International Conference on Electrical Engineering Applications (ICEEA'2020), Department of Electrical Engineering,

Ahmadu Bello University, Zaria, Nigeria. 23rd-25th September, 2020

Review of Chaos in Power System

Bemdoo Saka1, Suleiman Usman Hussein 2, Edith Ahiriame Aja3, Yekini Suberu Mohammed4,
George E. Okpanachi5, Essien Ewang6
1,2,3,4
Electrical & Electronics Engineering Department, Nile University of Nigeria, Abuja – Nigeria.
2, 5, 6
Satellite Systems Department, Centre for Satellite Development, Abuja –
Nigeria. bemsaka@gmail.com, 2elsuligh@gmail.com, 3edithajaa@yahoo.com, 4engryek88@yahoo.com.
1

Abstract—This paper presents a review of the various
applications of chaos in power systems. Chaos is a very complex
phenomena caused by the interaction of the parameters in
nonlinear systems. Oscillation instability and sensitivity
associated with Chaos has been posing a serious threat to Electric
Power System. As the power system is increasing due to
increased load demand and renewable energy sources (RES), a
lot of instabilities is emerging in the system. These instabilities
and nonlinearities cannot be explained accurately using linear
analysis. Therefore, theory of nonlinear dynamics is used to find
out the proper explanation of those instabilities in the power
system. The concept of each article, the originality of each of the
articles, the interesting parts and conclusions were presented for
each of the reviewed papers. Finally, further research in the area
of chaos in the power system was recommended.
Keywords—Bifurcation; Chaos; Non-Linear System; Power System.
I. INTRODUCTION
power system parameter values where there is change in the
system’s qualitative properties. Bifurcation is made up of
static and dynamic types. Static bifurcation can be analyzed
through changes in the local stability properties of the fixed
point while dynamic bifurcation occurs when larger sets of the
system collide with each other or with equilibria of the system.
In a system where chaotic and bifurcating responses are
undesired, they should be reduced or suppressed as much as
possible to avoid situations such as voltage collapse in power
networks. Chaos control refers to tenaciously controlling
chaotic dynamical behaviors of some complex nonlinear
systems while bifurcation control deals with modification of
the bifurcating properties of a given nonlinear system using
controllers in order to achieve some desirable dynamical
behaviors. Bifurcation control is very important because it
provides an effective strategy for chaos control, since
bifurcation and chaos go hand in hand [3].

Global bifurcations which are related to chaos and other
complicated phenomena have recently drawn a lot of interest
in non-linear system theory and also among power system
researchers. Power systems are large dynamical systems with
significant nonlinearities and as such they can display
dynamical behaviour such as chaos, as many other nonlinear
systems do. Over the years, there have been substantial efforts
to operate a stable power system, however, unexpected or
unexplained events sometimes happen [1].
Chaos is a very complex phenomenon caused by the
interaction of the parameters in nonlinear systems. Chaos
means there is a qualitative change in system trajectories not
restricted to a small neighborhood of an equilibrium. Its
appearance is accompanied by non-periodic, seems to be
without rules, sudden mechanical and electrical oscillation of
the system. It causes widespread blackout and disintegration
of the system when the oscillation becomes persistent. The
structural stability in nonlinear dynamic system can be
analyzed through chaos theory. Also, change process of
structure and stability caused by parameter changes can be
studied [2].
Chaos and bifurcation control are very important in the
power system. Bifurcation is a phenomenon that emerges at
The rest of the paper is arranged as follows: section II
cover application of chaos, section III covers research trends
on chaos in the power system, section IV covers current and
further research on chaos in power system and section V
concludes the review.
II. RESEARCH TREND ON CHAOS IN POWER SYSTEM
Over the years several researches have been carried out on
chaos in power system. Therefore, this paper considers the
evolvement of chaos in power system, the work done so far
and further possible research areas.
A. Early Review of Chaos in Power System
One of the early researches of chaos in power system was
in [4] which systematically analyzed system stability based on
bifurcation theory and observed sustained oscillations and
chaos via period-doubling route. Lyapunov exponents and
power spectra were calculated to confirm the presence of
chaos in the system. The study also reveals that within some
interval of reactive power, the stable equilibrium point and the
limit cycle exist simultaneously and cause bi-stable behaviour.
The paper went further to report that chaos indirectly
generates harmonics when period-doubling takes place. The
importance of nonlinearity in power system dynamics in
highly stressed systems was emphasized in the paper. The

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International Conference on Electrical Engineering Applications (ICEEA'2020), Department of Electrical Engineering,
Ahmadu Bello University, Zaria, Nigeria. 23rd-25th September, 2020
interesting part shows that chaos brings a new challenge that
power system can be broken down and each piece studied and
that a system can have complicated behaviour that emerge as a
consequence of the simple nonlinear interaction of only a few
components.
The work in [5] continued the study of dynamic
bifurcations and voltage collapse. An equivalent circuit for a
local area of interest connected to a large external network
was used for the analysis. The external network modelled was
an infinite bus while the generator terminal voltage was also
modelled. The complex admittances of the transmission lines
were connected to the generator and infinite bus terminals,
load and a capacitor. The main use of this work from a
practical perspective was to enlarge the range of dynamic
mechanisms of voltage collapse for the future. Analysis in the
entire state space and relevant region on voltage dynamics was
outside scope of the paper.
Dynamics of a fundamental power system model in a
Single-Machine Infinite-Bus (SMIB) was presented in [6] by
representing it with a model using numerical simulations and
bifurcation theoretic analysis. The local bifurcations in the
SMIB simple power model were analyzed and global
bifurcations were studied through phase-portraits, time-plots
and Lyapunov exponents. The study showed that using only
numerical simulation did not show the evolution of chaotic
motion. A more detailed analysis of the hard-limit induced
nonlinear dynamic phenomena in power system models was
recommended to detect more chaos in a detailed power
system. Results in the paper suggest the possible occurrence of
chaotic behavior in the power system from interactions of
excitation control dynamics and the hard limits.
B. Latter Review of Chaos in Power System
The review in [7] showed the existence of various types of
dynamic bifurcations in two sample power systems using
numerical simulations. The studies were performed using
assisted AUTO86 software for a 3-bus and 9-bus systems
respectively. The dynamic equations of the 3-bus system
consisted of four state variables namely: internal voltage
angle, speed deviation, voltage magnitude and angle. Studies
were also conducted on a 9-bus system for the base case
condition and a contingency case considering outage of the
line between two buses. The research showed that FACTS
devices such as Controllable Series Capacitor (CSC), Phase
Angle Regulator (PAR) and Static VAR Compensator (SVC)
can be used for controlling the occurrence of dynamic
bifurcations and chaos. The optimal siting of these devices
was however, not considered in this paper and needs further
investigation. Also, the studies were conducted on simple
systems, therefore, the observations made may form useful
basis for the analysis of more complex and large power
systems.
38
The study in [8] proposed the use Global Linearization
Control (GLC) to stabilize chaos and bifurcation in power
system. The effectiveness of the proposed method was
evaluated through the dynamic simulation of a small power
system and the simulation results were compared with
uncontrolled and nonlinear state feedback controls. The study
revealed that the system experienced a Hopf bifurcation point
which led to chaos throughout period-doubling route. A
model-based control strategy based on GLC was applied to the
power system to control the chaotic behaviour and its
performance compared to that of a nonlinear state feedback
control. The result of the study showed that the GLC
controller was able to stabilize the system by manipulating the
input to reach the equilibrium state with stable non-periodic
behaviour. The study also showed the effectiveness of the
GLC in stabilizing the chaotic behaviour of the system.
In [9], a comprehensive analysis on bifurcations of a model
power system was carried out. Input mechanical power of
synchronous generator, reactive power demand at load bus,
and reference voltage of excitation system were considered as
bifurcation parameters. The dynamics analyzed under three
different dimensions, 6-dimensional dynamics, 7-dimensional
dynamics and 9-dimensional dynamics were analyzed.
Furthermore, bifurcation analysis was conducted by
continuation and bifurcation software for ordinary differential
equations using AUTO 07p. The result of the analysis
observed chaotic behaviour in almost every dimension of
system with both bifurcation parameters. However, the system
proved its robustness against variations of input mechanical
power in 9-dimensional dynamics. It was also observed that
oscillations of periodic orbits which result from dynamic
bifurcations could lead to collapse in system.
Nonlinear phenomena such as Hopf bifurcation, chaos, and
asynchronous operation of a simple power system were
explored in [10]. Using this model, Hopf bifurcation, period
doubling bifurcation, chaotic motion, and asynchronous
operation caused by too large line resistance were
investigated. The analytical results showed that in the case of
periodical oscillation, chaotic motion, and asynchronous
operation, amplitude of the stator current, voltage and power
angle fluctuate violently. The paper established a nonlinear
transient model by combining Park’s equations of generators
and mechanical equations of the shaft.
In [11], routes to chaotic oscillations in power systems and
relationships between chaos and various power system
instability modes were studied. All the studies showed that
chaos in power systems is caused by injected energy as a
result of a disturbance. Also, when the disturbance is smaller,
system undergoes a cycle oscillation while when the
disturbance turns larger, system can undergo instability caused
by chaos breaking. Therefore, when chaos is broken, it can
induce voltage collapse.
 International Conference on Electrical Engineering Applications (ICEEA'2020), Department of Electrical Engineering,
Ahmadu Bello University, Zaria, Nigeria. 23rd-25th September, 2020
In [12], chaotic behaviour on the IEEE 14-bus benchmark
system, using a transient stability model and its associated
differential-algebraic equations was demonstrated and studied
based on classical time-domain simulations. The system used
for this study was made up of five synchronous machines,
three of which were synchronous compensators used for only
reactive power support, represented with sub-transient models
and IEEE type-1 exciters respectively. There were 11 loads in
the system and each machine was equipped with an Automatic
Voltage Regulator (AVR). A Power System Stabilizer (PSS)
was added to the generator to remove the Hopf bifurcation in
all cases resulting in the removal of all observed chaotic
behaviour.
[13] reported how chaotic behaviour in a common power
system is detected and controlled for the first time. A control
signal was applied to stabilize an unstable equilibrium point
and the stability of the equilibrium point was investigated by a
candidate Lyapunov function. The length of time required to
stabilize the system is optimized based on the finite time
control theory using two control signals. A new chaotic state
was detected by investigating the dynamic behaviour of a
typical power system and a simple controller was proposed to
suppress the chaos based on the Lyapunov stability index.
Then, an optimized controller was proposed based on the
finite time control theory to decrease the chaos control time
and control effort. Decreasing the chaos control time in the
Chaotic Single-Generator Infinite-Bus (CSGIB) can play an
important role in keeping a power system stable when a
chaotic state occurs.
The research in [14] showed the possible causes of various
instability and chances of system break down in a power
system network are investigated based on theory of nonlinear
dynamics applied to a power system network. A simple power
system model was considered for applying the theory of
nonlinear dynamics. In this power system model, the generator
was represented by a classical model. The work reports that
previous studies used continuation method and compact
continuation software such as AUTO for bifurcation analysis
in the power system network. The limitation of these software
is in their inability to show explicitly and elaborately the
structure of period doubling bifurcation leading to chaos. This
limitation was however, overcome by using MATLAB based
continuation software MATCONT to obtain continuation
bifurcation diagram and diagram of period doubling
bifurcation. This showed various state changes of the proposed
system that eventually lead to chaos. It was also shown for the
first time that chaos can induce voltage collapse and angle
divergence simultaneously when the stability condition of the
chaotic oscillation is broken.
In [15], a novel Sliding Mode Control (SMC) method was
proposed for the global chaos synchronization of identical
chaotic systems. In the SMC design, the control dynamics had
two sequential modes namely the reaching mode and the
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sliding mode. The sliding controller design had two parts: a
hyperplane design and controller design. First, the hyperplane
was designed using pole-placement approach in modern
control theory and the controller using the sliding condition.
The stability of the overall system was guaranteed by the
sliding condition and by a stable hyperplane. Lyapunov
stability theory was used to prove the main result of the work.
Numerical simulations using MATLAB were provided to
illustrate all the Zhu chaotic systems and the novel sliding
mode controller design for the global chaos synchronization.
The research in [16] controlled an instable chaotic
oscillation in a small power system by using a linear state
feedback controller. First, the stability of a small power
system was analyzed by means of modern nonlinear theory
(bifurcation and chaos). The 3-bus power system used
consisted of two generators feeding a load, which was
represented by an induction motor in parallel with a capacitor
and combined with load. One generator was considered as an
infinite bus while the other generator had a constant voltage
magnitude. The study revealed that the linear controller
stabilized the system by eliminating all chaotic oscillations.
Hence, the system became completely stable over the whole
range of the control parameter point. The study results showed
that the system, without any controller, has a dangerous
subcritical Hopf bifurcation point.
In [17], the dynamics of both integer order and fractional
order Single-Machine Infinite-Bus (SMIB) power system was
analyzed by means of phase-plane-trajectories and the
existence of chaotic oscillation was observed under different
initial conditions and bifurcation parameters. The Lyapunov
based control was applied to both integer and fractional order
dynamic system and results presented using MATLAB
simulation. During the controlled simulation, all the
parameters and initial conditions of the system were
unchanged. The study concluded by showing the importance
of the simulation results for the analysis and design of more
complex power system of higher order.
A model of the three-node power system in [18] was
studied. The analyses for the model exhibited dynamical
bifurcations including Hopf bifurcations, cyclic fold
bifurcations, torus bifurcations, period-doubling bifurcations
and complex dynamical behaviours including periodic orbits,
period-doubling orbits, quasi-periodic orbits and phase-locked
phenomena. Simulations were given to illustrate the various
types of dynamic behaviours associated with the power system
collapse for the model. The paper further introduced a wind-
up type hard-limit saturation in the excitation control to the
one-axis model. It was further shown that the torus bifurcation
will be prevented and the complex dynamics that resulted
from the bifurcation eliminated when the saturation model was
used.
International Conference on Electrical Engineering Applications (ICEEA'2020), Department of Electrical Engineering,
Ahmadu Bello University, Zaria, Nigeria. 23rd-25th September, 2020
The work in [19] presents a new approach for analyzing the
short-term voltage stability based on the concept of chaos. The
new approach is used to calculate the maximal Lyapunov
exponent (MLE). The approach is complemented with the
post-contingency voltage time series analysis using space-time
techniques which allowed improvement in the performance of
the method by determining the embedded parameters that
were used to parameterize the MLE estimation algorithm.
Voltage time series of the post-contingency dynamic response
of four case studies in the New England 39-bus test system
were presented. DIgSILENT Power Factory program was used
for dynamic simulations and the method was complemented
with analysis tools of bus voltages time series, which used
space-time techniques for determining the embedding
parameters that represented the dynamics of strange attractors
in post-contingency conditions. The results of the application
of the proposed techniques for assessing short-term voltage
stability in the New England 39-bus test system were
presented and it showed that the proposed approach is suitable
for determining stability/instability state to contingency
voltage time series with complex dynamic behavior.
[20] focused on controlling chaos in power systems using
ANFIS-based composite controller (ANFISCC). Adaptive
neuro-fuzzy system is a combination of adaptive neural
networks and fuzzy inference system. A step-by-step method
of ANFIS-based CC design was by choosing choice of input
variables, choice of linguistic variables, choice of membership
functions, choice of fuzzy model and preparation of training
data pairs. The results showed that the proposed method can
successfully control and suppress chaos. In addition, systems
with the proposed method have only control signals for
stabilizing deviations in the rotor speed and do not control the
reactive power. The work recommended that future works
should aim to control and maintain the load voltage with an
ANFIS based composite controller-static VAR compensator
(ANFIS CC-SVC).
In [21], a passivity-based adaptive controller, which
combines passive control technique with adaptive control
method was carried out to control chaotic oscillations in power
system. A passive controller was first presented and it
transformed the chaotic SMIB power system into an
equivalent passive system. And then it proved that the
equivalent system can be asymptotically stabilized at any
desired fixed points. Moreover, an adaptive law was
introduced into the designed controller to eliminate the
influence of un-deterministic parameter. The passive control
has many advantages like clear physical interpretation, less
control effort required or ease in implementation. Simulation
results indicated the effectiveness and robustness of the
proposed control law against the uncertainties in system
parameter. The study result of this paper is shown to be
valuable to maintain the power system’s security operation.
40
The research in [22] was based on the finite-time stability
theory where two control strategies were presented to realize
the chaos control in a finite time. A 3-bus power system model
with two generators feeding a load, represented by an
induction motor in parallel with a capacitor and a load were
considered. The Lyapunov exponent was calculated by using
the method of singular-value decomposition. The effectiveness
of the controllers in controlling the chaos in a power system
was demonstrated as it took only a very short time to suppress
the chaotic power system and stabilize the controlled system at
the equilibrium. The paper also introduced for the first time,
coordinate transformation to the design of controllers to
stabilize chaotic systems at the point where equilibrium point
is non-zero. The robustness of a control technique was applied
but the control accuracy reduced to some extent and the
adjustment of time increased slightly. The strength of this
technique lies in the fact that when the power system has
external noise interference, the proposed control strategies can
still control the chaotic power system to the equilibrium
points.
III. CURRENT AND FURTHER RESEARCH ON CHAOS IN POWER
SYSTEM
Here, researches on chaos in power systems from 2019
upward is covered. [23] investigated the dynamical behaviours
of a classical single-machine infinite-bus power system by
applying theoretical analysis and numerical simulations. The
results extended the existing research by considering two
kinds of excitation components, which is related to the
external mechanical and electrical disturbance.
In [24], problem of chaos control for a four-dimensional
fundamental power system (FDFPS) model was investigated.
Pole placement-based proportional integral sliding mode
control (PISMC) was designed to control the chaos present in
the system. As a future research, the proposed PISMC
technique may be explored in the complex power system
network. In a related development, a four-dimensional power
system model with electromagnetic and load power
disturbance was built at the same time in [25]. The dynamics
analysis method and numerical results were helped to further
study the reliability control of power system.
One of the recommended areas of further research on chaos
in power systems is in the area of chaotic behaviour of
renewable power plants with particular emphasis on solar and
wind. These renewable energy sources have the shortcomings
of random, intermittent and non-scheduling. Also, analyzing
chaotic phenomena of multi-machine power system is
relatively rare, in future, much efforts should be made in this
area. On the basis of chaos phenomena in simple power
system, analyzing chaotic phenomena of multi-machine power
system and exploring the occurring mechanism of chaos need
further study [2]. Furthermore, research is also required to
study the disturbance of chaos phenomena brought by wind
power system as a dynamic load of the power system [2].
 International Conference on Electrical Engineering Applications (ICEEA'2020), Department of Electrical Engineering,
Ahmadu Bello University, Zaria, Nigeria. 23rd-25th September, 2020
The power system is expanding and becoming more
complex due to increased load and uncertainties. This has led
to the power plant being operated close to its stability limit.
Though a lot of research on chaos in relation to voltage
stability of the power system has been conducted, further
research needs to be conducted especially with the increase in
distributed generation and micro grids technology. Also, the
voltage stability analysis of power system based on chaos
theory has a good theoretical basis and application prospects.
However, further research work is required.
IV. APPLICATIONS OF CHAOS IN POWER SYSTEM
There are so many applications of chaos as highlighted by
[2]. However, these applications are limited towards the power
system only based on the topic under consideration:
i. Stability analysis and chaos control in power system.
ii. Applications of chaotic economic operation and
optimization in the power system.
iii. Chaotic applications in short-term load forecasting in
power system.
iv. Chaotic parameter identification in thermal control
system.
v. The application of chaotic characteristics in wind
speed prediction. This is useful in power generation
using wind turbines.
V. CONCLUSION
A review of chaos in power system was presented in this
paper. This review covers early studies of chaos in power
system, latter review of chaos in power system, current
research and future research in the area of chaos application to
power systems. The areas considered include sustained
oscillations and chaos via period-doubling route, Single-
Machine Infinite-Bus (SMIB), simple power system, voltage
stability and collapse, sliding mode control (SMC) for chaos
synchronization and control of chaos using heuristic methods.
Though a lot of research has been carried out in the area of
chaos application to power systems, further research is still
required especially with the presence of significant amount of
renewable energy resources on the grid.
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