IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 28, NO.

3, AUGUST 2013 2679

Coordinated Optimal Design of Inverter Controllers

in a Micro-Grid With Multiple Distributed
Generation Units
Chengshan Wang, Yan Li, Student Member, IEEE, Ke Peng, Bowen Hong, Zhen Wu, and Chongbo Sun

Abstract—For a droop-controlled micro-grid, it is essential to de- Coefficient of th droop control.

sign the droop coefficients for the inverter controllers in a rational
way since they have great influences on the operation characteris- Numbers of , .
tics of the system. In this paper, a novel approach based on matrix
perturbation theory is proposed for the coordinated optimization Constant matrices only related to .
of the droop coefficients in inverter controllers. Rigorous pertur-
bation analysis is applied to the droop coefficients to identify their Constant matrices only related to .
influence on the system state matrix. Furthermore, the increments
of the eigensolutions are obtained based on the matrix perturba-
Constant matrices uncorrelated with any
tion theory and are then utilized in the iterative parameter-opti- droop coefficient.
mization process. An eigenvalue-based objective function is pro-
posed, aimed at ensuring the stability of the system, enhancing the
damping characteristics, and maintaining the stability margin for Constant matrices uncorrelated with any
a wide range of operating conditions. Finally, the effectiveness and droop coefficient.
robustness of the proposed approach are tested via a low-voltage
micro-grid prototype. Objective function.
Index Terms—Distributed generation (DG), droop control, ma- Number of operation scenarios.
trix perturbation, micro-grid, optimal design.
Weight coefficient of the th operation
scenario.
NOMENCLATURE Real and imaginary parts of the th
eigenvalue in the th operation scenario.
Real asymmetric matrix.
Damping ratio of the th eigenvalue in the
Positive definite matrix.
th operation scenario.
th generalized eigenvalue. Given damping ratio threshold.
th generalized right eigenvector.
Given real part threshold of eigenvalue.
Transpose of the th generalized left Weight coefficients of different parts in the
eigenvector.
objective function for the th operation
Kronecker sign. scenario.
State variables. Positive constants.
Algebraic variables.
I. INTRODUCTION
Control variables.
Coefficient of th droop control.
M ICRO-GRID has attracted increasing attention as an
effective means of integrating distributed generation
(DG) units into the power systems [1]–[5]. A micro-grid is
defined as an independent low- or medium-voltage distribution
Manuscript received May 12, 2012; revised October 15, 2012 and January network comprising various DG units, energy-storage units,
02, 2013; accepted February 02, 2013. Date of publication March 06, 2013; power-electronic interfaces, controllable loads, and monitoring
date of current version July 18, 2013. This work was supported in part by
the National Basic Research Program of China (973 Program) under Grant and protection devices [1], [2].
2009CB219700 and the National Natural Science Foundation of China under A micro-grid can be operated in either grid-connected or
Grant 51261130473. Paper no. TPWRS-00492-2012. islanded mode [1], [2]. In grid-connected mode, the control
The authors are with the Key Laboratory of Smart Grid of Ministry of Edu-
cation, Tianjin University, Tianjin 300072 China (e-mail: cswang@tju.edu.cn; objective is to achieve power-flow regulation at the point of
lyanse@tju.edu.cn; pkbest@tju.edu.cn; bowenhh@sina.com; wuzhen@tju. common coupling (PCC), which can be realized by the power
edu.cn; suncb@tju.edu.cn). control of DG inverters [3], [6]. In islanded mode, the control
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. objective is to maintain the voltage amplitude and frequency of
Digital Object Identifier 10.1109/TPWRS.2013.2245922 the micro-grid at acceptable levels while achieving reasonable

0885-8950/$31.00 © 2013 IEEE

2680
power sharing. The control schemes for islanded operation
can be classified into two main groups with regard to the
use of intercommunication wires [3], [6]–[8]. The first one is
based on active load-sharing technique, such as centralized,
master–slave, average load sharing, and circular chain control
[6]–[8]. For these control schemes, critical intercommunication
wires are needed among modules. The second one is mainly
based on the droop method, in which intercommunication
links are not required. Droop controllers, which emulate the
conventional parallel operation characteristics of synchronous
generators, are adopted as power sharing controllers for dis-
patchable DG units [5]. The droop strategy has attracted great
attention in micro-grid operation because of its advantages.
Considering that droop control strategy can be used in either
grid-connected or islanded mode, transitions of control strate-
gies for DG units are not needed when the operation mode of
a micro-grid changes. In addition, not only the power between
dispatchable DG units can be adjusted efficiently [5], but also
DG units can be located far away from each other to improve
the geographic coverage of a micro-grid [3], [9].
Although the fast response of power electronic devices
enables flexible micro-grid control, their low-inertia interfaces
make the micro-grid sensitive to disturbances [10]. Therefore,
it is necessary to investigate the stability of inverter-dominated
micro-grid [10]–[13]. Previous research in [4] and [7] have
shown that a large range of dynamic modes can be observed
in a micro-grid. The reason for this is the timescale separation
between different inverter control loops. These researches have
also indicated that high-frequency modes are dominated by
the current controllers and LCL filters, whereas low-frequency
modes are dominated by the power controllers. Further anal-
ysis of participation factors has indicated that the dominant
low-frequency modes are influenced primarily by the active
power controller, particularly by the droop coefficient.
In [10]–[13], the impacts of droop coefficients on micro-grid
stability were studied extensively from the viewpoints of limit
cases, root locus, sensitivity analysis, and bifurcation theory.
Previous works have demonstrated that, with relatively larger
droop coefficients, the output power of droop-controlled DG
units will be more sensitive to fluctuations of frequency or
voltage in a micro-grid. This contributes to a fast transient
response and small frequency/voltage deviations. However,
overlarge droop coefficients may cause overlimit power output
or eventually lead to system instability. On the other hand, with
relatively smaller droop coefficients, the output power of the
DG units will be less sensitive to fluctuations in frequency or
voltage. It will worsen the transient response and will cause
larger frequency/voltage deviations, which may exceed the
regulated range. Therefore, it is essential to select proper droop
coefficients to maintain system performance in disturbances.
In previous work, the coordinated optimization process for
droop coefficients requires to solve an eigenvalue problem
repeatedly, which is extremely tedious and time-consuming.
Furthermore, such a method poses difficulties in studying the
manner and degree of the parameters’ influence on system
dynamics [14], [15]. To overcome these limitations, a novel ap-
proach based on matrix perturbation theory is proposed for the
IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 28, NO. 3, AUGUST 2013
coordinated optimization of droop coefficients. As an efficient
method for the calculation and reanalysis of eigensolutions,
matrix perturbation theory aims to describe variations of a
system’s characteristics in small-signal stability under pertur-
bations of structure parameters. Nowadays, it is widely used
in electromagnetic problems, structure dynamics, automation
control, and vibration problems [14]–[17]. Compared with
other methods of solving eigenvalue problems, such as the
QR algorithm, the matrix perturbation technique adopted in
this paper possesses the following many advantages [14]–[17].
First, the eigensolutions can be easily obtained with satisfactory
accuracy under a perturbation of control parameters. Therefore,
there is no need to repeatedly solve the eigenvalue problem
of the modified system. Second, the manner and degree of the
droop coefficients’ influence on the structure characteristics
of the micro-grid can be investigated in detail through param-
eter perturbation analysis. Third, the modifications of critical
eigenvalues can be analyzed intuitively, simplifying analysis
on parameter changes in parameter-optimization process. Last
but not least, approximated sensitivities of eigensolutions can
be provided as by products, enabling analysis on sensitivity
and mode.
The remainder of this paper is organized as follows. Section II
introduces the basic first-order perturbation theory of eigenso-
lutions.Section III describes a perturbation analysis of droop
coefficients in DG inverters. Section IV presents the objective
function and calculation flowchart for the coordinated optimiza-
tion process. Numerical examples are provided in Section V,
which verify the proposed approach. Conclusions are drawn in
Section VI.
II. MATRIX PERTURBATION THEORY
Consider the finite-dimensional matrix pair , assume
that the generalized eigenvalue problem of complex modes is
described as follows [15]–[17]:
(1)
where and satisfy the orthogonal normalization
conditions:
(2)
Theorem 1: If is an eigenvalue of with the mul-
tiplicity , the eigensolutions of the perturbed system
are given in the following form [15],
[17]:
(3)
(4)
(5)
where , , and are the eigensolutions of the original
system, , , and are the first-order perturbations of
eigensolutions, , , are the second-order perturbations
of eigensolutions, and so on. Matrix perturbation analysis for
WANG et al.: COORDINATED OPTIMAL DESIGN OF INVERTER CONTROLLERS IN A MICRO-GRID WITH MULTIPLE DISTRIBUTED GENERATION UNITS 2681

distinct eigenvalues and for multiple eigenvalues has been in- under perturbations of the droop coefficients. Note that all of the
troduced in detail in [15]–[17]. Since the eigensolutions can be changed elements are linear functions of the droop coefficients.
obtained with satisfactory accuracy by using the first-order per- Therefore, , , and can be generally represented as
turbations in this paper, the second-order and higher order per-
turbations items in (3)–(5) can be omitted. Only distinct eigen-
values will be analyzed in the following numerical examples,
so the perturbation theory for multiple eigenvalues is not intro- (11)
duced here. For further details, please refer to [15]–[17].
According to Theorem 1, substituting the eigensolutions of
the perturbed system into (1), equating coefficients of the same (12)
power of , and combining with (2), the first-order perturbations
of distinct eigensolutions can be described as follows [15]–[17]:
(13)
(6)

Using (11)–(13), can be expressed as

(7)

(8) (14)

where in (6)–(8). where , , , , , and are given by

(15)
III. PERTURBATION ANALYSIS OF DROOP COEFFICIENTS
(16)
In a micro-grid, the comprehensive analysis on DG units, in- (17)
verters, load and network has shown that their mathematical
(18)
models can be generally expressed in state equations and alge-
braic equations [18]–[20]. Therefore, a micro-grid with multiple (19)
DG units can be described by a set of differential and algebraic (20)
equations [18]–[20]

In (14), it can be clearly observed that the state matrix is con-

(9)
Rigorous physical analysis shows that is nonsingular. The
small-signal stability feature of a micro-grid is governed by the
eigenvalues of the state matrix
(10)
where and are matrices of partial derivatives of state
variables, and and are matrices of partial derivatives of
algebraic variables.
In order to study the small-signal stability feature of a micro-
grid and to further reveal the manner and degree of the droop
coefficients’ influence on the state matrix, it is necessary to an-
alyze the construction characteristics of the state matrix . be computationally attractive, since the eigensolutions will be
Detailed analysis shows that the elements of , , and in
are implicit functions of the droop coefficients, whereas
is uncorrelated with any droop coefficient [20]. Expressions
of matrix elements indicate that only a few elements will change
structed in the form of a combination of droop coefficients, in-
cluding its first-order items, its second-order items, and the cross
product items, excluding any other forms. This matrix structure
is determined by the characteristics of the droop control system
for DG inverters.
In (14), when a perturbation is introduced in the droop coeffi-
cients, , will change from , to and
, respectively. Accordingly, the state matrix will change
from to . Then, according to Theorem
1, the increments of eigenvalues and eigenvectors can be calcu-
lated by the first-order perturbations , , .
The above analysis gives a fast direct solution for eigenso-
lutions under perturbations in the droop coefficients. The ap-
proximated solutions to the perturbed eigenvalue problem can
obtained with much less effort than that based on the conven-
tional eigensolution methods such as QR algorithm. In addi-
tion to the fast computation characteristics, this approach can be
easily combined with coordinated optimization of parameters.
2682 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 28, NO. 3, AUGUST 2013

IV. COORDINATED OPTIMIZATION OF DROOP COEFFICIENTS

A. Objective Function in Coordinated Optimization

The eigenvalue-based objective function in

Fig. 1. Flowchart of the proposed parameter-optimization algorithm.

(21) the State Matrix according to (14). Subsequently, Eigensolu-

is proposed to optimize the droop coefficients in the terms of
small signal stability of a micro-grid under various operating
conditions. In (21), the weight coefficient of operation sce-
nario will increase if the probability of the operation sce-
nario is increased. consists of the following three parts.
1) represents the terms consisting of eigenvalues with a
positive real part when the system is unstable. is given
as follows:
(22)
tions in the initial condition are solved by the QR algorithm,
and the initial value of the Objective Function is calculated.
Parameter-variation Threshold Settings is used to set the
maximum variations of parameters in each iterative step. The
method will be presented in Section V. Parameter Optimization
solves the minimization problem with constraints by sequential
quadratic programming (SQP) [21]. In order to use the SQP
algorithm, the objective function is expanded as Taylor series
at the previous step, which is shown as follows:

In (22), is a quadratic function of , which ensures

that the influence of an eigenvalue with positive real part on
is positively correlated with its real part. , an empirical
parameter, has a relatively larger value, making play a (25)
more important role in than and .
2) represents the terms consisting of eigenvalues whose where and are Jacobin and Hessian
damping ratios are less than . is given as follows: matrices of the droop coefficients at the previous step. The ele-
ments of the above matrices are all calculated based on the in-
crements of eigensolutions obtained in Section III. Taking the
element in as an example, its expres-
sion is given in
In (23), is a quadratic function of , which ensures
that the smaller damping ratio the eigenvalue has, the more
critical role it plays in . is also an empirical parameter
and is generally much smaller than in (22).
3) represents the terms consisting of eigenvalues with a
real part larger than . is given as follows:

(24)

In (24), is a quadratic function of , which ensures

(26)
that the smaller real part the eigenvalue has, the less im-
portant effect it has on . is similar to in (23).
Note that the parameters , , and and the weight co-
B. Parameter-Optimization Process efficients are all functions of the droop coeffi-
The computational flowchart of the coordinated optimization cients.
of droop coefficients is shown in Fig. 1. Based on the Jacobin matrix obtained by the first-order per-
In Fig. 1, Modeling and Initialization includes micro-grid turbations, the Hessian matrix can be calculated subsequently,
components modeling, power-flow calculation, state variables and the SQP algorithm can be employed to seek the minimum
initialization, and determination of optimization iteration value of the objective function. Then, with the optimized in-
number. Matrix Perturbation Component Construction obtains crements and , Parameter Updating and Objective
the matrices according to (15)–(20), which are used to obtain Value Updating are carried out.
WANG et al.: COORDINATED OPTIMAL DESIGN OF INVERTER CONTROLLERS IN A MICRO-GRID WITH MULTIPLE DISTRIBUTED GENERATION UNITS
Fig. 2. Benchmark low-voltage micro-grid network.
The optimization process will be terminated when the value
of the objective function is zero or the iteration number reaches
the maximum allowable value. If one of these criteria is sat-
isfied, then stop, or else go to Parameter-variation Threshold
Settings.
V. NUMERICAL EXAMPLES
The 0.4-kV, 50-Hz micro-grid prototype shown in Fig. 2
is used to test and verify the proposed approach. Parameters
of this micro-grid are provided in [22]. The testing system
includes three categories of DG units, namely nondispatchable
DG (Photovoltaic (PV) [23]), dispatchable DG (Micro-turbine
(MT) [24]), and dispatchable distributed energy storage (Bat-
tery [25]). Among these DG units, all five dispatchable units
are operated with droop control as shown in the Appendix,
whereas the three PV units are controlled via a maximum power
point tracking strategy [23]. These DG units are integrated into
the system through voltage source inverters. In this case, three
typical operation scenarios are considered in the parameter-op-
timization process. Parameters for the inverter control loops,
the objective function, and the three operation scenarios are
presented in the Appendix.
A. Analysis of Parameter Optimization
1) Analysis of the Optimization Process: According to the
calculation flowchart in Fig. 1, it is necessary to select a proper
range for parameter perturbations initially. The comparison be-
tween exact and perturbation solutions under different condi-
tions of perturbation shows that approximate eigenvalues will
be obtained within a 10% relative error if the parameter per-
turbation is not larger than 10% [15]. Taking into account the
calculation accuracy in the optimization process, 10% is chosen
2683
Fig. 3. Comparison of eigenvalues near the imaginary axis for the micro-grid.
Fig. 4. Changes of the critical eigenvalues during optimization.
Fig. 5. Objective value in the parameter optimization process.
in this case as the parameter-variation threshold in each iterative
step.
There are 135 state variables in the system. During the itera-
tive process, only those eigenvalues which are dominated re-
markably by the droop coefficients, i.e., the lower frequency
modes need to be recalculated. Under the perturbation condi-
tions discussed above, eigenvalues near the imaginary axis be-
fore and after optimization are shown in Fig. 3.
Fig. 3 shows that, after optimization, the system becomes
stable with the least damping ratio 0.1502 (larger than the
given value ) and the largest real part of eigenvalue 0.1010
(smaller than the given value ). The most sensitive four
eigenvalues during optimization are depicted in Fig. 4. It shows
that great changes have taken place in eigenvalues , , ,
and during optimization.
Fig. 5 depicts the change in the objective function. For a better
expression, logarithm values are adopted for the axis, with the
objective value at iteration 7 selected as the base of the loga-
rithm function.
2684
TABLE I
OPTIMIZATION RESULTS FOR DROOP COEFFICIENTS
Fig. 6. Solutions comparison between matrix perturbation and QR algorithm.
It can be seen that the objective values are relatively larger
at the first seven iterations. It is caused by the instability of the
system. When the system is unstable, will not be equal to
zero, leading to a large value of due to the relatively larger
value of . This result validates the iterative process shown in
Fig. 4 as well. With parameter optimization process, the testing
system is stable. In this case, is equal to zero automatically,
and the objective value is relatively smaller due to the smaller
values of and . At the end of the optimization process,
the objective value reaches zero which means that the system
is stable, with the damping ratio and the stability margin satis-
fying the given requirements. Since the logarithm value of zero
is negative infinity which is difficult to express, a smaller value
is used to replace the objective value in the end. The op-
timized droop coefficients are given in Table I.
2) Comparison Between Perturbed and Exact Eigensolu-
tions: The solutions comparison between matrix perturbation
and QR algorithm are shown in Fig. 6, which compares the
values of during optimization process. It indicates that
the perturbed solutions are approximately equal to the corre-
sponding exact ones within accuracy limits.
B. Simulation Verification for Coordinated Optimization
Two typical simulation cases are provided to confirm the ef-
fectiveness and robustness of the proposed approach. The sim-
ulations are carried out in DIgSILENT/PowerFactory [26].
1) Case1: Transition From Grid-Connected to Islanded
Mode: The micro-grid will transit from grid-connected mode
to islanded mode if any fault occurs in the main grid. In Case1,
the simulation process is settled as follows. Circuit Breaker 1
in Fig. 2 is opened at 1 s, making the micro-grid transit from
grid-connection mode to islanded mode. Then, Circuit Breaker
2 is opened at 3 s, leading to two submicrogrids. Fig. 7 shows
the responses during these transitions.
IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 28, NO. 3, AUGUST 2013
Fig. 7. Output power of the DG units during mode transitions. (a) Active power
response of the DG units. (b) Reactive power response of the DG units.
Simulation results show that, when the micro-grid is discon-
nected from the main grid at 1 s, the droop-controlled DG units
adjust their output power in proportion to the optimized droop
coefficients. In addition, the system gets to a steady state rapidly,
within 0.3 s, realizing a seamless transition. Simulation results
also show that there is redundant power in Microgrid1 when Cir-
cuit Breaker 2 is opened at 3 s. Therefore, Battery1 and MT1 in
Microgrid1 will reduce their power output proportionally. And
Battery2, Battery3, and MT2 in Microgrid2 will increase their
power output due to the power shortage in the system. In Case1,
the maximum of % overshoot in the transient response of bus
voltage is 3.5900%, and the maximum of % overshoot in system
frequency is 0.0837%.
2) Case2. Disturbances in the DG Units’ Output and Load
Power: In islanded mode, the droop-controlled DG units bal-
ance the power in the micro-grid. The base case for this testing
is same as that in Case 1. Here assume that the value of irradi-
ance is increased by 15% at 6 s and the active and reactive power
of Load1 and Load2 are increased by 20% at 8 s. Fig. 8 shows
the output power of the DG units during these disturbances.
Fig. 8 shows that stable power sharing performance can be
obtained under various disturbances, regardless of whether the
disturbance occurs in the outputs of the DG units or in the loads.
Previous researches in [4], [27] have shown that a considerable
amount of reactive power may be exchanged between DG units
even though some changes occurred only in the active power.
This was because of the presence of significant resistance in
the lines, and the selection of relatively small coefficients in the
– droop controller. In this case, the problem is solved effec-
tively by the proper selection of droop coefficients. In Case2,
the maximum of % overshoot in the transient response of bus
WANG et al.: COORDINATED OPTIMAL DESIGN OF INVERTER CONTROLLERS IN A MICRO-GRID WITH MULTIPLE DISTRIBUTED GENERATION UNITS
Fig. 8. Output power of the DG units during disturbances. (a) Active power
response of the DG units. (b) Reactive power response of the DG units.
voltage is 1.7089%, and the maximum of % overshoot in system
frequency is 0.0382%.
When the micro-grid offers power to the main grid, the same
conclusions can be drawn from simulation results.
C. Robustness Verification of Optimized Droop Coefficients
To verify the applicability of the optimized droop coeffi-
cients, some operation tests are carried out in various operation
scenarios of power exchanging at the PCC. The test process
is same as Case1. Fig. 9 depicts the system frequency and the
maximum/minimum voltage amplitude at the steady state after
mode transition.
Fig. 9 shows that, when the power is delivered from the main
grid to the micro-grid, both the frequency and the minimum
voltage amplitude at steady state will decrease as the delivered
power is increased. On the other hand, when the power is deliv-
ered to the main grid, the frequency and the maximum voltage
amplitude will increase as the power is increased. The deliv-
ered power will reach a limit when the deviations in frequency
and voltage exceed the allowed range after mode transition [28].
The operation scenario is an example of operation limit, in
which the voltage will exceed its deviation range if the delivered
power keeps increasing. Additionally, increased power will ag-
gravate the transient response, leading to the failure of seamless
transition. With the optimized droop coefficients in this case,
when the ratio of the active delivered power to the overall load
is within the range ( 66.27%, 47.63%), and that of the reactive
power to load is within ( 44.24%, 74.78%), seamless transition
and stable operation of the micro-grid can be guaranteed. Such a
result verifies the robustness of the optimized droop coefficients
to the change of the exchanging power between the micro-grid
and the main grid.
2685
Fig. 9. Frequency and voltage under various power conditions at the PCC.
(a) Frequency of the micro-grid under various power conditions at the PCC.
(b) Voltage of the micro-grid under various power conditions at the PCC.
VI. CONCLUSION
An approach based on matrix perturbation for the coordinated
optimization of droop coefficients in a micro-grid has been pro-
posed in this paper. Parameter perturbation analysis is made on
the droop coefficients to identify the manner and degree of pa-
rameters’ influence on the state matrix. The increments of eigen-
solutions are then obtained based on the first-order perturbation
items. In the optimization process, a comprehensive objective
function is proposed to ensure the stability of the system, to en-
hance the damping characteristics, and to maintain a stability
margin for a wide range of operating conditions. The computa-
tional flowchart is presented for the proposed optimization al-
gorithm based on matrix perturbation. Numerical examples are
performed using a benchmark low-voltage micro-grid. In the ex-
amples, the parameter-optimization process is analyzed in de-
tail. And the time-domain simulations are carried out to illus-
trate the responses of the DG units during mode transitions and
under disturbances. The robustness analysis of the optimized
coefficients to the change of the exchanging power between the
micro-grid and the main grid is presented as well. Theoretical
analysis and evaluation results have confirmed the effectiveness
of the optimization approach, the feasibility of the objective
function, and the robustness of the optimized parameters.
APPENDIX
The droop control system for inverters adopted in this paper
is shown in Fig. 10 [18], [20]. Parameters for the inverter control
loops, the objective function, and the operation scenarios used in
the numerical examples are given in Tables II–IV, respectively.
2686 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 28, NO. 3, AUGUST 2013

REFERENCES
[1] R. H. Lasseter, J. H. Eto, B. Schenkman, J. Stevens, H. Vollkommer,
D. Klapp, E. Linton, H. Hurtado, and J. Roy, “CERTS microgrid labo-
ratory test bed,” IEEE Trans. Power Del., vol. 26, no. 1, pp. 325–332,
Jan. 2011.
[2] R. H. Lasseter and P. Paigi, “Microgrid: A conceptual solution,” in
Proc. IEEE 35th PESC, pp. 4285–4290.
[3] T. L. Vandoorn, B. Meersman, L. Degroote, B. Renders, and L. Vande-
velde, “A control strategy for islanded microgrids with dc-link voltage
control,” IEEE Trans. Power Del., vol. 26, no. 2, pp. 703–713, Apr.
2011.
[4] N. Pogaku, M. Prodanović, and T. C. Green, “Modeling, analysis and
testing of autonomous operation of an inverter-based microgrid,” IEEE
Trans. Power Electron., vol. 22, no. 2, pp. 613–625, Mar. 2007.
Fig. 10. Schematic drawing of a typical droop control system for inverters. [5] Y. W. Li and C. N. Kao, “An accurate power control strategy for power-
electronics-interfaced distributed generation units operating in a low-
voltage multibus microgrid,” IEEE Trans. Power Electron., vol. 24, no.
TABLE II 12, pp. 2977–2988, Dec. 2009.
PARAMETERS FOR INVERTER CONTROLLERS IN THE MICRO-GRID [6] S. M. Ashabani and Y. I. Mohamed, “A flexible control strategy for
grid-connected and islanded microgrids with enhanced stability using
nonlinear microgrid stabilizer,” IEEE Trans. Smart Grid, vol. 3, no. 3,
pp. 1291–1301, Sep. 2012.
[7] Y. A.-R. I. Mohamed and E. F. El-Saadany, “Adaptive decentralized
droop controller to preserve power sharing stability of paralleled in-
verters in distributed generation microgrids,” IEEE Trans. Power Elec-
tron., vol. 23, no. 6, pp. 2806–2816, Nov. 2008.
[8] J. M. Guerrero, L. J. Hang, and J. Uceda, “Control of distributed un-
interruptible power supply systems,” IEEE Trans. Ind. Electron., vol.
55, no. 8, pp. 2845–2859, Aug. 2007.
[9] R. Majumder, B. Chaudhuri, A. Ghosh, R. Majumder, G. Ledwich, and
F. Zare, “Improvement of stability and load sharing in an autonomous
microgrid using supplementary droop control loop,” IEEE Trans.
Power Syst., vol. 25, no. 2, pp. 796–808, May 2010.
[10] E. Barklund, N. Pogaku, M. Prodanovic, C. Hernandez-Aramburo, and
T. C. Green, “Energy management in autonomous microgrid using sta-
bility-constrained droop control of inverters,” IEEE Trans. Power Elec-
tron., vol. 23, no. 5, pp. 2346–2352, Sep. 2008.
[11] E. A. A. Coelho, P. Cortizo, and P. F. D. Gracia, “Small signal sta-
bility for parallel-connected inverters in stand-alone ac supply sys-
tems,” IEEE Trans. Ind. Appl., vol. 38, no. 2, pp. 533–542, Mar./Apr.
2002.
[12] F. Katiraei and M. R. Iravani, “Power management strategies for a mi-
TABLE III crogird with multiple distributed generation units,” IEEE Trans. Power
PARAMETERS IN THE OBJECTIVE FUNCTION Syst., vol. 21, no. 6, pp. 1821–1831, Nov. 2006.
[13] G. Diaz, C. Gonzalez-Moran, J. Gomez-Aleixandre, and A. Diez,
“Scheduling of droop coefficients for frequency and voltage regulation
in isolated microgrids,” IEEE Trans. Power Syst., vol. 25, no. 1, pp.
489–496, Feb. 2010.
[14] S. Günel and E. Y. Zoral, “Parametric history analysis of resonance
problems via step-by-step eigenvalue perturbation technique,” IET Mi-
crow., Antennas Propag., vol. 4, no. 4, pp. 466–476, 2010.
TABLE IV
[15] S. H. Chen, Matrix Perturbation Theory in Structural Dynamic De-
POWER OF DG UNITS AND LOAD IN THE THREE OPERATION SCENARIOS
sign. Beijing, China: Science, 2007, pp. 36, 132–137.
[16] J. H. Wilkinson, The Algebraic Eigenvalue Problem. Oxford, U.K.:
Oxford Univ., 1965, pp. 62, 68–70.
[17] S. D. Assem, Advanced Matrix Theory for Scientists and Engineers.
Kent, U.K.: Abacus, 1982, pp. 205–215.
[18] I-Y. Chung, W. X. Liu, D. A. Cartes, E. G. Collins, and S.-I. Moon,
“Control methods of inverter-interfaced distributed generators in a mi-
crogrid system,” IEEE Trans. Ind. Appl., vol. 46, no. 3, pp. 1078–1088,
May/Jun. 2010.
[19] Y. Wang, Z. X. Lu, Y. Min, and Z. Wang, “Small signal analysis of
microgrid with multiple micro sources based on reduced order model
in islanding operation,” in Proc. IEEE Power Energy Soc. General
Meeting, 2011, pp. 1–9.
[20] Z. X. Miao, A. Domijan, and L. L. Fan, “Investigation of microgrids
with both inverter interfaced and direct ac-connected distributed energy
resources,” IEEE Trans. Power Del., vol. 26, no. 3, pp. 1634–1642, Jul.
2011.
[21] A. Antoniou and W. S. Lu, Practical Optimization: Algorithms and
Engineering Applications. New York, NY, USA: Springer Sci-
ence+Business Media, 2007, pp. 506–508.
WANG et al.: COORDINATED OPTIMAL DESIGN OF INVERTER CONTROLLERS IN A MICRO-GRID WITH MULTIPLE DISTRIBUTED GENERATION UNITS
[22] S. Papathanassiou, N. Hatziargyriou, and K. Strunz, “A benchmark low
voltage microgrid network,” in Proc. CIGRE Symp. Power Syst. Dis-
persed Gen., 2005, pp. 1–8.
[23] X. Liu, P. Wang, and P. C. Loh, “A hybrid ac/dc microgrid and its coor-
dination control,” IEEE Trans. Smart Grid, vol. 2, no. 12, pp. 278–286,
Jun. 2011.
[24] Y. H. Zhou and J. Stenzel, “Simulation of a microturbine generation
system for grid connected and islanding operations,” in Proc. Power
Energy Eng. Conf., 2009, pp. 1–5.
[25] O. Tremblay, L. A. Dessaint, and A. I. Dekkiche, “A generic battery
model for the dynamic simulation of hybrid electric vehicles,” in Proc.
IEEE Veh. Power Propulsion Conf., 2007, pp. 284–289.
[26] “DIgSILENT GmbH Manuals,” ver. 14.0, DIgSILENT PowerFactory,
2008.
[27] A. Tuladhar, H. Jin, T. Unger, and K. Mauch, “Control of parallel
inverters in distributed ac power systems with consideration of line
impedance effect,” IEEE Trans. Ind. Appl., vol. 36, no. 1, pp. 131–138,
Jan./Feb. 2000.
[28] IEEE Standard for Interconnecting Distributed Resources with Electric
Power Systems, IEEE Standard 1547-2003, Jul. 2003.
Chengshan Wang received the Ph.D. degree in electrical engineering from
Tianjin University, Tianjin, China, in 1991.
He is now a Professor with the School of Electrical Engineering and Automa-
tion, Tianjin University, Tianjin, China. His research is in the area of distribu-
tion system planning, distributed generation system analysis and simulation, and
power system security analysis.
2687
Yan Li (S’13) received the B.S. degree in electrical engineering from Tianjin
University, Tianjin, China, in 2008, where she is currently working toward the
Ph.D. degree.
Her research is in the area of stability simulation and small signal analysis
in distributed generation system.
Ke Peng received the B.S. degree in electrical engineering from China Univer-
sity of Mining and Technology, Jiangsu, China, in 2007. He is currently working
toward the Ph.D. degree at Tianjin University, Tianjin, China.
His research is in the area of stability simulation for distributed generation
system and wind power generation.
Bowen Hong received the B.S. degree in electrical engineering from Sichuan
University, Sichuan, China, in 2008. He is currently working toward the Ph.D.
degree at Tianjin University, Tianjin, China.
His research is in the area of distributed generation and micro-grid energy
management system.
Zhen Wu received the B.S. degree in electrical engineering from Tianjin Uni-
versity, Tianjin, China, in 2009, where he is currently working toward the Ph.D.
degree.
His research is in the area of stability simulation and micro-grid laboratory
test system.
Chongbo Sun received the B.S. degree in electrical engineering from Tianjin
University, Tianjin, China, in 2010, where he is currently working toward the
Ph.D. degree.
His research is in the area of photovoltaic technology and steady-state anal-
ysis of distribution system.