energies

Article
Coordinated Excitation and Static Var Compensator
Control with Delayed Feedback Measurements in
SGIB Power Systems
Haris E. Psillakis 1 and Antonio T. Alexandridis 2, *
1 School of Electrical and Computer Engineering, National Technical University of Athens,
15780 Athens, Greece; hpsilakis@central.ntua.gr
2 Department of Electrical and Computer Engineering, University of Patras, 26504 Patras, Greece
* Correspondence: a.t.alexandridis@ece.upatras.gr; Tel.: +30-261-099-6404




Received: 25 March 2020; Accepted: 22 April 2020; Published: 1 May 2020


Abstract: In this paper, we present a nonlinear coordinated excitation and static var compensator
(SVC) control for regulating the output voltage and improving the transient stability of a synchronous
generator infinite bus (SGIB) power system. In the first stage, advanced nonlinear methods are
applied to regulate the SVC susceptance in a manner that can potentially improve the overall
transient performance and stability. However, as distant from the generator measurements are
needed, time delays are expected in the control loop. This fact substantially complicates the whole
design. Therefore, a novel design is proposed that uses backstepping methodologies and feedback
linearization techniques suitably modified to take into account the delayed measurement feedback
laws in order to implement both the excitation voltage and the SVC compensator input. A detailed
and rigorous Lyapunov stability analysis reveals that if the time delays do not exceed some specific
limits, then all closed-loop signals remain bounded and the frequency deviations are effectively
regulated to approach zero. Applying this control scheme, output voltage changes occur after the
large power angle deviations have been eliminated. The scheme is thus completed, in a second stage,
by a soft-switching mechanism employed on a classical proportional integral (PI) PI voltage controller
acting on the excitation loop when the frequency deviations tend to zero in order to smoothly recover
the output voltage level at its nominal value. Detailed simulation studies verify the effectiveness of
the proposed design approach.

Keywords: power system control; transient stability; nonlinear analysis; static var compensators;
SGIB power systems

1. Introduction
Power systems are nonlinear, large-scale, widely dispersed systems with many different
interconnected components. Typically, power systems controls are structured in several hierarchical
levels (primary, secondary, tertiary). The primary level control of power systems plays a central role
in maintaining transient stability and obtaining a desired system performance. Generator excitation
control is employed at the primary level in order to improve the power system stability, especially after
short-circuit faults or other major disturbances. This is achieved with the use of supplementary
excitation control devices called power systems stabilizers (PSSs). Conventional PSS are designed
using linear control approaches and are combined with the automatic voltage regulator (AVR) part to
result in a common form, known as an AVR/PSS controller. In the case of a synchronous generator
infinite bus (SGIB) power system, linear excitation controllers have been proposed in [1], which are
based on linearizations around the operating point. Nonlinear control theory, on the other hand,

Energies 2020, 13, 2181; doi:10.3390/en13092181 www.mdpi.com/journal/energies

Energies 2020, 13, 2181 2 of 18

seems to provide a more reliable and robust tool for the analysis and design of power systems [2].
Under this view, several nonlinear excitation control methods have been proposed including feedback
linearization [3,4], adaptive control [4–7], and robust designs [8,9].
Beyond the traditional control of power systems through the excitation circuits of the rotating
generators, static power-electronic devices are proposed to be installed in the power transmission
system to support their transient behavior. Such static power-electronic components are the flexible
alternating current transmission system (FACTS) devices that are suitably controlled to increase the
power transfer capability and network stability [10,11]. Static var compensators (SVCs) are FACTS
devices that correct the power factor and the grid voltage at the point of connection [12–14]. In this
paper, we consider a widely used thyristor controlled reactor-fixed capacitor (TCR-FC) SVC [15,16].
Voltage is regulated at the SVC bus as follows: If voltage amplitude is needed to decrease (i.e., in case
of capacitive load conditions), the SVC uses TCRs to absorb vars from the system. If voltage amplitude
is needed to increase (in case of inductive load conditions), the capacitor banks are automatically
switched-in to inject vars to the system. In several studies [12–19], coordinated excitation and SVC
control has been considered for transient stability enhancement and voltage regulation.
Recent advances in wide-area measurement systems (WAMS) technology have initiated the use of
phasor measurement unit (PMU) devices for controlling power systems. Communication time-delays
are inevitably introduced during the transmission of wide-area signals. The effect of these delays
on the overall power system stability has attracted significant research interest [20,21] because they
constitute additionally negative factors in designing an effective control.
In this paper, we consider a single machine infinite bus power system with a TCR-FC SVC
connected in the tie-lines between the generator and the infinite bus. The synchronous generator
is represented by its third-order nonlinear model and the SVC dynamics from its first-order model.
A feedback linearization approach is used, resulting in a linear dynamic system representation with
two controlled inputs, the generator excitation input and the input of the SVC regulator. Both inputs
are used in conjunction to formulate a faster and effective feedback loop that can substantially improve
the overall system transient response and stability. Applying backstepping-based techniques and
using distant measurements from the generator side, an excitation and a nonlinear SVC controller
are designed. As the time delays in the measurements are essential for the whole design, a detailed
nonlinear theoretical analysis is conducted that considers this influence and, as shown in the paper,
proves that as long as the time delays are sufficiently small, then all closed-loop signals are bounded
and the power angle deviations exponentially converge to zero. The design is completed by a
coordinated frequency and voltage controller that utilizes a soft switching mechanism for both the
excitation input and the SVC compensator, which extends the fuzzy switching coordination approach
of [22]. The excitation input initially employs the proposed nonlinear control, while in the sequel,
after the large frequency deviations are mitigated, it switches in a smooth way to a classical automatic
voltage regulator and power system stabilizer (AVR/PSS). It is apparent that also in the case when
the delays are not sufficiently small, then a classical proportional integral (PI) voltage controller is
used. The simulation results indicate that the proposed approach yields better results than the simple
AVR/PSS and PI SVC control.
The main contributions and novelties of this work with respect to the related literature [13–19,22]
are summarized as follows:

• This work is the first to consider the use of SVC control laws with delayed measurements
from the generator in order to improve the overall transient stability and performance.
The proposed approach makes necessary a new theoretical analysis that takes into account
the effect of time-delays.
• The soft switching coordination approach of [22], which improves global transient stability and
voltage regulation, is extended to the SVC control case. New membership functions are considered
based on suitably defined fuzzy rules that consider not only the frequency variations, but also the
magnitude of the time delays.
Energies 2020, 13, 2181 3 of 18

The rest of the paper is organized as follows. In Section 2, the mathematic model of the system is
outlined and the problem is formulated. The backstepping/feedback linearization method is used in
Section 3 to design the excitation and SVC controllers. In Section 4, a detailed stability analysis for
the closed-loop system is carried out. The coordinated frequency and voltage control is proposed in
Section 5. Simulation results are given in Section 6. Finally, in Section 7, some concluding remarks
are given.

2. Mathematical Model and Problem Formulation

A simplified model for a generator and an SVC system, which forms a three-bus system shown
in Figure 1, is considered. The SVC is connected to a bus located at an intermediate point of the
transmission line.
The classical third-order single-axis dynamic generator model [23] is used for the design of the
excitation controller, which neglects dynamics with very short time constants, and is given by the
following equations:
.
δ(t) = ω(t) − ω0 (1)
. D ω
ω(t) = − (ω(t) − ω0 ) + 0 (Pm − Pe (t)) (2)
M M
.0 1  
Eq (t) = 0 E f (t) − Eq (t) (3)
Td0
where  
Eq (t) = E0q (t) + xd − x0d Id (t) (4)

E f (t) = kc u f (t) (5)

In this model, the sub-transient and damper windings effects are neglected. Moreover, the flow
. .
terms λd and λq in the stator voltage equations are omitted as they are considered negligible compared
with the speed voltage terms.
We consider a widely used TCR-FC SVC (see Figure 1), which consists of a fixed capacitor in
shunt with a thyristor-controlled inductor. Let BC be the susceptance of the capacitor in SVC and BL (t)
be the susceptance of the inductor in SVC. Let it be that BL (t) is regulated by the firing angle of the
thyristor. Then, the equivalent dynamic model of SVC can be written as [15–17]

. 1
BL ( t ) = (−BL (t) + BL0 + kB uB (t)) (6)
TB (t)

where BL0 is the initial susceptance of the TCR, TB is the time constant of the SVC regulator, kB the gain,
and uB the input of the SVC regulator.
The coordinated control design for the generator and the static VAR compensator must take into
account the SVC controller effect on the generator dynamics. From the network topology depicted in
Figure 1, the active electrical power is given by

E0q sin δ
Pe = (7)
X
where X is the total reactance value.
Energies 2020,
Energies 2020, 13, xx FOR
FOR PEER REVIEW
REVIEW 444 of
of 21
21
Energies 2020, 13,
13, x FOR PEER
PEER REVIEW of 21

Energies 2020, 13, 2181 4 of 18

Energies 2020, 13, x FOR PEER REVIEW G
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G
Ef
E
Eff

G
AVR/PSS
AVR/PSS
AVR/PSS Ef

AVR/PSS

TCR FC
TCR FC Filters
TCR FC Filters
Filters
Figure 1.
Figure 1. Simplified generator
generator and static
static var compensator
compensator (SVC) three-bus
three-bus model. AVR/PSS,
AVR/PSS,
Figure 1. Simplified
Simplified generator and
and static var
var compensator (SVC)(SVC) three-bus model.
model. AVR/PSS,
automatic voltage
automatic voltage regulator and
automatic voltage regulator
and power system
regulator and power
system stabilizer;
power system stabilizer; TCR
stabilizer;
TCR,FC
TCR, Filterscontrolled
thyristor
TCR, thyristor
thyristor
controlled reactor;
reactor; FC, fixed
controlled reactor; FC,
fixed
FC, fixed
capacitor.
capacitor.
capacitor.
Figure 1. Simplified generator and static var compensator (SVC) three-bus model. AVR/PSS, automatic
Figure 1. Simplified generator and static var compensator (SVC) three-bus model. AVR/PSS,
voltage regulator
To examine
examine theand power system
transient system stabilizer;
response, TCR, thyristor controlled reactor;short-circuit
FC, fixed capacitor.
To
automatic
To examine the
the transient
voltage system
regulator and
transient response,
power
system aaa symmetrical
symmetrical
system stabilizer;
response,
three-phase
three-phase
TCR, thyristor
symmetrical short-circuit
controlled
three-phase
fault
fault
reactor; FC,
short-circuit fixed
fault
in the
in the
in the
tie-line
tie-line connecting the
connecting
capacitor. the generator
generator and
and the
the static
static VAR
VAR compensator
compensator is is considered,
considered, as as shown
shown in in Figure
Figure
tie-line
To connecting
examine thethe generator
transient and the
system static VAR
response, compensator
a symmetrical is considered,
three-phase as shown
short-circuit in Figure
fault in the
1. During
1. During thethe three-phase
three-phase short-circuit
short-circuit fault,
fault, the
the total
total reactance
reactance value
value Χ Χ changes.
changes. An
An analysis
analysis ofof the
the
1. During
tie-line the three-phase
connecting short-circuit
the generator and thefault,
staticthe
VARtotal reactance value
compensator Χ changes.
is considered, An analysis
as shown of the
in Figure 1.
equivalent circuits
To examine pre-fault,
thepre-fault, during
transientduring fault,
systemfault, and
response, post-fault yields
a symmetrical the respective
three-phase values of
short-circuit X
X . These
equivalent
equivalent
During the circuits
circuits pre-fault,
three-phase during
short-circuit fault, and
and post-fault
post-fault
the total yields
yields
reactance the
the respective
value changes.values
respective
X values offault
of
An analysis
in
X .. of the
These
These
the
networkconnecting
tie-line
network configurations are shown
shown
the generator inthe
andin Figures 2–4, whereas
static VAR whereas
compensatorthe detailed
detailed calculations
is considered, are in
as shown given in
Figure
network configurations
equivalent configurations are
areduring
circuits pre-fault, shown in Figures
fault,Figures 2–4,
2–4, whereas
and post-fault the
the
yields the detailed
respective calculations
calculations
values are
are given
of X. These given
network in
in
Appendix
1. During
Appendix A.
the
A. three-phase short-circuit fault, the total reactance value Χ changes. An analysis of the
Appendix A. are shown in Figures 2–4, whereas the detailed calculations are given in Appendix A.
configurations
equivalent circuits pre-fault, during fault, and post-fault yields the respective values of X . These
network configurations are shown in Figures 2–4, whereas the detailed calculations are given in
Appendix A.

Figure 2.
Figure 2. Pre-fault
Pre-fault equivalent circuit.
circuit.
Figure 2. Pre-fault equivalent
Figure 2. circuit.
equivalent circuit.

Figure 2. Pre-fault equivalent circuit.

Figure 3.
3. Equivalent circuit
circuit during fault.
fault.
Figure 3. Equivalent
Figure Equivalent circuit during
during fault.

Figure 3. Equivalent circuit during fault.

Figure 4.
Figure
Figure 4. Post-fault
Post-fault equivalent circuit.
circuit.
Figure 4.
4. Post-fault equivalent
equivalent circuit.

Figure 4. Post-fault equivalent circuit.

Energies 2020, 13, 2181 5 of 18

Specifically, the total reactance value X before the fault is

!−1
xL1 xL2 xL2 0 xL1 1
 
X= x0d + xT1 + + + x + xT1 + xT2 + . (8)
2 2 2 d 2 BL − BC

During the fault, the total reactance is changed to

 
x x (k+1)xL2 0

X = L12 L2 + 2k x d
+ xT1 ×
 !−1 
(9)
 2  −1 
2−k 1 1 1 1
× xL2 + (1−k)x − 2 x0 +x + k
 + xT2 + BL −BC
.
L1 x L1d T1
k +1
xL1 

The constant k ∈ (0, 1) is determined by the fault position in the line between the generator bus
and the SVC bus. The smaller k is, the closer the the fault is to the generator bus. If k is close to one,
then the fault position is close to the SVC bus, whereas k = 0.5 denotes a fault at the middle of this line.
After the fault is removed (by opening the brakers), it takes the following form:
!−1
x x  1
+ xT1 + xL1 + L2 + L2 x0d + xT1 + xL1 xT2 +

X= x0d (10)
2 2 BL − BC

To proceed with the control design, we differentiate (7) to obtain the rate of change of Pe as

dPe (t) E0q cos δ dE0q sin δ 1 dX

= ∆ω + − Pe (11)
dt X dt X X dt
Considering (8)–(10), the time derivative of X for the three different modes can be computed as

dX(t) a dBL (t)

= 2
(12)
dt [xT2 (BL (t) − BC ) + 1] dt

where a is a constant with the following values:

xL2 x
 
x0d + xT1 + 2L1 , be f ore f ault


 2

xL2
h  i
0

a= 2 xL1 + (1 + 1/k) xd +xT1 , during f ault . (13)


xL2 0

2 xd + xT1 + xL1 , a f ter f ault



Expressions (11), (12), and (13) are used in the following design procedure.

3. Control Design Based on Backstepping and Feedback Linearization Techniques

The control objective is to design the excitation input E f and the SVC controller uB such that
the angle deviations ∆δ converge exponentially fast to zero. To that end, we adopt a backstepping
approach in the control design for the transient stability enhancement similar to [3]. Let the first error
.
variable be z1 = ∆δ with dynamics z1 = ∆ω. If we define the first virtual control law α1 = −c1 ∆δ with
c1 > 0, then for the new error variable, z2 = ∆ω − α1 , and the nonnegative function, V1 = (1/2)z21 ,
.
we have that V 1 = −c1 z21 + z1 z2 . The dynamics of z2 are given by

D ω0
 
.
z 2 ( t ) = c1 − ∆ω(t) − ∆Pe (14)
M M

If we select the second virtual control law as

M D
  
α2 = c1 − ∆ω + z1 + c2 z2 (15)
ω0 M
Energies 2020, 13, 2181 6 of 18

.
with the third error variable z3 = ∆Pe − α2 , then the dynamics of z2 are z2 = −z1 − c2 z2 − (ω0 /M)z3 .
The overall error variable transformation is

0  ∆δ 
    
 z1   1 0
0  ∆ω 
    
 z2  = 
   c1  1  (16)
∆Pe
  M( M D
 
z3 − ω0 1 + c1 c2 ) − ω0 c1 + c2 − M 1


Then, the dynamics of the z3 error variable are described by

. E0q cos δ 
0 − x − x0 I sin δ − aPe (−BL (t)+BL0 +kB uB (t))
  
z3 = X ∆ω + 1
0
T d0 E f − E q d d d X TB (t)X[xT2 (BL (t)−BC )+1]2 (17)
ω0
  
+ ω0 c1 + c2 − M M ∆ω + M ∆Pe − ω0 (1 + c1 c2 )∆ω
M D D M

where expressions (11) to (13) are taken into account.

We then select a nonlinear feedback linearizing excitation control law of the following form:
  T0 E0q ∆ω T0 E0q h
E f = E f ,NC = E0q + xd − x0d Id − d0tan δ + d0Pe ωM0 (1 + c1 c2 )c3 ∆δ+
      i (18)
D
+ ωM0 1 + c1 c2 + c3 − M c1 + c2 − MD
∆ω − c1 + c2 + c3 − M
D
∆Pe

and SVC control law

cB TB [xT2 (BL (t) − BC ) + 1]2

 
1 
z3 (t − τ(t))

uB,NC (t) = BL (t) − BL0 + (19)
kB Pe

with gain cB > 0. It is noticed that in (19), the time delay inserted from the z3 measurement and
feedback denoted by τ(t) is taken into account, and the following delayed ODE is obtained:
. ac
z3 = −c3 z3 (t) − XB z3 (t − τ(t))
(20)
z3 (θ) = φ(θ), ∀θ ∈ E0

where φ : E0 → R is a continuous initial function with bounded norm defined in


E0 = t ∈ Rη − τ(η) ≤ 0, η ≥ t0


The delay τ(t) is assumed to be bounded with the bounded rate of change, that is, τ ≤ τ(t) ≤ τ
.
and τ(t) ≤ η for some τ, τ, η > 0. The delayed term in (19) is the result of the fact that the variable z3 (t)
does not involve local SVC measurements, but uses distant, and thus delayed, measurements from the
generator. Thus, at time t, the z3 (t − τ(t)) is available for use in the SVC controller.

4. Overall System Stability Analysis

An analysis will be carried out next to prove that, under certain conditions on the magnitude of
the time-delay, the error variable z3 converges exponentially fast to zero.
It is worth noting that all solutions of (20) are also solutions of

Zt 
acB acB acB
  
.
z 3 ( t ) = − c3 + z3 (t) − c3 z3 (s) + z3 (s − τ(s)) ds. (21)
X X X
t−τ

The solution of (21) is given by

Zt Zθ 
acB acB ac acB
   
−(c3 + XB )(t−θ)
z3 (t) = exp − c3 + t φ(0) − e c3 z 3 ( s ) + z3 (s − τ(s)) dsdθ (22)
X X X
0 θ−τ
Energies 2020, 13, 2181 7 of 18

which in turn yields

acB
  h  i  
z3 (t) ≤ exp − c3 + X t sup φ(θ)+
θ∈E0
Rt i Rθ (23)
+ acXB acB acB 
h       
exp − c3 + X (t − θ) c3 z3 (s) + X z3 (s − τ(s))
 
dsdθ.
0 θ−τ(θ)

Consider now the functional differential equation

acB
 
.
y ( t ) = − c3 + y(t) + q(t) y(t − τ(t)) (24)
X

where  
t
σ
 Z ! 
acB  dθ 
q ( t ) = c3 + − exp−σ
 (25)
τ(t) τ(θ) 

X 
t−τ(t)

and 0 < σ < τ(c3 + acB /X). By direct substitution, one can see that the solution of (24) is
Z t !
ds
y(t) = C0 exp −σ . (26)
0 τ(s)

Using the mean value theorem repeatedly, one concludes that there exist constants 0 < θ2 < θ1 < 1,
such that
Zt
dθ τ(t) τ(t) 1
= = . ≤ . (27)
τ(θ) τ(t − θ1 τ(t)) τ(t) − θ1 τ(t)τ(t − θ2 τ(t)) 1 − η
t−τ(t)

Thus, from (25) and (27), we arrive at

acB σ σ
! !
q ( t ) ≥ c3 + − exp − . (28)
X τ 1−η

  will prove next that, for a proper selection of C0 , σ > 0, the function y(t) is an upper bound of
We
z3 (t). Alternatively, y(t) can be written as

  Zt
acB acB
     
y(t) = C0 exp − c3 + t + exp − c3 + (t − θ) q(θ) y(θ − τ(θ))dθ. (29)
X X
0
 
A comparison of z3 (t) with y(t) will yield the desired stability result. To this end, we define the
error variable as  
e(t) := z3 (t) − y(t) (30)

For e(t), from (23) and (29), we have the following:

 
acB
h   i  
t  sup φ(θ) − C0 

e(t) ≤ exp − c3 + X
θ∈E0
Rt i Rθ
+ acXB acB acB 
h       
exp − c3 + X (t − θ) c3 z3 (s) + X z3 (s − τ(s))
 
dsdθ (31)
0 θ−τ(θ)
Rt h  acB
 i
− exp − c3 + X (t − θ) q(θ) y(θ − τ(θ))dθ.
0
Energies 2020, 13, 2181 8 of 18

The above inequality can be written equivalently as

 
acB
h   i  
t  sup φ(θ) − C0 

e(t) ≤ exp − c3 + X

θ∈E0
Rt i Rθ 
+ acXB acB ac
h   
(t − θ)
exp − c3 + X c3 e(s) + XB e(s − τ(s)) dsdθ (32)
0
 θ−τ(θ) 
t  θ  
+ exp − c3 + acXB (t − θ)  acXB ac
R h   i R 
c3 y(s) + XB y(s − τ(s)) ds − q(θ) y(θ − τ(θ))dθ.
 
θ−τ(θ)
 
0

The integral term within (32) can be bounded as follows

acB
Rθ  acB

X c3 y ( s ) + X y(s − τ(s)) ds
θ−τ(θ)

acB C0
Rθ   R
s

acB
 R
s−τ(s)

dλ dλ
= X c3 exp −σ 0 τ(λ)
+ X exp −σ 0 τ(λ)
ds
θ−τ(θ)

acB C0
Rθ 
acB
 R
s
  R
s

= X c3 + X exp σ s−τ(s) dλ
τ(λ)
exp −σ 0 dλ
τ(λ)
ds (33)
θ−τ(θ)
 Rθ  R
s

acB C0 acB σ
 
dλ
≤ X c3 + X exp 1−η exp −σ 0 τ(λ)
ds
θ−τ(θ)
θ−τ(θ)
 R 
ac C ac σ
  
≤ BX 0 c3 + XB exp 1−η τ(θ) exp −σ 0 dλ
τ(λ)
ac ac σ
  
≤ XB c3 + XB exp 1−η τy(θ − τ(θ)).

Consider now the equation

σ σ acB σ
!! ! !
acB acB
c3 + exp τ = exp − c3 + − . (34)
X X 1−η 1−η X τ

The left hand side (l.h.s.) of (34) is a strictly increasing function of σ, whereas the right hand side
(r.h.s.) is a strictly decreasing function of σ in [0, ∞). Thus, a unique, positive solution of (34) exists if
and only if the value of the r.h.s. is greater than the value of the l.h.s. for σ = 0. This condition yields
acB
·τ < 1 (35)
X
Hence, inequality (35) provides an upper bound on the time delays that can be allowed.
Furthermore, using (26) and (28), we can prove that

acB
Rθ  acB

X c3 y(s) + X y(s − τ(s)) ds
θ−τ(θ) (36)
 
σ acB σ

≤ exp − 1−η c3 + X − τ y(θ − τ(θ)) ≤ q(θ) y(θ − τ(θ)).

If we choose the initial condition C0 , such that

 
y(t) ≥ φ(t), ∀t ∈ E0
C0 ≥ sup φ(θ)
  (37)
θ∈E0
Energies 2020, 13, 2181 9 of 18

then from (32), (36), and (37), we have

Zt  Zθ 
acB acB acB
   
e(t) ≤ exp − c3 + (t − θ) c3 e ( s ) + e(s − τ(s)) dsdθ. (38)
X X X
0 θ−τ(θ)

while using (37) in (30) results in

e(t) ≤ 0, ∀t ∈ E0 . (39)

A contradiction argument can be used to prove that e(t) ≤ 0, ∀t > 0. Assume the opposite, that is,
e(t) > 0 for some t > 0. Then, for some sufficiently small ε > 0, there exists t∗ε = inf t > 0 : e(t) ≥ ε ,


for which e(t∗ε ) = ε. From (38) and (35), we have that

∗
acB
Rtε h  acB
 i Rθ  acB

e(t∗ε ) ≤ X exp − c3 + X (t − θ) c3 e ( s ) + X e(s − τ(s)) dsdθ
0 θ−τ(θ)
∗ (40)
τ
Rtε
acB acB acB
(t − θ) dθ ≤ε acXB τ < ε
 h   i
≤ε X c3 + X exp − c3 + X
0

which yields the desired contradiction. Hence, e(t) ≤ 0, ∀t ≥ 0, and thus

 R   R 
  t 0 sup φ(θ) exp −σ t
n o
z3 (t) ≤ C0 exp −σ 0 τds (s)
≤ M 0
ds
τ(s)
θ∈E
 0 (41)
≤ M0 sup φ(θ) exp − στ t ∀ t ≥ 0
n o 
θ∈E0

that is, the error variable z3 (t) converges exponentially to zero. Furthermore, if we define the
nonnegative function V2 = (1/2)z21 + (1/2)z22 , then we have
. ω0
V2 = −c1 z21 − c2 z22 − M z2 z3 n
ω0 M0 σ
o  
≤ −c1 z21 − c2 z22 + M sup φ(θ) exp − τ t |z2 |
 
θ∈E0
2
 
ω M 0
σ
n o 
−c1 z21 − (c2 − )z22
− |z2 | − 2M sup φ(θ) exp − τ t 
 0
=
θ∈E
0 2
 2  0  (42)
1 ω0 M
 
+ 4 M sup φ(θ) exp − 2σ 
τ
t
θ∈E0
 ω M 0 2   2
  
≤ −c1 z21 − (c2 − )z22 + 4 1 0
sup φ(θ) exp − 2σ t
 
M τ
θ∈E
0 2
 2  0 
1 ω0 M
 
≤ −2cV2 + 4 sup φ ( θ ) exp − 2σ t

M τ

θ∈E0

with c := min{c1 , c2 − } > 0 for some 0 <  < c2 .

The above differential inequality can be set in integral form as follows:
!2 Z t
τ ω0 M0
 2  
−2σt/τ
V2 ( t ) ≤ V2 ( 0 ) + sup φ(θ) 1 − e − 2c V2 (s)ds. (43)

8σ M θ∈E0 0
Energies 2020, 13, 2181 10 of 18

Applying the Gronwall–Bellman Lemma in (43), we obtain

0 2
 2 
τ ω0 M
 
V2 ( t ) ≤ V2 ( 0 ) + sup φ(θ) 1 − e−2σt/τ

8σ M
θ∈E0 
Rt  ω M0 2  2 
τ

−2c ( t−s ) sup φ(θ) 1 − e −2σs/τ
 0
−2c 0 e V2 (0) +  ds
 8σ M 
θ∈E 0
 ω M 0 2 
2

τ
 
= V2 (0) + 8σ 0
sup φ(θ) 1 − e−2σt/τ

M (44)
 θ∈E0 
0 2
 2 R t
τ ω0 M

sup φ(θ)  0 e−2c(t−s) ds

−2cV2 (0) + 8σ M
 
θ∈E
0 2
 2 0 R t
τ ω0 M

+2c 8σ sup φ ( θ )  0 e−2c(t−s) e−2σs/τ ds

M
θ∈E0

which yields

0 2
 
τ ω0 M
  2  
V2 (t) ≤ V2 (0)e−2ct + 8σ M sup φ(θ) e−2ct − e−2σt/τ
θ∈E0 
0 2 2  (45)
τ ω0 M
  Rt
+2c 8σ M sup φ(θ) e−2ct 0 e2(c−σ/τ)s ds.

θ∈E0

Hence, it holds true that

0 2
 
τ ω0 M
   2  


 V2 (0)e−2ct + 8σ M sup φ(θ) e−2ct − e−2σt/τ + 2cte−2ct , i f c = σ/τ
θ∈E


V2 ( t ) ≤   ω M0 02 (46)
  2 
τ

−2ct + 0
φ θ −2ct − e−2σt/τ , i f c , σ/τ

 V2 ( 0 ) e sup ( ) e
 
8(σ−cτ) M

 
θ∈E0

which guarantees exponential stability of the equilibrium z1 = z2 = 0. Thus, the following theorem
has been proven.

Theorem 1. Consider the SGIB with SVC system defined by (1)–(6), (11), and (12). If the generator excitation
input is selected as in (18) and the SVC control as in (19) with time varying delay bound satisfying (35), then all
closed-loop signals remain bounded and the power angle deviations exponentially converge to zero.

The previous analysis has clearly shown that distant delayed measurements can be used in the
static var compensator control law for improving the transient stability of SGIB power system.

5. Coordinated Frequency and Voltage Control

The proposed nonlinear feedback linearizing controls ensure convergence of the power angles
to their pre-fault values. However, this property is not desirable for a network changing topology
because, in this case, the steady state voltages might deviate from the nominal ones. To address
this issue, we adopt and modify the approach firstly used in [22], where a coordinated voltage and
frequency scheme was proposed. The coordinated control scheme retains the transient behavior of
the nonlinear controls (faster and better than the AVR/PSS), while ensuring voltage regulation similar
to an AVR/PSS. In the coordinated control scheme, the nonlinear controller takes over right after the
fault, switching to an AVR/PSS controller after the large frequency deviations have been eliminated.
This controller transition is implemented with a soft switching algorithm based on the frequency
deviations ∆ω. Specifically, the following simple Takagi–Sugeno–Kang fuzzy rules are employed for
the controller selection:
IF |∆ω| is LARGE THENE f = E f ,NC
IF |∆ω| is SMALL THENE f = E f ,AVR\PSS
 IF Δω is LARGE THEN E f = E f , NC

IF Δω is SMALL THEN E f = E f , AVR \ PSS

where
Energies 2020, 13, 2181 11 of 18

Ka  T1s + 1 Tr s 
E f , AVR \ PSS = E fd 0 +  −ΔVt + K PSS Δω  (47)
where s + 1 
Ta K TT2 ss++1 1Tr s +
Tr1s 
a 1
E f ,AVR\PSS = E f d0 + −∆Vt + KPSS ∆ω (47)
Ta s + 1 T2 s + 1 Tr s + 1
By choosing the membership functions
By choosing the membership functions
1 1
μ1 ( Δω ) = 1
−38( Δω −0.253)
, μ 2 ( Δω ) = 1 − 1 (48)
µ1 (∆ω) = 1 +e−38
e (|∆ω|−0.253) , µ2 (∆ω) = 1 − 1 + e Δω −0.253)
−38( (48)
1+ 1+e −38 ( |∆ω|−0.253)

which represent
which represent the
the linguistic
linguistic values
values LARGE
LARGEand
andSMALL
SMALLfor
forthe
thefuzzy
fuzzyvariable ω (see
variableΔ∆ω (see Figure
Figure 5),
5),
the control input takes the following form:
the control input takes the following form:

EEf f == µμ11((∆ω
Δω))EEf ,NC
f , NC++µμ ( Δω)E) fE,AVR/PSS
2 2( ∆ω f , AVR / PSS (49)
(49)

1.5
μ1(Δω )
μ2(Δω )

0.5

-0.6 -0.4 -0.2 0 0.2 0.4 0.6

Δω

Figure
Figure 5. The membership
5. The membership functions.
functions.

This switching approach can also be utilized in the SVC compensator design.
This switching approach can also be utilized in the SVC compensator design. Specifically, a
Specifically, a coordinated control strategy can be used in the SVC, which ensures that, initially, the power
coordinated control strategy can be used in the SVC, which ensures that, initially, the power angle
angle generator oscillations are rapidly damped, and then the SVC bus voltage is regulated towards its
generator oscillations are rapidly damped, and then the SVC bus voltage is regulated towards its
nominal value. To this end, a soft switching approach is adopted. The controllers switch when the large
nominal value. To this end, a soft switching approach is adopted. The controllers switch when the
power angle deviations have been sufficiently mitigated so that the ancillary action of the SVC controller
large power angle deviations have been sufficiently mitigated so that the ancillary action of the SVC
is no longer needed. The magnitude of the frequency deviation can serve as a switching criterion.
controller is no longer needed. The magnitude of the frequency deviation can serve as a switching
In the new steady state, the SVC controller is transformed to a PI controller of the following form:
criterion. In the new steady state, the SVC controller is transformed to a PI controller of the following
form: Z t
uB,V (t) = kP ∆VB (t) + kI ∆VB (τ)dτ (50)
0

and the combined control law is then

uB (t) = µ1 (∆ω(t − τ(t)))uB,NC (t) + µ2 (∆ω(t − τ(t)))uB,V (51)

Obviously, the control law that employs delayed generator measurements can improve the
transient stability only if the magnitude of the communication delays is small enough. After a careful
examination of the simulation studies and taking into account the fact that the first peak in the
oscillatory power angle response occurs at about 1 s after fault, a critical time of approximately 250 ms
after fault can be defined. All measurements after a fault and up to this time can be used in the scheme
we described above. Thus, the control law (51) should be modified to ensure that, for delays larger than
250 ms, a classical voltage PI is used, whereas, for delays smaller than or equal to 250 ms, the proposed
nonlinear controller is used.
Energies 2020, 13, 2181 12 of 18

The following Takagi–Sugeno fuzzy rules implement the overall soft switching approach.
 
R1 : IF ∆ω(t − τ(t)) is LARGE AND τ(t) is SMALL THEN uB (t) = uB,NC (t)
R2 : IF ∆ω(t − τ(t)) is SMALL THEN uB (t) = uB,V (t)
 
R3 : IF τ(t) is LARGE THEN uB (t) = uB,V (t)

The membership functions

1
µ1 (τ(t)) = (52)
1 + e−100(τ(t)−0.25)

and
µ2 (τ(t)) = 1 − µ1 (τ(t)) (53)

are selected for the linguistic values LARGE and SMALL of the fuzzy variable τ(t). Thus, the SVC
controller is given by
h i
µ1 (∆ω(t − τ(t))) · µ2 (τ(t)) · uB,NC (t) + µ1 (τ(t)) + µ2 (∆ω(t − τ(t))) · uB,V
uB (t) = (54)
µ1 (∆ω(t − τ(t))) · µ2 (τ(t)) + µ1 (τ(t)) + µ2 (∆ω(t − τ(t)))

It is obvious from the previous discussion that the magnitude of the communication delays
is crucial. If these are large, then the proposed overall control scheme cannot provide the desired
improvement as it will work only as a voltage controller. However, the latency times in current WLAN
communication networks (3G, 4G) do not exceed 100 ms. They are even smaller in ADSL and VDSL
Internet connections. Thus, both are viable options for communicating the distant measurements.

6. Simulation Studies
The simulation studies were performed in MATLAB/Simulink on an Intel Core i3-2348M PC
at 2.30 GHz with 4 GB RAM. For our simulation scenario, the system parameters are adopted
from [16], that is, D = 5.0 p.u., M = 4.0 s, xd = 1.863 p.u., x0d = 0.657 p.u., xT1 = xT2 = 0.127 p.u.,
xL1 = xL2 = 0.2426 p.u., Td0 0 = 6.9 s, ω = 314.159 rad/s, B
0 L0 = 1 p.u., Bc = 1 p.u., TB = 0.2 s,
◦
 
and kc u f  ≤ 6. The operating point considered is δ = 41.7 , Pe = 0.8 p.u., and Vt = 1.0 p.u.
The nonlinear excitation controller parameters are chosen as c1 = 4, c2 = 4, c3 = 50, and the gain in
the nonlinear SVC controller is taken as cB = 5. The AVR/PSS parameters are selected to be Ka = 21,
Ta = 0.05, T1 = 0.3, T2 = 0.1, Tr = 0.4, and KPSS = 0.1, and the gains of the PI voltage controller are
chosen as KP = 1 and KI = 10.
A symmetrical three-phase fault occurs at time t = 3 sec in the middle of one of the two lines
connecting the generator and SVC buses (k = 0.5). Breakers open after 200 ms and the line remains open.
Both the power angle response (Figure 6) and the terminal voltage response (Figure 7) demonstrate
the effectiveness of the SVC compensator in improving the transient stability of the power system.
Comparisons are made between three different cases. In particular, the proposed coordinated nonlinear
stabilizer with the AVR/PSS and PI SVC controller (case 1: C-NC-AVR/PSS+SVC PI) is compared with
the coordinated nonlinear stabilizer with the AVR/PSS controller (case 2: C-NC-AVR/PSS) and the
simple AVR/PSS (case 3) controller.
demonstrate the effectiveness of the SVC compensator in improving the transient stability of the
power system. Comparisons are made between three different cases. In particular, the proposed
coordinated nonlinear stabilizer with the AVR/PSS and PI SVC controller (case 1:
C-NC-AVR/PSS+SVC PI) is compared with the coordinated nonlinear stabilizer with the AVR/PSS
controller (case 2: C-NC-AVR/PSS) and the simple AVR/PSS (case 3) controller.
Energies 2020, 13, 2181 13 of 18

Energies 2020, 13, x FOR PEER REVIEW 15 of 21

Figure 6. Generator power angle responses (in degrees).

Figure 6. Generator power angle responses (in degrees).

Figure 7. Generator terminal voltage response (in p.u.).

Figure 7. Generator terminal voltage response (in p.u.).
Figure 6 shows that the power angle oscillations after the simulated large fault are significantly
Figure
reduced by6the
shows thatofthe
action thepower
proposed angle oscillationsnonlinear
coordinated after the simulated large
stabilizer of casefault arethe
1. For significantly
other two,
reduced
it is seenbythat
thethe
action
caseof2the proposed
controller coordinated
provides nonlinear
a better response stabilizer
than thatof of
case 1. For
case the other
3. Figure two, it
7 indicates
isthe
seen that the
voltage case 2 after
response controller provides
the fault. a better response
The superiority than that of
of the proposed case 3. Figure
coordinated 7 indicates
nonlinear the
stabilizer
voltage response
is apparent, after
while in the fault. The
all cases, the superiority
inclusion ofofthetheAVR/PSS
proposedcontroller
coordinated nonlinear
effectively stabilizerthe
eliminates is
apparent, while in all cases, the inclusion
steady-state deviation of the voltage amplitude. of the AVR/PSS controller effectively eliminates the
steady-state
For thedeviation of thesevere
case of a more voltage amplitude.
fault closer to the generator bus (k = 0.21), which is again removed
afterFor
200the
ms, case of a more
we compare severe
the two faultschemes:
control closer tothe
the bus ( k = stabilizer
generator nonlinear
coordinated 0.21 ), which
with is again
AVR/PSS
removed after 200 ms, we compare the two control schemes: the coordinated
and PI SVC controller (C-NC-AVR/PSS+SVC PI) and the coordinated nonlinear stabilizer with AVR/PSS nonlinear stabilizer
with AVR/PSS and
and coordinated SVCPIcontrol
SVC controller (C-NC-AVR/PSS+SVC PI) and the coordinated nonlinear
(C-NC-AVR/PSS+C-SVC).
stabilizer
Evenwith AVR/PSS
though the PIandSVCcoordinated
controller can SVChelp
control (C-NC-AVR/PSS+C-SVC).
in reducing the undesired oscillations after a fault,
Even
Figure though the
8 indicates thatPIitsSVC controller
action can helptoinavoid
is not sufficient reducing thesynchronization
loss of undesired oscillations after
for a fault thata occurs
fault,
Figure 8 indicates that its action is not sufficient to avoid loss of synchronization for a fault that
occurs so close to the generator. The C-NC-AVR/PSS+C-SVC controller on the other hand can
efficiently return the system to the equilibrium point, avoiding loss of synchronism.
Figures 9 to 11 show the generator terminal voltage response, the SVC bus voltage response,
and the varying susceptance in the SVC compensator, respectively, under the proposed
C-NC-AVR/PSS+C-SVC and C-NC-AVR/PSS+SVC PI controllers. Unstable oscillations for Vt ,VSVC
 Energies 2020, 13, 2181 14 of 18

so close to the generator. The C-NC-AVR/PSS+C-SVC controller on the other hand can efficiently
return the system to the equilibrium point, avoiding loss of synchronism.
EnergiesFigures
2020, 13, 9–11
x FORshow the generator terminal voltage response, the SVC bus voltage response, 16
PEER REVIEW andof the
21
varying susceptance in the SVC compensator, respectively, under the proposed C-NC-AVR/PSS+C-SVC
and C-NC-AVR/PSS+SVC PI controllers. Unstable oscillations for Vt , VSVC occur under the
Energies 2020, 13, x FOR PEER REVIEW 16 of 21
C-NC-AVR/PSS+SVC PI controller, whereas the C-NC-AVR/PSS+C-SVC controller can effectively
regulate voltages at the generator and SVC bus to their nominal values.

Figure 8. Power angle deviations (in degrees).

Figure 8. Power angle deviations (in degrees).

Figure 8. Power angle deviations (in degrees).

Figure 9. Generator terminal voltage responses (in p.u.).

Figure 9. Generator terminal voltage responses (in p.u.).

Figure 9. Generator terminal voltage responses (in p.u.).

Energies 2020, 13, x FOR PEER REVIEW 17 of 21

Energies 2020, 13, x FOR PEER REVIEW 17 of 21

Energies 2020, 13, 2181 15 of 18

Figure 10. SVC bus voltage responses (in p.u.).

Figure 10. SVC bus voltage responses (in p.u.).

Figure 10. SVC bus voltage responses (in p.u.).

Figure 11. The varying susceptances in the SVC compensator (in p.u.).
Figure 11. The varying susceptances in the SVC compensator (in p.u.).
7. Conclusions
7. Conclusions
A new coordinated excitation and SVC control is proposed for regulating
Figure 11. The varying susceptances in the SVC compensator (in p.u.). the output voltage
andAimproving the transient
new coordinated stability
excitation andofSVC
a synchronous generatorfor
control is proposed infinite bus (SGIB)
regulating powervoltage
the output system.
7. Conclusions
By regulating the SVC susceptance using distant from the generator, and thus
and improving the transient stability of a synchronous generator infinite bus (SGIB) power system. delayed, measurements,
Bythe regulating
SVC can potentially improve
the SVCexcitation the overall
susceptance transient
usingcontrol
distant performance and stability. The
from theforgenerator, thustime delays
A new coordinated and SVC is proposed regulatingand the output delayed,
voltage
that further complicate
measurements, the rigorous analysis conducted aretransient
taken into account andand impose the limits
and improving the the SVC can
transient potentially
stability ofimprove the overall
a synchronous generator performance
infinite bus (SGIB) power stability. The
system.
and conditions
timeregulating
delays thatthe that are
further adequate for the proposed controller to be efficient and stable. The schemeandis
By SVC complicate
susceptance theusing
rigorous analysis
distant from conducted are taken
the generator, and intothus
account
delayed,
completed by
impose the limits a soft-switching mechanism used to recover the output voltage level at the terminal bus
measurements, theandSVCconditions that are
can potentially adequate
improve for the transient
the overall proposedperformance
controller toand be stability.
efficient The
and
and the
stable. TheSVC bus after
scheme the large power
is completed angle deviations
by a the
soft-switching have been
mechanism eliminated.
used toare
recover
time delays that further complicate rigorous analysis conducted takentheinto output voltage
account and
level
impose at the terminal bus and the SVC bus after the large power angle deviations have been
Author the limits and The
Contributions: conditions that
first author, are adequate
H.E.P., contributedfor the deployment
to the proposed controller
of the novelto be efficient
nonlinear designand
and
eliminated.
stable. The
analysis, scheme
whereas theissecond
completed
author,by a soft-switching
A.T.A., contributed to mechanism used
the validation to recover
of the proposedthe outputAllvoltage
method. authors
have read
level at theandterminal
agreed to busthe published
and the version
SVC bus of the manuscript.
after the large power angle deviations have been
eliminated.
Energies 2020, 13, 2181 16 of 18

Funding: This research received no external funding.

Conflicts of Interest: The authors declare no conflict of interest.

Nomenclature
δ(t) power angle, in radian;
ω(t) rotor speed, in rad/sec;
ω0 synchronous machine speed, in rad/sec;
Pm mechanical input power, in p.u;
Pe ( t ) active electrical power, in p.u.;
D damping constant, in p.u.;
M inertia coefficient, in seconds;
E0q (t) transient EMF in the q-axis in p.u.;
Eq ( t ) EMF in the q-axis, in p.u.;
E f (t) equivalent EMF in excitation coil, in p.u.;
0
Td0 d-axis transient short circuit time constant, in seconds;
Id ( t ) d-axis current, in p.u.;
kc gain of generator excitation amplifier, in p.u.;
u f (t) input of the SCR amplifier, in p.u.;
x0d d-axis transient reactance, in p.u.;
d-axis reactance, in p.u.; ∆δ = δ − δ0 ; ∆ω = ω − ω0 ;
xd
∆Pe = Pe − Pm .

Appendix A
Calculations of the total reactance value X of the network during the pre-fault, fault, and post-fault network
configurations are described by Figures 2–4.
For the pre-fault network configuration, shown in Figure 2, we apply Ohm’s current law on node 0 to obtain
the following:
E0q ∠δ − V0 V0 V −1
I=  xL1
 =   + 0xL2
0 1 j 2
j x + xT1 +d
j xT2 +
2 BL −BC

which yields
 −1
X X  1 1 1 
V0 =  xL1
 E0q ∠δ + xL2 with X =  0 xL1 + 1
+ xL2 
x0d + xT1 + 2 2 xd + xT1 + 2 xT2 + BL −BC 2

After some further calculations, one obtains for the electric power

h i E0q sin δ E0q sin δ

Pe = Re E0q ∠δ · I∗ = xL2
 xL1
 :=
x0d + xT1 + X
2X 2

where
xL2 0
x + xT1 + x2L1
 
X =
2X d −1
x0d + xT1 + x2L1 + x2L2 xL2 xL1
 
1
= + 2 x0d + xT1 + 2 xT2 + BL −BC .

During the fault, the network topology is shown in Figure 3. Then, applying Ohm’s current law at node 0,
we have that
E0q ∠δ − V0 V0 V − V1
I=   = + 0
0
j x + xT1 jkx L1 jxL1
d

Similarly, for node 1, it holds that

 
V0 − V1  1 1  V − 1
= V1  +    + 1xL2
 
jxL1  j(1 − k)xL1 1
j xT2 + BL −BC  j 2
Energies 2020, 13, 2181 17 of 18

The above equation yields

 −1
X1 X1  1 1 1 1 
V1 = V0 + xL2 where X1 :=  + + xL2 + 
 
 
xL1 2
 xL1 ( 1 − k ) xL1 2
1
xT2 + BL −BC 

The voltage V0 can then be calculated as

 −1
X2 0 X1 X2  1 1 1 X1 
V0 = 0 E ∠δ + xL1 xL2 where X2 :=  + + 0 −
xd + xT1 q xL1 kxL1 xd + xT1 x2 

2 L1

After some further calculations, one obtains

E0q ∠δ − V0 0
 
X  Eq ∠δ 2X1 X2
 = 1 − 0 2  

I=  −  
j x0d + xT1 xd + xT1 j x0 + xT1 jx 0
L1 L2 xd + xT1
x
d

and then the electric power is

h i E0q sin δ E0q sin δ

Pe = Re E0q ∠δ · I∗ = xL1 xL2 0
  : =
xd + xT1 X
2X1 X2

where
xL1 xL2
 
X = x0d + xT1
2X1 X2 
xL1 xL2 (k+1)xL2

= 2 + 2k x0d + xT1 ×
"  −1  −1
#
× x2L2 + (1−k
2−k
)xL1
− x12 x0 +1xT1 + k
1
+ xT2 + 1
BL −BC
L1 d k+1 xL1

The post-fault network topology is depicted in Figure 4. One can see that this is identical to the pre-fault case
with the exception of the jxL1 reactance in place of jxL1 /2. Thus, the total reactance in this case is
!−1
xL2 x  1
+ L2 x0d + xT1 + xL1 xT2 +

X = x0d + xT1 + xL1 + .
2 2 BL − BC

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