnique: The bifurcation theory is used in [81] to schedule the adaptive droop eoeficient. The Kuramoto ossllator nor-inear model for determining the optimal droop constants is presented in [82]. These approaches can improve voltage and frequency regulation, as well as produce slable operation in certain cases, However, both approaches are only verified through simula- tion, 42, Robust droop control “The robust droop control is aso proposed 1 i limitations of conventional droop control, 42.1. Robust droop control for single-phase resistive microgrid “The conventional voltage droop can be rewritten as follows: AR = b= ET= nb. as) where AF is zero under grid-eonnected mode [83]. However, AE cannot be zero for islanded mode, because the active power could not be zero. Another problem isthe voltage drop caused by the droop and Toad changing elects, Small voltage drop ean he achieved by selecting ‘smaller droop coeficient. However, a larger droop constant need to be selected to achieve fast response. The voltage drop can be obtained by adjusting &° ~ V, by a ceriain way through besie principle of control theory. ‘This strategy is accomplished using the improved droop controller presented in [4], and the strategy i also known as robust Groop control. This technique is a control strategy that modifies the Aroop equation by deducting the RMS of the inverter output voltage from the voltage set point as shown in Hig. 10. This method compensates the voltage drop because of the droop and load effect. Purthermor, it maintains the load voltage within the rated value but with poor reactive power sharing. The robust droop contral ean be expressed as follows: B= KOE ya, a9) waa" + mg. eo 1m steady-state form, Bq, (1®) ean be rewritten as follows: nh = Ki" = Ve. en ‘The output voltage can be obtained using Eq. (21) which is Aeseribed as follows: where nP/.E%s the voltage drop ratio and can be chosen within the required range by selecting large A, The right hand side of Eq (21) willbe same for all parallel connected inverter, as Tong asthe same, is selected, which guarantees proper active power sharing, The robust droop constant m and n are ealeulated using Eqs. (28) and (24), a8 follows: es en “The sstive power sharing error is inversely proportional to a/K, and voltage drop is directly proportional to n/k.. For instance, the vltage Arop at rated power is PIKE"=8%, and the error in the RMS voltage is BIE 05% Then, the ervor in the active power sharing is KE*NeS OE 25%, which is sccetable 42.2. Robust droop control for single-phase inductive mierogrid Shuai et al, proposed a robust droop controller for single-phase inductive microgrid [85]. This controller considers the impact of line impedance and designed base on signal detection on the high voltage side of the coupled transformer [85]. This strategy can improve voltage regulation and significantly mitigate the line impedance impact on power sharing. McFarlane H infinity synthesis method [86], universal oop controller theory [87,88], smallgain theorem and hounded droop controller theory [89,90] have been applied to robust droop control to ensue stability, yeld high robustness, frequency and voltage regulation, and improve the reactive power sharing, In addition, bounded droop controller theory based on robust droop contral ean Yield high load sharing during linear and now-tinear loads 5. Simulation and results After reviewing the different droop control techniques, we per- formed a comparative analysis among virtual impedance loop-based Gran rae. 1m Taga oo imetal-oxide-semiconductor fieki-fect transistor (MOSFET) full bridge with a switching frequency of 4000 Hz and an LC output filter ‘withthe fllowing parameters: L=1 mH, C=20 uF, and V,=250V. The rated vollage and system frequency are 118V RMS" and 5012 respectively. However, the line impedances are 7;=0.12+0.028 and Z-0.24+40.046,The droop coeicients mand ms are 0.0008 rad/W.8, while»; and n, are 0.001 V/VAr. The droop eoeliients are the same for conventional droop control, and virtual impedance loop-based Groop control. However, the concept of design and calculation of virtual impedance proposed by the authors of [37] is used to simulate the virtual impedance loop-based droop control. Aecording to (7) the equation for calculation of virtual impedance is expressed as follows: = bd es) ased on Eq, (25), the value of virtual impedance for the given system parameter is /, -J0.010.'The eoneept of adaptive droop control presented by the authors of [73] is chosen for the simulation. The adaptive droop constants: mem, musty» and n, ate 0015 W/rad, (0018 Wis/rad, TAI Wrads, 0.0004 Var/V, and 0.5 Vars/V, respectively, “The simulation result in Vig. 12 shows the waveforms of active Po Pp) and Feactive power (Qs Os: Ons) Of two. parallel-con- pected inverters and load, which were obtained by applying conven- tional droop control, virtual impedance oop-based droop control, and adaptive droop control, It ean be seen from Hig, 12 that the virtual impedance loop-based droop control and adaptive droop control minimize the effects of impedance mismatch and improve power sharing compared with the conventional droop control. In addition, the adaptive droop control provides the highest active and reactive power among the simulated techniques. Fig. 13. depets the frequency restoration of two paralleleonnected inverters. As seen, the virtual Impedance Toop-based droop control and adaptive droop control achieves good frequency restoration of two parallel-connected inver- ters, while the conventional droop control results ina static frequency deviation, Von 6. Discussion of different methods and future work From the previous diseusson, it can be concluded that each of the proposed control strategy has its own characteristics, advantages, Grawbacks, and applications. The droop control techniques are based fon local measurements of network state variables. These variables totally distrbute the DG and provide redundaney, because they avoid critical communication link for reliable operation. The absence of ‘communication link provides high flexibility, expandability, modular- ity, and redundaney. In contrast, the conventional droop control isplays several drawbacks, and these issues are listed in Table 1. Different variations, such a5 virtual impedance loop-hased droop, ‘adaptive droop, and robust droop, have been proposed to overeome the limitations of conventional droop. The virtual impedance loop- Inased droop control can provide accurate reactive power sharing ‘among paralle-connected DG inverter. However, ths control presents some limitations, such at degradation of voltage regulation and Increase in no load voltage. The adaptive and robust droop control method provide excellent voltage regulation and reactive power shat ing. However, these methods result in poor active power and load harmonic sharing “Therefore, based on the overall discussion on the contol strategies for an AC microg, reports on the fallowing topics can resolve the presented issues ‘# Harmonic Toad sharing: Droop control methods guarantee accurate active and reactive power sharing in case of nonlinear load. lowever, desited harmonic load sharing cannot be achieved from Renewable and Ssnabe Brergy Reviews 76 2017) 717-727 previously proposed methods, ‘Thus, these methods ean still be improved farther. Stability issue: Existing droop control methods cannot achieve system stability in case of complex loads, such as induetion motor, clectri vehicles, and pulsed loads. Thus, control strategies should be Proposed to solve the frequency, voltage, and power angle stabilities for these complex Toads ‘Trade-off between frequency and active power sharing: ‘The re viewed droop control strategies cannot mitigate the trade-off between frequency and active power sharing. Thus, a hybrid droop, control method can be derived to resolve this issue Integration of renewable energy resources: The droop control ‘method has poor performance with renowable energy resources, such a5 photovoltaic and wind turbine, Existing. droop control ‘methods can be modified to mitigate this problem, Conclusion this paper, a comprehensive review of recent studies on droop control technique is presented and discussed. Based on the preceding discussion, the variations ofthe droop control technique eliminates the Inherent limitations of the conventional droop control (Le, effect of mpedance mismatch on active and reaetive power sharing, frequency oviation, and dynamic response). In addition, the review shows that adapting a single contro strategy forall applications or improving the weakness of conventional droop control by one variation is difficult. However, a deep understanding of the variations ofthe droop control technique can help to address their weaknesses and enhance the design and implementation of a mierogrid. Basic simulation results are also presented to support the analysis. Furthermore, the different droop control methods are summarized in Table 1. 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KE Trans tbd eto 209564810-9 [6A] Kim 1W; ea Aneel dep aod lor convetr pra peat. EEE Trans Power Hictron 2002170325 22. ‘Yanga Sayan the contra strategy for par operation fiers se ‘ona dep meh: Praise IST TERE entero {nna drones an plato 2100 pp 1-5 (66) Yao Wet dh Deveopnant communicate tap paral fr single phan PS Inverse om ape dsp mtd. nr cen the ‘ety: furth anal IEEE appli power tones conferees a option, AATEC 2000, p. 1280-1287 (7) Wes eta A tins sharing conta to improve the prormance of ‘ral

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