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Permutation-based Power System Restoration in Smart

Grid Considering Load Prioritization
a a b c
Jia Hou , Zhao Xu , Zhao Yang Dong & Kit Po Wong
a
Department of Electrical Engineering , Hong Kong Polytechnic University , Hong Kong
b
School of Electrical and Information Engineering , University of Sydney , New South Wales ,
Australia
c
School of Electrical, Electronic and Computer Engineering , University of Western
Australia , Western Australia , Australia
Published online: 05 Feb 2014.

To cite this article: Jia Hou , Zhao Xu , Zhao Yang Dong & Kit Po Wong (2014) Permutation-based Power System
Restoration in Smart Grid Considering Load Prioritization, Electric Power Components and Systems, 42:3-4, 361-371, DOI:
10.1080/15325008.2013.862326

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 Electric Power Components and Systems, 42(3–4):361–371, 2014
Copyright C Taylor & Francis Group, LLC

ISSN: 1532-5008 print / 1532-5016 online

DOI: 10.1080/15325008.2013.862326

Permutation-based Power System Restoration

in Smart Grid Considering Load Prioritization
Jia Hou,1 Zhao Xu,1 Zhao Yang Dong,2 and Kit Po Wong3
1
Department of Electrical Engineering, Hong Kong Polytechnic University, Hong Kong
2
School of Electrical and Information Engineering, University of Sydney, New South Wales, Australia
3
School of Electrical, Electronic and Computer Engineering, University of Western Australia, Western Australia, Australia
Downloaded by [University of South Dakota] at 06:59 04 June 2014

CONTENTS
Abstract—In the smart grid environment, a power system restoration
1. Introduction plan with flexibility is needed to improve reliability and efficiency in
2. State-of-the-art Power System Restoration Methods an automated way. Traditional system restoration methods based on
fixed time intervals may not meet the requirement. This article pro-
3. Permutation-based Power System Restoration Model poses a new permutation-based model for power system restoration
(PPSRM) within an optimized flexible duration considering available generator
4. Permutation-based Optimization Problem capability and load prioritization. By utilizing this new model, power
system restoration is formulated as a permutation-based combina-
5. QDE Algorithm
torial optimization problem to maximize the restored load per unit
6. Case Study time. Finally an action-by-action flexible time schedule is obtained for
7. Conclusion generator startup. A novel quantum-inspired evolutionary algorithm,
References called the quantum-inspired differential evolutionary algorithm, has
been applied to solve this problem due its to high population diversity
and fast convergence. The effectiveness of the proposed restoration
approach has been validated using IEEE 39- and 57-bus systems.

Keywords: restored load per unit time, permutative scheduling, load
prioritization, quantum-inspired differential evolutionary algorithm, power
system restoration, smart grid
Received 7 October 2013; accepted 24 October 2013
Address correspondence to Dr. Zhao Xu, Department of Electrical
Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong
Kong. E-mail: eezhaoxu@polyu.edu.hk
Color versions of one or more of the figures in the article can be found online
at www.tandfonline.com/uemp.
1. INTRODUCTION
Power system restoration after large blackouts is an essen-
tial task to timely recover the system back to normal op-
eration. The system operator should conduct the restoration
according to the plan prepared off-line while assessing the
system situation continuously along the way. It is well known
that power system restoration is a complex problem involving
different constraints from generation, transmission, distribu-
tion, and load aspects. In general, the process can be sim-
plified into three stages—preparation, system restoration, and
load restoration—based on different objectives [1, 2]. In the
preparation stage, many urgent actions must be taken based
on evaluation of the post-disturbance system status. In the
system-restoration stage, various objectives can be considered
depending on the system operator’s preference. In this arti-
cle, maximization of restored load per unit time is the main
goal, which is not unreasonable, as the ultimate goal of system
restoration is to timely recover the electricity supply as much
as possible when the total restoration time is flexible.

361
 362 Electric Power Components and Systems, Vol. 42 (2014), No. 3–4
In recent years, many research efforts have been endeav-
ored to develop new planning methods for system restoration
or some improvements based on traditional methods [3–7].
Different approaches have been provided with a focus on dif-
ferent stages of system restoration. From a complex network
point of view, the network configuration problem during the
system-restoration stage turns into an optimization problem
to maximize a reconfiguration efficiency index based on nodal
importance degree [8]. A new formulation of generator startup
sequence as a mixed-integer linear programming (MILP) prob-
lem appeared in [9]. Dynamic programming (DP) is chosen to
solve distribution system restoration with state reduction [10].
By far, most existing works are based on the assumption that
the power system restoration process has to be conducted step
by step with a fixed time interval. However, with renewable
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energy integration and smart grid development, more uncer-
tainties and risks are introduced into this problem. A fixed
time interval based restoration plan may not be practical in
this context. On the other hand, minimization of the impacts of
service disruption on society should be considered while ensur-
ing power system security. Therefore, loads with high priority
need to be restored as much as possible for this purpose. Due
to the whole restoration time T being flexible depending on
practical operation time, total restored load during T is mean-
ingless. Instead, maximization of the restored load per unit time
is regarded as the ultimate objective. Based on what has been
discussed above, a novel permutation-based model for power
system restoration is proposed considering available genera-
tor capability, load prioritization, and total flexible restoration
time. With this new model, power system restoration is for-
mulated as an integral permutation-based combinatorial opti-
mization problem. By solving the model, an action-by-action
flexible time schedule to maximize restored load per unit time
is obtained for generator startup.
The permutation-based combinatorial optimization prob-
lem is an non-deterministic polynomial (NP) hard problem,
which is challenging to solve. Until now, many algorithms
have been applied for dealing with this kind of problem in an
acceptable time range [11]. One proven efficient algorithm is
the genetic algorithm (GA) with a strong ability to search the
solution space in a broader way than other heuristic methods
that excel in a neighborhood search. Nonetheless, the classi-
cal genetic algorithm (GA) and its many variants were found
to be easily trapped in local optimum when the population
diversity gets low during a later stage of evolution; i.e., prema-
ture convergence can occur. To deal with this drawback, the
quantum-inspired differential evolutionary (QDE) algorithm is
chosen to solve this specific problem, with its strong capability
of preserving population diversity and fast convergence due to
the quantum concept based coding [12]. The effectiveness of
the proposed method will be validated through case studies
using the IEEE 39-bus system and IEEE 57-bus system.
2. STATE-OF-THE-ART POWER SYSTEM
RESTORATION METHODS
For power system restoration, various approaches have been
proposed. This section will review several representative meth-
ods in this field, particularly concerning their merits and de-
merits of different mathematical formulations.
Two-step method based restoration model [ 13]. Due to the
quasi-concave property of generation capability function,
concavity-based optimization cannot be applied directly.
Therefore, a “two-step” method is proposed to formulate
the generator startup problem as a mixed-integer quadrat-
ically constrained program [13]. For each unit, the gener-
ation capability curve is divided into two segments; each
segment is a concave function. One critical step is then to
divide the restoration horizon into a fixed time interval t,
ensuring that in each time interval, only one segment func-
tion is used for each unit. Therefore, in each time interval,
the quasi-concave optimization problem is converted into
a concave optimization problem. Power system restoration
becomes a step-by-step concave optimization problem, and
the optimization process ends at specified T. One implicit
assumption of this problem formulation requires that the
cranking period Tc of each unit must be an integer multiple
of fixed time interval t. If the assumption cannot be satis-
fied, this approach may fail. In a practical power system, the
implicit assumption cannot always be satisfied depending
on the choice of fixed t value and the characteristics of gen-
erator startup, which is a critical limitation of this approach.
In addition, the operation time for each transmission path
is neglected. In this case, it is assumed that all paths can
be restored within the same fixed time interval. From the
view of solution quality, optimality is only achieved for each
time interval. Global optimality is not guaranteed in whole
restoration time.
MILP-based restoration model [ 9]. This method is developed
based on the two-step method proposed in [13]. With in-
troduction of binary decision variables and linear decision
variables, the non-linear combinatorial optimization power
system restoration problem is transformed into an MILP
problem. In this method, the time horizon is broken into
fixed time intervals that can be represented as [t, 2t, . . . ,
nt]. Accordingly, the total restoration time is also a fixed
value incorporated in the objective function. From the
whole restoration horizon point of view, it is a step-by-step
 Hou et al.: Permutation-based Power System Restoration in Smart Grid Considering Load Prioritization
MILP optimization problem. At each time interval dividing
point, a solution is obtained indicating which non-blackstart
(NBS) unit is on. Then a transmission path module provides
path and operation time To from a blackstart (BS) unit to
the target NBS unit. If To is larger than the time interval, the
corresponding modified constraint is added into the MILP
problem. The MILP is resolved again. The optimization
process ends when the total restoration time is determined
as a multiple of the fixed time interval. The constraints of
the transmission path operation time not only increase the
computation burden but also lead to the final solution hard
to be globally optimal.
DP-based restoration model [ 10]. In this method, radial sys-
tem configuration is assumed in the process of distribution
system restoration. The objective function is to minimize
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the unserved system energy. The whole restoration process
is divided into stages, again represented by fixed time inter-
vals. In each stage, all possible combinations of feeders are
composed. One state in each stage is connected through an
arc with all states in the next stage. The final strategy pro-
vides a step-by-step operation sequence of feeders. The DP
model is constrained by the high dimensionality of problem
decision variables. The computation time increases dramat-
ically with the size of the decision variable, which prevents
the model from its application in practical power system
restoration.
The above-reviewed mathematical models share one com-
mon property: that the restoration process is regarded as a
step-by-step optimization problem based on the decomposi-
tion of the entire restoration horizon into several fixed time
intervals, where the starting time of an NBS unit is one time
point belonging to the integer set [t, 2t, . . . , nt], as demon-
strated in Figure 1.
The first generator is supposed to start at t, but if the practi-
cal operation time from BS to the first generator Tg1 is smaller
than t, the generator has to wait until the supposed time t, which
reduces restoration efficiency. If Tg1 is larger than t, the corre-
sponding constraint should be added and optimization should
be re-conducted. The first situation causes a waste of time in
waiting but is critical in the first stage of restoration time. The
second situation causes re-optimization, which increases com-
putation burden. To overcome these drawbacks, a new model
dealing with the conflict between a predetermined fixed time
interval and practical transmission line operation time is there-
0 t 2t ... nt
FIGURE 1. Restoration timeline of fixed time interval.
363
0 Tstage1 Tstage2 Tstage3 ... Tstagen
FIGURE 2. Restoration timeline of flexible time interval.
fore proposed. The restoration timeline of the novel method is
flexible depending on the practical operation time, as shown in
Figure 2. Tstage1 indicates generator startup time in restoration
stage 1, which is determined by the transmission line opera-
tion time from the BS unit to the generator. Tstage2 indicates
the generator startup time in restoration stage 2. The interval
between stage 1 and stage 2 can be different from the interval
between stage 2 and stage 3, which shows flexibility.
Meanwhile, it is also meaningful to optimize the restora-
tion sequence considering load priorities, which can further
enhance the restoration efficiency and minimize the negative
impacts due to service disruptions. Thus, a new permutation-
based power system model is proposed considering restora-
tion time for transmission lines. With the new model, power
system restoration becomes an integral optimization problem
rather than the step-by-step optimization formulation used in
traditional models, which inevitably leads to non-global opti-
mal solutions. It is obvious that the resultant restoration plan
by the new method can better reasonably resemble the reality
therefore providing a more valuable guidance to implement
practical system restorations.
3. PERMUTATION-BASED POWER SYSTEM
RESTORATION MODEL (PPSRM)
In the smart grid environment, a power system restoration plan
with a flexible timeline is needed to improve reliability and
efficiency in an automated way. Therefore, a fixed time inter-
val based restoration schedule for power systems assumed in
traditional methods may not be practical. A novel advanced
model, called the PPSRM, is proposed herein to optimize
the restoration operation sequence considering total flexible
restoration time, available generator capability, and load prior-
ities. The objective function of the PPSRM is to maximize the
restored load per unit time subject to such constraints as gen-
erator startup requirements and power balance. By utilizing
the PPSRM, the power system restoration problem becomes
a permutation-based optimization problem optimization pro-
cess similar to the classical traveling salesman problem. The
proposed method comprises transmission path search module,
operation time calculation module, startup constraints check-
ing module, and load pickup module, as illustrated in Figure 3.
It is assumed that in a power system, there are a total of
n generators and m NBS generators (n > m). The input of the
transmission path search module is a sequence for generators
 364 Electric Power Components and Systems, Vol. 42 (2014), No. 3–4

Operation

Sequence of
Transmission Path
Search Module
Path P
Time
T ,T ,T Pcrankj(MW)
Calculation
generators Module
startup
Startup Prj
Calculate Load Pickup Flexible Time
Constraints
F F( T ,T ) Module schedule
Checking

FIGURE 3. PPSRM.

to start. The module aims at finding the optimal path in
each restoration stage. In each restoration stage, path Pij ,
containing vertices of the optimal path from node i to node
j, is found by the optimal restoration path search algorithm;
i is one of those restored nodes in previous restoration steps,
and j is the target NBS generator in this restoration step. With
 calculation module, Ts , Tstage , and Ttotal are
the operation time
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0 Tsj T t
FIGURE 5. Characteristic of NBS generator cranking power.
In Figure 4, Tsi indicates the start time of generator i. Tci
is cranking period from start time to ramp up and is parallel
with the system, and Tmi is the time period from ramp start
to reach maximum output Pmi . Ri represents the ramp rate,

attained. Ts = Ts1 , Ts2,··· , Tsn , and Tsi represents generator

 and T is the total restoration time. In Figure 5, Ts j is the start
unit i startup time. Tstage = Tstage1 , Tstage2,··· , Tstagem , and time of NBS generator j, and T is the total restoration time.
Tstagej indicates the jth restoration stage time period. Ttotal Pr j indicates the required power of NBS generator j from Ts j
indicates total restoration time from the beginning until the to T. The startup characteristic of a generator can be described
moment the last warm startup generator is ready to reach as Pgeni (t), and the characteristic of a NBS generator cranking
maximum generation power in the restoration process. Ts and power can be described as Pcrankj (t); i ∈ {1, 2, . . . , n} and
Ttotal are sent into the startup constraints checking module to j ∈ {1, 2, . . . , m}.
decide which generator can start within the hot startup time The equations of Pgeni (t) and Pcrankj (t) are illustrated as
limit while satisfying generator startup power constraints. follows:
Subsequently, a flexible time schedule is provided depending
on the load pickup module, which decides the load distribution Pgeni (t)
⎧
to balance generation considering load prioritization. Finally, ⎪
⎨ 0 0 ≤ t < Tsi + Tci
the objective function F (Tstage , Ttotal ), indicating the restored = Ri (t − Tsi − Tci ) Tsi + Tci ≤ t ≤ Tsi + Tci + Tmi
load per unit time, is calculated, which will be used as the ⎪
⎩
Pmi Tsi + Tci + Tmi < t
evaluation function in the optimization process. Details of
each module will be explained in what follows. 
Prj t ≥ Ts j
Pcrankj (t) = . (1)
00 ≤ t < Ts j
3.1. Generator Characteristic
Generators are divided into two groups—the BS generator
3.2. Transmission Path Search Module
and NBS generator—according to startup requirements. The
BS unit can start by itself, while the NBS unit needs cranking Given a startup sequence of generators, the transmission path
power. Typical startup characteristics of a generator unit (BS or search module aims at finding the optimal restoration path in
NBS unit) and characteristics of an NBS unit cranking power every restoration stage. In each restoration stage, path Pij con-
are illustrated in Figures 4 and 5. taining vertices of the optimal path from node i to node j can be
found by an optimal restored path search algorithm, which is il-
lustrated in Section 3.2.2. Node i is one of those restored nodes
Pgeni(MW) in previous restoration steps (i ∈ V j ), and node j is the target
Pmi NBS generator in this restoration stage. Power system secu-
Ri rity and load prioritization are taken into consideration when
finding the optimal restoration path. Based on the un-directed
power system topology model, a new index Ps combining load
importance degree and capacitance is proposed for optimal
t path search optimization. Section 3.2.1 provides details of the
0 Tsi Tsi+Tci Tsi+ Tci+ Tmi T
un-directed power system topology model, followed by the
FIGURE 4. Startup characteristic of a generator. path search optimization method in Section 3.2.2.
 Hou et al.: Permutation-based Power System Restoration in Smart Grid Considering Load Prioritization
3.2.1. Power System Topology Model
In the process of the charging transmission line in a prelim-
inary stage of power system restoration, the capacitance will
lead to overvoltage at the end of a transmission line. For secu-
rity consideration, the path with minimum capacitance has the
minimum possibility of overvoltage. Therefore the line charg-
ing capacitance value is used as edge weight in the proposed
power system topology model, which can then be formulated
as an undirected weighted graph G = (V , E, W ), where V =
{Vi } is a set of nodes representing electric power stations or
transformer stations; E = {(i, j)} edges represent high-voltage
transmission lines. For each edge, there is a positive route cost
value Wij , which accounts for line charging capacitance; f
For disconnected nodes, Wij is set as infinite. Figure 6 presents
the IEEE 14-bus system topology model. Generator nodes are
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demonstrated with G and black nodes indicate load nodes.
Traditionally, the optimal path from node i to node j is the
minimum cost path searched by using the Dijkstra method
[14], along which the possibility of transmission line over-
voltage is minimized. In this article, besides the capacitance
impacts on system restoration security, load prioritization is
taken into consideration. Load priority or importance degree
is defined based on properly ranking the priorities of loads for
restoration with reference to, e.g., pre-signed contracts with
customers where the expected service quality has been speci-
fied. Consequently, a new index Ps is proposed combining load
FIGURE 6. IEEE 14-bus system topology model (where
G nodes stand for generators and black nodes stand for
substations).
365
importance degree and capacitance for optimal path search op-
timization.
3.2.2. Load Importance Degree Based on Prioritization
In general, electrical loads can be divided into three levels
based on reliability requirements by customers. The first-level
load refers to significant loads, the interruption of which causes
massive economical, political, or military loss. Loads of hos-
pitals, airports, and broadcasting stations belong to the first
level. The second-level load includes some industrial loads,
the interruption of which causes a certain extent loss. The in-
terruption of third-level loads has small influence on public.
There are three predetermined values I 1 , I 2 , and I 3 , indicat-
ing three levels of load; I 1 = 1, I 2 = 0.5, and I 3 = 0.1. In the
power system topology model, the importance degree of load
node L i is given based on load prioritization; if node 1 is the
third level load, then L 1 = I 3 .
3.2.3. Optimal Restored Path Search Algorithm
Based on power system topology model and assigned load
importance degree, a new index Ps is proposed, combining load
importance degree and capacitance for optimal path search
optimization. Figure 7 provides a four-node case for optimal
restored path search illustration.Ps is defined as Ps = WL .
W is the summation of weights of edges in a path. L is the
summation of load importance degree of all load nodes along a
path. The larger L is, the smaller Ps is; the smaller W is,
the smaller Ps is. Therefore, the path with minimum Ps value
is regarded as the optimal path, reflecting the balance between
system security and load prioritization. In the four-node case,
there are two paths from node 1 to node 4. Path 1 is {1, 2, 3, 4}.
Path 2 is {1, 3, 4}. L 1 = 0.5, L 2 = 1, L 3 = 0.1, andL 4 = 0.5.
W of path 1 is 5, and W of path 2 is 5. L of path 1
is 2.1, and L of path 2 is 1.1. Therefore, Ps1 = 2.38 and
Ps1 = 4.54. Therefore, path 1 is the optimal path P14 from
node 1 to node 4.
The modified Dijkstra method is proposed to find the path
with minimum Ps from vertice V0 to all other nodes. The
procedure of the modified Dijkstra is described in the following
steps.
FIGURE 7. Four-node case for optimal restored path search.
 366 Electric Power Components and Systems, Vol. 42 (2014), No. 3–4

Step 1: V indicates all nodes in a graph. Initially, S contains high priority to lower priority in every restoration stage
only source node V0 . Initially S = {V0 }. U = V – S, Tstagei :
which contains all nodes except V0 . m  Ttotal

Step 2: Calculate all Ps from node V0 to every node Vu in U. Ploadk (t)dt

k=1 Tstagek
Choose node k from U, ensuring minimum Ps of path n 

Ttotal m 

Ttotal
from node V0 to Vk . = Pgeni (t)dt − Pcrankj (t)dt. (2)
i=1 Tsi j=1 Ts j
Step 3: Add Vk in S and regard Vk as the middle node and
modify Ps of every node in U. If Ps of a path from
node V0 to Vu (across node Vk ) is smaller than Ps of
4. PERMUTATION-BASED OPTIMIZATION
the pre-calculated Ps of the path from node V0 to Vu
PROBLEM
(not across node Vk ), Ps of the path from node V0 to
Vu is modified based on the new path. With the PPSRM, power system restoration becomes a
Step 4: Repeat Steps 2 and 3 until all nodes are contained permutation-based combinatorial optimization problem sub-
in S. jected to generator hot startup time, cranking power require-
Downloaded by [University of South Dakota] at 06:59 04 June 2014

ment, and power balance constraints. The solution x of this

3.3. Operation Time Calculation Module
In a power system consisting of M NBS generators, the whole
restoration process is divided into M stages. For example, in
IEEE 39-bus system, generator 33 is the BS unit and there are
9 NBS units. If a sequence of generator startup is given like
x = [34, 36, 37, 39, 38, 35, 30, 32, 31], an action-by-action
strategy is determined. In stage 1, unit 34 is supposed to start
up. Path P33−34 from node 33 to node 34 is {33, 19, 20, 34},
determined by the transmission path search module. There-
fore, Tstage1 is the summation of all transmission line operation
times in P33−34 . In stage 2, unit 36 is supposed to start up. The
same calculation process proceeds. Path P19−36 is the optimal
path from restored nodes to node 36. P19−36 is {19, 16, 24, 23,
36}.Tstage2 is equal to Tstage1 plus the summation of all transmis-
sion line operation times in P19−36 . Tstagei (i∈ {1, 2, . . . , M})
can be obtained following the above method. Each trans-
mission line is assigned a fixed operation  time to = 2. Fi-
problem is the startup sequence of NBS generators, which
determines Ts , Tstage , and Ttotal . The objective function is to
maximize the restored load per unit time during Ttotal . The
optimal problem can be formulated as
MaxF(Tstage (x), Ttatal (x)) (3)
subject to hot startup time limitation, cranking power require-
ment, and power balance.
4.1. Objective Function
Due to Ttotal being flexible depending on different generator
startup sequences in this method, exclusive maximization of
total restored load during the entire restoration period is not
meaningful. Therefore, the maximization of restored load per
unit time is preferred as an objective function to maximize the
restoration efficiency. Tstagej is the jth restoration stage time
period,Ttotal is total restoration, and Ploadi (t) represents the
restored load at stage i:
nally, Tstage = Tstage1 , Tstage2 , . . . , Tstagem , and correspond- m  Ttotal
ing Ts = [Ts1 , Ts2 , . . . , Tsn ] are obtained, which are used in i=1 Tstagei Ploadi (t)dt
F(Tstage ,Ttotal ) = . (4)
objective function calculation. Ttotal

3.4. Startup Constraints Checking Module 4.2. Constraints

Ts and Ttotal are sent into the startup constraints checking mod-
ule to decide which generator can start within the hot startup
time limit Thi . Thi is the maximum hot startup time limit of unit
i. In this model, unit i can only start satisfying Tsi < Thi , or it
fails. Cold startup of the unit is not considered. This approach
emphasizes the quick start in the preliminary stage of power
system restoration.
Gn  Tstagek Gm  Tstagek
The generator hot startup time constraint is
Tsi < Thi , i = 1, 2, . . . , m, (5)
where m is the number of NBS generator units, Thi is the max-
imum hot startup time limit of unit i, which means unit i can
only start within the hot startup period, or it fails.
The generator cranking power requirement is

3.5. Load Pickup Module Pgeni (t)dt − Pcrankj (t)dt > 0,

Load should be equal to generation every minute, as shown in i=1 0 j=1 0

Equation (2); the restored load nodes are determined from k ∈ {1, 2, . . . , m} , (6)
 Hou et al.: Permutation-based Power System Restoration in Smart Grid Considering Load Prioritization
where Pgeni (t) is the generation capability of generator unit
I, and Pcrankj is the cranking power function of NBS unit j.
Tstagek indicates the restoration period at stage k, and m is the
number of restoration stages. G n is the number of on-state
generators, and G m is the number of on-state NBS generators
until Tstagek . Within each restoration stage Tstagek , the total
system generation of on-state generators minus the cranking
power of on-state NBS generators should be larger than 0 to
satisfy this constraint.
The power balancef is given by
m 
Ttotal
Ploadk (t)dt
Tstagek
k=1
n 
Ttotal m 
Ttotal
= Pgeni (t)dt −
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i=1 Tsi j=1 Ts j
This constraint has established that available generation
must be equal to restored load.
selected vec- 
5. QDE ALGORITHM
Power system restoration becomes a permutation-based com-
binatorial optimization problem in which the optimization pro-
cess similar to the traveling salesman problem, which is a clas-
sical NP-hard problem. Meta-heuristic algorithms have been
developed for dealing with this permutative scheduling prob-
lem. Even though those algorithms can obtain satisfactory re-
sults, they need more computation time and vary dramatically

according to algorithm parameters [15–18]. Due to the com-
plexity of the power system restoration objective function, an
efficient algorithm with quick convergence is needed to solve
this problem in an acceptable time. A novel quantum-inspired
evolutionary algorithm (QEA), called the QDE algorithm, is
chosen as the problem solver for its population diversity and
quick convergence [12]. QDE is inspired by QEAs [19–22];
however, QEAs cannot apply a permutative scheduling prob-
lem directly due to the solution structure. With a novel encod-
ing scheme, a quantum chromosome is converted to a specific
sequence. Quantum chromosomes are updated by a differen-
tial evolution (DE) strategy, and an insert operator is applied
for local search.
In QDE, a quantum chromosome individual i is represented
as
Qi = [θi1 , θi2 , . . . , θin ] ,
where θij ∈ [0, π /2] is the quantum rotating angle. The obser-
vation operator and update operator are applied on quantum
rotating angle directly.
367
5.1. New Observation Operator
Under the algorithm, once Q i is given, it can be then de-
termined Pi = [cosθ i1 , cosθ i2 , ..., cosθ in ]. Subsequently, two
empty arrays first() and last() are initialized. A random number
μ∈ [0, 1] is then produced, and if μ > cosθ i1 , “1” is put into
last(). Another μ is generated for the second bit operation, and
if μ < cosθ i2 , “2” is put into first(). After all Q-bits operation,
first() and last() are determined. The sequence chromosome
Si is obtained by combining first() and last().
5.2. Update Operator
Update operator based on the DE mechanism is implemented
due to its excellent global search ability and speed. DE was first
proposed by Storn and Price based on real number encoding
Pcrankj (t)dt. (9)
[23]. Suppose the population at generation t of m size isQ t =
[Q t1 , Q t2 , . . . , Q tm ]; each individual isQ it = [θi1
t
, θi2
t
, . . . , θin
t
].
For each individual, mutation, crossover, and selection opera-
tors are applied successively.
Mutation: classically, one type of mutant vector Vit of a target
vector Q it is obtained by adding randomly
tor Q rt 1 and a weighted differential vectorF Q rt 2 − Q rt 3 ,
where r1, r2, r3, and i are all distinct random numbers; F is a
real number between 0 and 2, which controls the amplifica-
tion of the differential variation. In the proposed approach,
the DE/best/1/bin strategy [24] is adopted to cooperate with
the novel reset operator afterward, where Q rt 1 is replaced
byQ tbest , i.e., the best individual of generation t:
Vit = Q tbest + F Q rt 2 − Q rt 3 . (11)
Crossover: a trial vector Uit is generated by comparing a ran-
dom number between 0 and 1 with crossover factor CR for
each bit Uijt , and

Vijt otherwise,
Uijt = (12)
Q tij if (rand < CR).
Selection: The greedy strategy is adopted in selection opera-
tion. If Uit generates a better fitness function value compared
with the target vector Q it , the target vector will be replaced
by Uit in the next generation; otherwise, Q it remains un-
changed.
5.3. Insert Operator
After updating population at generation t by using the DE
(10) algorithm, an insert operator is used for local search, which
has been proved efficient in a permutation-based solution local
search [25]. In this case, the insert operator is applied to the
global best permutation sequence of each generation Sbest t
to
enhance the exploitation capability of QDE. The logic of the
 368 Electric Power Components and Systems, Vol. 42 (2014), No. 3–4

insert operator is illustrated in the following procedure, where QDE, including the population size, etc., can greatly affect the
n is the dimension of the problem. performance of optimization, optimal selection of these param-
eters has been conducted in relation to the studied cases. Ac-
Initialize k = 0, calculate fitness(Sbestt
); cording to parameter analysis, optimal population size is 5 and
While fitness(Sinsert ) > fitness(Sbest ) and k < n;
t t
F = 0.75, and CR = 0.9 is the best combination. All algorithms
t
Remove the ith number from Sbest and obtained a partial are implemented in MATLAB 7.13 (The MathWorks, Natick,
t
chromosome Sinsert ; Massachusetts, USA) and executed on a PC with Intel Core of
t
Insert the removed number into the jth position in Sinsert 1.8 GHz and 3.73 GB RAM (Thinkpad X1 carbon, USA).
(j = i);
End;
Update Sbestt t
= Sinsert t
if fitness(Sinsert ) < fitness(Sbest
t
). 6.1. IEEE 39-bus System
For IEEE 39-bus case, there are a total of ten generators, and
unit 33 is the BS generator; characteristics are listed in Table 1,
5.4. Procedure of QDE and the optimal flexible restoration plan obtained by QDE is
described in Table 2.
Downloaded by [University of South Dakota] at 06:59 04 June 2014

The following illustrates the procedure of QDE:

The optimal objective function value is 97.4 restored loads
Begin t ← 0 per unit time. Table 2 provides the optimal solution demon-
initialize control parameters for DE strated with a time schedule for NBS generator unit startup
initialize Q t time, charging path, and load pickup. The first column repre-
observe Q t by new observation operator and produce S t sents restoration stage. The second column indicates startup
evaluate S t generator node number at each stage. The path column pro-
store Q tbest , X best
t t
, and Sbest vides the determined optimal charging path, and Tstart is the
While (t < max generation) do, t ← t + 1 corresponding generator start time. The final column gives the
update Q t by using the DE algorithm restored load by Tstart . With the generator hot startup time limit
observe Q t by new observation operator and produce S t checking, units 30, 34, 33, and 38 are feasible. Figure 8 shows
evaluate S t the restored load curve for the IEEE 39-bus system, where the
use insert operator for local search dashed line indicates restored load per unit time.
store Q tbest , X best
t t
, and Sbest
use reset operator to modify Q tbest used in DE update
process 6.2. IEEE 57-bus System
End The IEEE 57-bus system has seven generators and many more
transmission lines. Generator 3 is regarded as the BS unit;
where Q t represents the quantum chromosome population at Table 3 provides the data and characteristics of this system,
generation t, and S t stands for the sequence population at and the optimal flexible restoration plan obtained by QDE is
generation t by observing Q t . Q tbest , X best
t t
, and Sbest repre- described in Table 4. Figure 9 shows the restored load curve
sent best quantum chromosome, corresponding binary chro- for the IEEE 57-bus system.
mosome, and corresponding sequence at generation t. The
evaluation function in this article is Eq. (4).
200
restored load for IEEE 39 bus system
6. CASE STUDY 39 system restored load per unit time
150
restored load(MW)

The proposed restoration method is tested on the IEEE 39-bus

100
system and IEEE 57-bus system to find the optimal sequence
of generator startup according to the objective function in Eq.
50
(4). The power system restoration of these two test systems
have been solved by QDE. Finally action-by-action flexible
0
time schedules for IEEE 39- and 57-bus systems provide unit 0 5 10 15 20 25
time(min)
30 35 40 45

startup time, charging path, and available generation capability

or load pickup per restoration stage. Since the parameters of FIGURE 8. Restored load curve for IEEE 39-bus system.
 Hou et al.: Permutation-based Power System Restoration in Smart Grid Considering Load Prioritization 369

Gen Tc (min) Th (min) Tr (min) R (MW/hr) Pr (MW) Pm (MW)

G30 8 60 120 160 15 1040
G31 4 12 Inf 130 8 646
G32 5 35 Inf 165 9 725
G33 0 Inf 0 132 0 652
G34 3 8 60 124 3 508
G35 4 15 Inf 134 8 687
G36 3 10 60 128 7 580
G37 3 8 60 126 6.5 564
G38 6 40 120 144 10 865
G39 8 60 120 164 15.5 1100

TABLE 1. Data of IEEE 39-bus system generator characteristics

Stage Node Path Tstart (min) Restored load (MW)

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1 33 33 → 33 0 0
2 34 33 → 19 → 20 → 34 6 10.2
3 36 19 → 16 → 24 → 23 → 36 14 Cannot start within Th36
4 35 23 → 22 → 35 18 Cannot start within Th35
5 38 16 → 17 → 27 → 26 → 29 → 38 28 87.8.
6 32 16 → 15 → 14 → 13 → 10 → 32 38 Cannot start within Th32
7 30 17 → 18 → 3 → 2 → 30 46 178.5
8 37 2 → 25 → 37 50 Cannot start within Th37
9 31 13 → 12 → 11 → 6 → 31 58 Cannot start within Th31
10 39 2 → 1 → 39 62 Cannot start within Th39

TABLE 2. IEEE 39-bus system restoration schedule

Gen Tc (min) Th (min) Tr (min) R (MW/hr) Pr (MW) Pm MW)

G1 5 60 120 85 3 575
G2 1 35 Inf 15 1 100
G3 0 Inf 0 21 0 140
G6 1 35 60 13 1 100
G8 5 45 60 82 1 550
G9 1 35 Inf 13 2 100
G12 4 60 60 61 0 410

TABLE 3. Data of IEEE 57-bus system generator characteristics

Stage Node Path Tstart (min) Restored load (MW)

1 3 3→3 0 0
2 2 3→2 2 0.3
3 1 2→1 4 2.35
4 8 3 → 4 → 18 → 19 → 20 → 21 → 22 → 38 → 37 48 Cannot start within Th8
→ 36 → 35 → 34 → 32 → 31 → 30 → 25 →
24 → 26 → 27 → 28 → 29 → 7 → 8
5 9 29 → 52 → 53 → 54 → 55 → 9 58 Cannot start within Th9
6 6 7→6 60 102.4
7 12 38 → 49 → 50 → 51 → 10 → 12 70 124.6

TABLE 4. IEEE 57-bus system restoration schedule

 370 Electric Power Components and Systems, Vol. 42 (2014), No. 3–4
140
120
restored load for IEEE 57 bus system
57 system restored load per unit time
restored load(MW)
100
80
60
40
20
0
0 10 20 30 40 50 60
t(min)
FIGURE 9. Restored load curve for IEEE 57-bus system.
7. CONCLUSION
Based on permutation-based restoration model, power sys-
Downloaded by [University of South Dakota] at 06:59 04 June 2014
tem restoration becomes a permutation-based combinatorial
optimization problem to maximize the restoration efficiency
reflected by restored load per unit time at the same time con-
sidering load prioritization. To solve this problem, the QDE
algorithm, which has significant merits of enhanced population
diversity and fast convergence, is applied. The effectiveness
of the proposed restoration model is validated through case
studies using IEEE 39- and 57-bus systems. Finally, a flexible
action-by-action time schedule for generator startup and load
pickup considering load prioritization is obtained.
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 Hou et al.: Permutation-based Power System Restoration in Smart Grid Considering Load Prioritization 371

BIOGRAPHIES tralia. He is an editor of IEEE Transactions on Smart Grids,

and IEEE Power Engineering Letters. His research interests
Jia Hou received her B. Eng degree in electrical engineering
include smart grid, power system planning, power system se-
from South China University of Technology, China, in 2010.
curity, load modeling, renewable energy systems, electricity
Currently she is pursuing the PhD degree in the Department
market, and computational intelligence.
of Electrical Engineering, The Hong Kong Polytechnic Uni-
versity.
Kit Po Wong obtained his M.Sc, Ph.D., and D.Eng. degrees
from University of Manchester, Institute of Science and Tech-
Zhao Xu received his B.Eng., M.Eng, and Ph.D. degrees from
nology, in 1972, 1974 and 2001 respectively. Prof. Wong was
Zhejiang University, China, in 1996, National University of
with the University of Western Australia, Perth, Australia, from
Singapore, Singapore, in 2002, and The University of Queens-
1974 until 2004 and is now an Adjunct Professor there. Since
land, Australia, in 2006, respectively. He is now with The Hong
2002, he has been Chair Professor, and previously Head, of
Kong Polytechnic University. He was previously an Associate
Dept. of Electrical Engineering, The Hong Kong Polytechnic
Professor with Centre for Electric Power and Energy, Techni-
University. Prof. Wong received 3 Sir John Madsen Medals
cal University of Denmark. He is an Editor of Electric Power
(1981, 1982, and 1988) from the Institution of Engineers Aus-
Downloaded by [University of South Dakota] at 06:59 04 June 2014

Components and Systems. His research interests includes de-

tralia, the 1999 Outstanding Engineer Award from IEEE Power
mand side, grid integration of renewable energies and EVs,
Chapter Western Australia, and the 2000 IEEE Third Millen-
electricity market planning and management, and AI applica-
nium Award. He was a Co-Technical Chairman of IEEE Ma-
tions in power engineering.
chine Learning and Cybernetics (ICMLC) 2004 Conference
and General Chairman of IEEE/CSEE PowerCon2000. He is
Zhao Yang Dong obtained his Ph.D. degree from the Uni-
now Editor-in-Chief of IEEE Power Engineering Letters and
versity of Sydney, Australia in 1999. He is now Head and
was Editor-in-Chief of IEE Proc. Generation, Transmission &
Chair Professor with School of Electrical and Information En-
Distribution. He is also a Fellow of IET, HKIE, and IEAust. His
gineering, The University of Sydney, Australia. He previously
current research interests include computation intelligence ap-
held academic and industrial positions with The University of
plications to power system analysis, planning and operations,
Newcastle, The Hong Kong Polytechnic University, the Uni-
as well as power market.
versity of Queensland, Australia and Transend Networks, Aus-