ISA Transactions 99 (2020) 252–269

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ISA Transactions
journal homepage: www.elsevier.com/locate/isatrans

Research article

A harmony search-based H-infinity control method for islanded

microgrid
∗
Bishoy E. Sedhom a , , Magdi M. El-Saadawi a , Mostafa A. Elhosseini b,c ,
Mohammed A. Saeed a , Elhossaini E. Abd-Raboh a
a
Department of Electrical Engineering, Mansoura University, Mansoura, Egypt
b
Mansoura University, Computers Engineering and control systems Dept., Faculty of Engineering, Egypt
c
Taibah University, College of computer science and Engineering in Yanbu, Madinah, Saudi Arabia

article info a b s t r a c t

Article history: This paper proposes a harmony search (HS) based H-infinity (H∞) control method to promote the
Received 28 November 2018 conventional droop control method. The proposed method is used to enhance the performance of the
Received in revised form 27 October 2019 voltage/frequency (V/F), controller. It can regulate both voltage and frequency to their rated values
Accepted 28 October 2019
while enhancing autonomous microgrid (MG) power quality. The results gained from the proposed
Available online 4 November 2019
controller were compared with the results achieved by using the model predictive control (MPC)
Keywords: technique to show the applicability of the proposed controller. On top of that, a comparison between
Voltage control different controllers presented in this paper is performed.
Microgrid © 2019 ISA. Published by Elsevier Ltd. All rights reserved.
Power quality
Harmony search
H-infinity
Frequency control

1. Introduction MG frequency and voltage to the rated values. Primary con-

MGs can be defined as a small-scale electric grid that con-
tains loads, dispersed generations (DGs), energy storage units
and control and protection systems [1]. Using MG is more at-
tractive as it improves the system quality, decreases the carbon
emission, and reduces the losses in power systems [2]. MG op-
erators face a challenge of the optimal frequency and voltage
control under different operating modes. MG operation may be
grid-connected or isolated. When MG operates at grid-connected
mode, its frequency and voltage are related to the grid frequency
and voltage [3]. Control systems are needed to maintain the
active and reactive power output from the DGs integrated to MG.
However, under isolated mode operation, the MG is disconnected
from the distribution network and operates in an islanded mode.
Consequently, there will be a change in the MG frequency and
voltage away from their rated values and a durable control system
is required to regulate the values for frequency and voltage in this
mode [4].
In general, the control methods are classified into primary
and secondary control methods. The primary control methods
are used to restore the MG frequency and voltage to the utility
prescribed limitation. Anyhow, these methods cannot restore the
∗ Corresponding author.
E-mail addresses: eng_bishoy90@mans.edu.eg (B.E. Sedhom),
melhosseini@mans.edu.eg, mmaoustafa@taibahu.edu.sa (M.A. Elhosseini).
trol methods include; distributed control, central control, mas-
ter/slave control, voltage/frequency (V/F) control methods [5],
active–reactive power (P/Q) control [6], droop control [7], peer to
peer control [6], PI/PID control [8], and sliding mode control [9].
The secondary control methods are used to modify the operation
of the primary controllers and hence, keep the MG frequency and
voltage at their rated values under any variations in load. These
methods include; particle swarm optimization [10], fuzzy logic
control [11], artificial neural networks [12], H-infinity [13], model
predictive control [14], and linear quadratic regulator [15].
In the existence of external-disturbances and uncertainty pa-
rameters, H∞ control method can be used to promote the sta-
bility and enhance the system performance. This technique uses
the method of linear-matrix inequalities (LMI) to deal with the
control problem, as it can be directly utilized to explore feasible
and appropriate solutions. It can decrease the impact of system
disturbances and uncertainties; it can also enhance the system
transient stability the existence of uncertainties [13]. In addition,
this control method fosters the power quality of the system, as
it can be defined as a repetitive control method involving both
inner-voltage and outer-current control loops. It preserves the
flexibility of the system in case of switching between different
modes of control. It can be applied to solve MIMO models. In
the meantime, the effect of disturbances on the controllers can
also be mitigated. In addition, the H∞ control method has the
ability to mitigate the resonance effect caused by the connection

https://doi.org/10.1016/j.isatra.2019.10.014
0019-0578/© 2019 ISA. Published by Elsevier Ltd. All rights reserved.
 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269
of capacitors for improving the system power factor. Nonetheless,
this control method may be considered impractical for large
dimensions system and with handling nonlinear constraints [9].
H∞ controller is powerful control technique used to gener-
ate an appropriate control signal with effective handling of the
system disturbances on the controller outputs [16]., An inte-
rior model is utilized to the H∞ control method to achieve a
proper repetitive control [17]. H∞ control was applied in the
literature for many applications in MG control. In [18], H∞ was
utilized for controlling the voltage source inverter (VSI) inte-
grated with MG. It was applied to adjust the system frequency
in [19] and to control system voltage in [20]. This technique
has been used for robust control of inductance – capacitance
– inductance filtered converter-based DGs in MGs [21], control
system’s power-sharing [22], and to enhance small and large-
signal stability [23]. However, authors in [18–23] have utilized
the H∞ method to adjust a single parameter such as frequency,
voltage, current, power management or power quality. In those
papers, the weighting parameters of the H∞ controller were
chosen according to the trial and error method. However, this
paper applies the H∞ controller to adjust the MG frequency
and voltage and to reducing the THD. In addition, the weighted
parameters of the H∞ controller are optimally obtained using the
HS algorithm.
H∞ controller is implemented in this paper to control isolated
MG frequency and voltage with an optimally controlled variance
in the load. Two weighting parameters (ξ and µ) are used to
implement the output control signals and to optimally match
efficiency and intensity in H∞ closed loop.
In this paper, an HS-based optimization algorithm is applied
to obtain appropriate values of these weighting. This algorithm
is a metaheuristic optimization and based on the simulation of a
musical artistic tune [24]. It is robust, efficient, easy in implemen-
tation and requires fewer mathematical equations [25]. In the last
decade, the HS-algorithm has been used to solve a lot of power
system problems including automatic generation control [26],
dynamic economic dispatch [27], load frequency control [28],
unit-commitment and optimal power flow problems [29,30]. On
other hand, the algorithm has many applications in MGs including
solving the problem of MG scheduling [31], improving operating
efficiency of a MG [32], optimal clustering of MGs [33], optimal
sizing of hybrid MGs [34], and improving the dynamic response
of DG units [35].
HS algorithm has many advantages; simple modeling, easy
implementation, less adjustable parameters, and quick conver-
gence. This algorithm can explore the solution region’s space in
a reasonable time, and it has a memory to optimally choose the
similar best harmonies in the population. On another hand, HS
is a random search method such as genetic algorithms (GA) and
particle swarm optimization (PSO) technique, as it does not need
any prior domain knowledge. HS varies from these strategies
as it requires only one search memory to develop, so it has
the distinctive computational simplicity feature [36]. Generally,
HS is simple to implement, efficient in computation, and it is
a high-quality optimization algorithm. In addition, it can deal
with complex engineering optimization problems as it has a low
number of setting parameters [37].
The system stability analysis is performed by using root locus
study, system step response, and singular value decomposition
(SVD) to prove the proposed controller effectiveness. A compari-
son is performed between applying both the proposed H∞ based
HS control method MPC method. MPC technique is considered as
the most common controller in industrial problems. It has the
ability to minimize the tracking error, achieve a fast problem
computation, and it is considered an economical control method.
In addition, the MPC method has the ability to handle both
253
states and control constraints of the non-minimum phase. MPC
is proposed to estimate the dynamic behavior of the system on
a specified horizon. Nonetheless, it does not have the ability to
cope with the unknown system parameters as it mainly depends
on the system model. Moreover, for this method, it is so hard
to analyze system performance and the process model cannot be
recognized efficiently [8].
Referring to the aforementioned research on MGs, it can be
seen that great efforts were done to enhance the performance
of MGs. However, the control methods for MGs still missing
innovative techniques, which have the ability to optimally control
the MG frequency and voltage and enhance its power quality.
The performance of the proposed method is verified in this paper
by using a complex MG hypothetical system including multi-
DGs under several loading conditions including both linear and
nonlinear loads. The optimal settings of H∞ weighted parameters
will be investigated through a detailed parametric study using the
HS algorithm.
This paper’s key contributions are:
• Optimally control the system frequency and voltage while
enhancing the power quality of an autonomous MG under
system load variations.
• Enhancing the droop control method performance by apply-
ing the H∞ robust control for adjusting the frequency and
voltage of a MG.
• Proposing HS-based H∞ control method to precisely deter-
mine the weighting parameters of the proposed controller.
• For the sake of comparison, model predictive control (MPC)
method is proposed and modeled to prove the efficiency of
the proposed controller.
• A comparative analysis is performed between the droop
controller, proposed method, and MPC method based on the
total harmonic distortion (THD) for load voltage and current,
the controller response time (CRT), maximum frequency
deviation (MFD), and the integral of square error for the
voltage and frequency waveforms.
• Exploring the stability of the system using root locus, system
step response, bode diagram, and SVD.
• Robustness analysis is performed in the presence of uncer-
tainties based on step response, SVD, and bode diagram.
• Investigating the multiplicative stability margin (MSM) us-
ing the frequency response of the complementary sensitiv-
ity.
The remainder of the paper is organized as follows; Section 2
presents the related work, including the base control method,
droop controller, H∞ controller, MPC method, and HS optimiza-
tion algorithm. Section 3 demonstrates a brief description of the
proposed control method, and Section 4 presents a case study,
results and discussion, and the stability and robustness analysis.
The summing-up of this work is presented in Section 5.
2. Related work
The base control method, droop controller, H∞ controller,
MPC technique, and the HS optimization algorithm are discussed.
in the following subsections.
2.1. Base control method
The base control method is used to regulate the MG in its
autonomous operation condition. In this case, it is required to
control MG frequency and voltage within their prescribed values
to meet all load requirements. This control method is very im-
portant during the transition from off-grid to on-grid modes [3].
254 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269

Fig. 1. Simulink representation of the base control method.

The base control method is consisting of two control loops in- robust multivariable linear systems stability in the existence of
cluding the voltage/frequency and current control loops. These system disturbances and uncertainties [17]. The central concept
two control loops are applied to provide the current and volt- of the H∞ controller is based on the LTI system of the plant P(s),
age reference to the VSI [5]. The complete Simulink diagram of and the schematic block diagram of the linear feedback H∞ con-
this control method is depicted in Fig. 1. The diagram consists troller is presented in Fig. 3. As shown in Fig. 3, the control input
of two control loops V/F and current control loops. The direct is represented as u, the disturbances and other external inputs
and quadrature components of the current are adopted through are represented as w, the measured output is characterized as y,
a current cross-coupling compensation control to eliminate the and the controlled output is characterized as z. The C(s) controller
interaction between the two components. The base controller will must be synthesized with considering input y and output u to
be applied to control the islanded MG in Section 4. achieve system stability and minimize the output performance
if disturbance inputs are present. This control method is used to
determine the controller C(s) and to synthesize the sub-optimal
2.2. Droop control method
problems. The standard formulation of the LTI system structure
is represented in (1).
MG under its islanded operation can be controlled using the
droop control technique. To adjust the MG frequency and voltage, ẋ = Ax + B1 w + B2 u
three loops of controllers are applied including power, voltage, y = C2 x + D21 w + D22 u (1)
and current control loops. These control loops applied to provide
the reference active and reactive power and reference current The feedback closed-loop transfer function in Fig. 3. can be
and voltage to the VSI [38]. Besides, an LCL filter is adopted mathematically expressed as:
to filter the VSI voltage output to increase the system’s power ẋ x ][x]
[ ] [ ] [
P P12
quality [39]. A Simulink model representing the three control z = P (s) w = 11 w
P21 P22
loops is explained in Fig. 2. y u u
Generally, the characteristic of the frequency droop is used [
A B1 B2 x
][ ]
to maintain the system’s active power and frequency as the = C1 D11 D12 w (2)
frequency decrease results in an active power output increase of C2 D21 D22 u
the VSI. Similarly, the characteristic of the voltage droop is used
to adjust the system voltage and reactive power output from VSI The feedback branch function is expressed as;
as the voltage decrease result in an increase in the output reactive u = Cy (3)
power of the VSI. To achieve a convenient power-sharing among
the connected DGs, the gains of the droop controller must be Whereas, the closed loop representing the transfer function
optimally obtained [40]. This method will be adopted to control from w to z is expressed as;
the frequency and voltage of the MG, and the results will be Twz = P11 + P12 C (I − P22 )−1 P21 (4)
shown in Section 4.
where; I defines an identity matrix
The ∞-norm from w to z must be reduced to be less than a
2.3. H-infinity control method
pre-determined positive number γ to achieve the system stability
The ∞-norm can be mathematically expressed as;
In modern control theory, the H∞ controller is considered as
a very powerful control technique. It has the ability to maintain ∥Twz (s)∥∞ < γ (5)
 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269
Fig. 2. Simulink representation of the power, voltage and current control loops.
Fig. 3. Basic of H∞ controller.
The plant P(s) is linearized as follows;
[ ] [ ]
D11 D12 C The second is that the musician plays one pitch close to that in
P (s) = + 1 (SI − A)−1 B1
[ ]
B2
D21 D22 C2
2.4. Model predictive control (MPC) method
MPC is an integral controller applied to automate the future
system response. MPC can be used in the tracking, optimization,
management, and assessment of disturbance [41]. To adjust the
MG system within the specific time horizon, the inputs to the
control system must be selected correctly to reduce the cost
variable. The cost-function is realized by considering the current
values of the resulting processes and the perturbation model
prediction [42].
The independent-variables impact on the dependent-variables
is estimated by the MPC method. The performance of the plant
system is used to estimate the unmeasured input quantities
which are considered as dependent variables. In addition, the
power output is independent-variables. Both variables should be
used to achieve the optimal solution of the control problem and
to reduce the reference tracking errors. The MPC system plant
design is shown in Fig. 4. In this analysis, the MPC is applied to the
four-loop plant design including droop, voltage, current control
255
loops, and control loop for LCL filter and coupling circuit. These
control loops are used for providing the reference frequency,
voltage, and current to the VSI and in addition, enhancing the
MG power quality.
2.5. Harmony search algorithm
HS optimization method is a metaheuristic technique that
imitates the cycle of natural music improvising. The musicians
use the improvisation process to obtain the best harmony states
similar to that of the jazz improvisation. The musicians of the jazz
band try to get the proper pitches to obtain perfect harmony [25].
In this method, an aesthetic standard is used to estimate the
quality of the improvised harmony. The musician pitches must
be adjusted to get better harmony in music. The pitches can be
adjusted as they can be chosen under different combinations.
The first is that the musician plays any pitch from the memory.
(6)
memory [35]. The third that the musician plays a random pitch
from the defined limits [43]. HS algorithm depends on limited
number of parameters including harmony memory size (HMS),
harmony memory consideration rate (HMCR) that is likely to
consider decision variables stored in harmony memory (HM),
timeline adjustment rate (PAR) for the likelihood of randomly
altering selected HM data, bandwidth of the generation (bw), and
the number of improvisations (NI) [44] that define the maximum
number of iterations [45]. The main steps of the HS algorithm can
be defined as follows:
Step1: Initialize the HS algorithm optimization pa-
rameters
Step2: Initialize the HM
Step3: Apply the improvisation process to get a new
harmony from HM
Step4: Calculate the fitness function of each impro-
visation
Step5: Updating the HM
Step6: Until achieving the stopping criteria, repeat
step3, step4, and step5.
256 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269

Fig. 4. MPC method plant model.

3. Proposed H∞ control method-based HS optimization algo-

rithm
xinv i
]T
= δi Pi Qi ∅di ∅qi γdi γqi ildi ilqi vodi voqi iodi ioqi
[
Although no interaction link between the DGs is required for
the droop controller, it has its own inconvenience which limits
ω − ω∗
⎡ ⎤
the appropriate operation in MGs. The main disadvantage of ⎡ ⎤
e1 ref

⎢e2 ⎥ ⎢vref − vod ⎥

this system is the difference in voltage and frequency from the ⎢ ∗⎥

nominal value for the correct power-sharing change in MG. To ⎢ ⎥ ⎢ v∗ − v ⎥

⎢e ⎥ ⎢ od ⎥
enhance the response of the droop controller, this paper suggests [yinv i ] = ⎢ 3 ⎥ = ⎢ od
⎢e4 ⎥ ⎢ voq∗
− voq ⎥
⎥
an innovative approach to enhance the droop controller perfor- ⎣e5 ⎦ ⎢ ∗ ⎥
⎣ ild − ild ⎦
mance by optimizing the H∞ controller with the HS algorithm. e6
H∞ is used to synthesize controls with efficient quality to ensure i∗lq − ilq
stability and minimize the effects of disturbances and uncertain- where Ainv i , Binv i1 , Binv i2 , Cinv i , Dinv i1 , and Dinv i2 is introduced in [48].
ties. The H∞ approach suggests involving a control circuit for vod , voq , are the direct and quadratic components of the voltage,
the internal voltage and an external control loop for the system. iod , and ioq are the direct and quadratic components of the current,
In the presence of uncertainties, the approach is successful in δ is the angular displacement of the frequency, Pi , Qi are the
improving transient stability. The impact of disruptions on the fundamental active and reactive power, ω* is the grid angular
control system can be minimized. frequency, ωref and vref are reference frequency and a reference
A schematic diagram for the H∞ method is explained in Fig. 5, voltage, vod ∗
and voq
∗
are d-axis and q-axis voltage, ∅di and ∅qi are
where the plant transfer function is defined by P(s) and feedback the state variables defined for PI controllers of the voltage control
control is given by C (s). The control method being proposed is loop, γdi and γqi are the state variables defined for PI controllers
used in autonomous mode to enhance the MG voltage/frequency of the current control loop, and ildi and ilqi are the direct and
and to enhance the quality of the system. quadrature components of ili . vbd , vbq are the dq components of
the PCC voltage, and vid , viq are the dq components of the inverter
The mathematical equations represent the control loops are
voltage.
handled in the dq reference frame are taken as presented in [46,
The inner model M is used as a repeated frequency control
47]. The complete inverter modeling in state–space equations is
system, as explained in Fig. 6(a). It can be represented as a low
presented in (7) and (8).
pass filter with W(s) as shown in (9) [47]. The state–space model
vidi of the internal model M is represented in (10).
⎡ ⎤
ωref ⎢ viqi ⎥
[ ]
ωc
[xin˙v i ] = Ainv i [xinv i ] + Binv i1
vref
+ Binvi2 ⎣ ⎦
vbdi
(7) W (s) = (9)
s + ωc
vbqi
Where ωc is the cut-off frequency of the low pass filter W.
vidi
⎡ ⎤
ωref ⎢ viqi ⎥ ωc1
[ ] [ ] [ ]
Aw Bw −ωc1
[yinv i ] = Cinv i [xinv i ] + Dinv i1 + Dinvi2 ⎣ ⎦ (8) W = = (10)
vref vbdi Cw Dw 1 0
vbqi
To improve the system performance, two extra parameters
where; ξ and µ are utilized to assure system freedom as presented in
 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269 257

Fig. 5. Structure of a control system using the H∞ method.

Fig. 6(b). The realizing of the generalized plant is then obtained Table 1
as in (11) where C is the controller to be devised. HS Pseudocode.
⎡ ⎤
Ainv i 0 0 Binv i1 Binv i2
⎢ Bw Cinvi Aw Bw ξ Bw Dinv i1 Bw Dinv i2 ⎥
⎢ ⎥
P̃ = ⎢ Dw Cinv i Dw ξ (11)
⎢ ⎥
Cw Dw Dinv i1 Dw Dinv i2 ⎥
µ
⎢ ⎥
⎣ 0 0 0 0 ⎦
Cinv i 0 ξ Dinv i1 Dinv i2

Assuming that ω = 0, the realization of the transfer function

from a to b can be found as follows:
( [ ] )−1
Ainv i Binv i2
Tba = 1− C W
Cinv i Dinv i2

Ainv i + Binv i2 Dc Cinv i Binv i2 Cc Binv i2 Dc Cw 0

⎡ ⎤
Bc Cinv i Ac Bc Cw 0 ⎥
=⎣ (12)
⎢
0 0 Aw Bw ⎦
Cinv i 0 Cw 0

Where,
[ ]
Ac Bc1 Bc2
C = (13)
Cc Dc1 Dc2

After obtaining the controller C, the system stability can be
tested by checking || Tba ||∞ .
The test and error approaches have been used to extract
weighted parameters from most papers that are using the H∞
control method. This paper proposes an insightful way of opti-
mally evaluating the controller weighted parameters. The sug-
gested approach depends on applying the HS optimization al-
gorithm. The HS optimization algorithm intent is to optimally
pick the H∞ control method’s weighting parameters (ξ and µ)
for each load variance for improving both the system stability
and the MG power efficiency. This paper uses the fitness func-
tion of the frequency and voltage signals failure. The elementary
pseudo-code describes the HS-algorithm is illustrated in Table 1
. system under study. The test-system is represented using the
4. Case study
The proposed approach is used to evaluate its applicability
on a test-system with or without a linear load. This analysis
applies to the island-based testing system, the base controller,
drop-control and the control techniques suggested and then com-
pares the effects. Finally, the test-system is subject to the MPC
testing method and the results achieved are compared to the
controller proposed. The test-system contains three DG units and
three loads of a suspected MG. The MG is integrated with the
main grid via a grid-breaker to swap between both islanded
and grid-connected modes. Table 2 gives the parameters of the
258 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269

Fig. 6. Formulation of the proposed H∞ controller.

Fig. 7. Simulink representation of the test system.

Matlab/Simulink environment as explained by Fig. 7. All the re-
sults obtained by applying different controllers are measured
from Bus 3 including the output voltage, current, and frequency.
Bus 3 is the furthest bus from the DGs controllers, so it represents
the worst condition. Hence, if the frequency and voltage at that
bus are optimally adjusted, it is obvious that the frequency and
voltage at other buses (nearer to the DGs controllers) must be
adjusted.
4.1.2. Nonlinear loading condition
The nonlinear system load profile was given in Fig. 8(c) and
(d). Fig. 10 shows the system results output (i.e. voltage, current,
and frequency) and Fig. 11 presents the voltage and current FFT
analysis. From Fig. 11, the load current THD is 8.09% and the load
voltage THD is 38%.
4.2. Droop control method

4.1. The base control method
This section presents the applying of the base controller to the
prescribed MG test system by considering linear and nonlinear
loading conditions.
4.1.1. Linear loading condition
The system load profile with the linear loading condition is
presented in Fig. 8(a) and (b). The system voltage, current, and
frequency are explained by Fig. 9. The load voltage and current
waveforms are analyzed using Fast Fourier transform (FFT) to
check the changes in system power quality. The load current THD
becomes 3.16% after the application of the base controller and the
THD of the load voltage decreases to 2.74%.
This section presents the applying of the droop controller to
the prescribed MG test system by considering linear and nonlin-
ear loading conditions.
4.2.1. Linear loading condition
The droop controller is verified using the MG test-system
loaded in the presence of a linear load given in Fig. 8(a), (b).
The system outputs are presented on the left side of Fig. 11. The
results show that the load current and voltage THD are 0.93% and
1.93% respectively as shown on the left side of Fig. 12.
4.2.2. Nonlinear loading condition
The droop control approach is implemented in three different
nonlinear loads connected to buses 1, 2 and 3, as presented in
 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269 259

Table 2
Parameters of the test system.
Components Parameters Symbols Quantity
Nominal frequency f 50 Hz
Nominal peak phase voltage V 540 V
DG system
Active power rating P 130 kW
Reactive power rating Q 70 kVAR
Inductance L1 5.42 mH
Converter LCL filter Capacitance C 11 µF
Inductance L2 0.13 mH
Active power P1 , P3 45 kW
Load 1, Load 3
Reactive power Q1 , Q3 15 kVAR
Active power P2 40 kW
Load 2
Reactive power Q2 25 kVAR
Frequency droop characteristics mp 0.001
Droop controller coefficients
Voltage droop characteristics nq 0.0033
Proportional gain Kpv 10
PI controller coefficients for voltage controller
Integral gain Kiv 2
Proportional gain Kpc 30
PI controller coefficients for current controller
Integral gain Kic 0.5

Fig. 8. Load curves for the two case studies.

Fig. 7. The active and reactive load profiles of the system were
presented in Fig. 8(c), (d). the output system results are shown
on the left side of Fig. 13. The voltage and current FFT analysis
are presented on the left-side of Fig. 14. From these figures, the
load current and voltage THD are 2.02% and 3.42% respectively.
4.3. HS optimization algorithm
The HS algorithm is practiced to the test-system (presented in
Fig. 7) using the Matlab environment. The application of the HS
algorithm determines the H∞ control method’s optimal weight-
ing parameters. Table 3 displays the HS algorithm parameters.
Each iteration indicates the fitness value as shown in Fig. 15(a)
and each improvisation’s fitness value is shown in Fig. 15(b).
With a linear load, the fitness function is 0.3241, ξ = 22.7542
and µ = 29.1539. While in case of nonlinear load the fitness
function value is 0.3717, and ξ = 24.1184 and µ = 26.0040
The HS algorithm is applied to perform an off-line tuning and
then the best-found parameter setting of the H∞ controller is
used online to control the system. It takes about 1500 Function
Evaluations (FEs) for HS to approach optimal settings of the H∞
parameters. In this case study, the simulation time (off-line) for
the linear loading case is 109 s using CPU with processor Intel (R)
Core (TM) i3 and RAM 8 GB. Also, the simulation time (off-line)
260 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269

Fig. 9. Outputs for base case controller with a linear load.

Fig. 10. Outputs for base case controller with non-linear load.
Table 3
Parameters of HS algorithm.
No Parameters of HS Values
analysis presented on the right-side of Fig. 12 as 0.66% and 1.26%
1 HMS 30 respectively.
2 HMCR 0.9
3 PARmax 0.9
4 PARmin 0.4 4.4.2. Nonlinear loading condition
5 bwmax 1.0 Using Matlab hinfsyn algorithm, the proposed controller is
6 bwmin 0.0001
implemented to the MG test-system. As obtained from the op-
7 NI 50
timization algorithm HS, ξ , and µ are registered in 24.1184 and
26.0040 respectively. The system load profiles are presented in
Fig. 8(c), (d). The system output results are presented on the
for the nonlinear loading case is 113 s. While the system on-line right-hand side of Fig. 13. The load current and voltage THD are
settling time is 5.32 µs. obtained from the FFT analysis on the right-side of Fig. 14 as 0.89%
and 1.21% respectively.
4.4. Applying the proposed control method
4.5. MPC method
The employment of the proposed controller to the prescribed
The MPC method is practiced to the studied MG test-system
MG test system with considering linear and nonlinear loading
to validate the soundness of the proposed method. The system
conditions are outlined below
output results are shown in Fig. 16. Fig. 17 shows the THD study
of the voltage and current waveforms. The two loading conditions
4.4.1. Linear loading condition are used for this process, the effects of the process for the first
The suggested controller is examined for a linear loading con- loading state (without linear loading) are shown in the left-side
dition using the MG test system (shown in Fig. 8(a), (b)). By of Figs. 16 and 17. Meanwhile, the right-side of Figs. 16 and 17
means of the Matlab hinfsyn algorithm, the controller C is ob- show the effects of adding a nonlinear load to the test system.
tained. The two weighting parameters are obtained as 22.7552 FFT analysis for load voltage and current shows that the THD
and 29.1539 respectively. The right side of Fig. 11 shows the is 0.82% and 1.4% with a linear loading condition. Moreover, for
output system results attained by applying the proposed proce- the nonlinear loading condition, the THD of the load current and
dure. The load current and voltage THD are obtained from the FFT voltage are 1.08% and 1.4% respectively.
B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269 261

Fig. 11. Outputs for a case study with linear load.

Fig. 12. FFT analysis of current and voltage waveforms with linear load.
262 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269

Fig. 13. Outputs for a case study with a non-linear load.

Fig. 14. FFT analysis of current and voltage waveforms with a non-linear load.
B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269 263

Fig. 15. Fitness Values of HS Algorithm.

Fig. 16. Outputs for a case study with the MPC method.
264 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269
Fig. 17. FFT analysis of current and voltage waveforms with MPC method.
Fig. 18. Standard closed-loop system.
4.6. Comparative analysis
A comparative study is carried out between the droop con-
troller, the proposed controller and the MPC controller compared
to the base control method. This comparative analysis is made un-
der the two conditions of system loading. Through implementing
the base method, the MG frequency and voltage vary in linear
loading conditions, as shown in Fig. 9 from their nominal values
according to system load variance. Nevertheless, in the case of
nonlinear loading condition, the base control cannot change the
MG frequency and voltage to their nominal values, as depicted in
Fig. 10.
As shown on the left-side of Fig. 11(a) and (c), the droop con-
troller can adjust the MG frequency and voltage to a satisfactory
limit under the MG load variation. However, after the system
load variation, it failed to restore the rated frequency and voltage
values. There are many impacts of applying the nonlinear load
to the MG on the system voltage and frequency. Consequently,
the droop controller does not have the ability to modify the MG
frequency and voltage as presented on the left-side of Fig. 13(a)
and (c), respectively.
Through implementing the proposed H∞ based HS control
method, the MG frequency and voltage are modified and regu-
lated to their normal prescribed values after system load changes
for the two loading conditions, as depicted on the right-side of
Fig. 11(a) and (c) for linear loading condition and Fig. 13(a) and
(c) for nonlinear loading. In the case of linear loading condition,
applying the MPC approach to the studied-system shows that
the system output results are improved over the droop control
method. Nevertheless, the ripples that presented in the wave-
forms of the MG frequency and voltage are more enormous due to
the MPC method than the control method suggested, as depicted
in the left and right sides of Fig. 16(a) and (c) respectively for
linear and nonlinear loading conditions.
Based on the THD of the voltage and current waveforms, a
comparison between the control methods is presented in Table 4.
Compared to the values dedicated by applying the base control
method for linear loading condition, the current and voltage
waveforms THD of the proposed method are improved by 79.11%
and 54.01%, 70.56% and 29.56% for the droop controller, 74.05%
and 48.90% for the MPC. The THD also increases 88.99% and
72.37% for the proposed controller in the case of a nonlinear
loading condition, 86.65% and 58.57% for the MPC system, and
74.90% and 31.95% for the droop control method. Such results
show that the approach suggested increases the voltage THD and
current waveforms better than the other methods.
Considering maximum frequency deviation (MFD), the con-
troller response time (CRT), an integral of square error (ISE),
another comparison held between the controllers for the system
frequency and voltage waveforms. The response time shows how
quickly after any load change the controller can restore both
the device voltage and nominal frequency values. The maximum
frequency deviation is the average increase or decrease in the
waveform of the system frequency, while the ISE calculates the
deviation from their nominal values in system voltage and fre-
quency waveforms. Table 5 shows a comparison based on these
indices between the controllers. The results show that the pro-
posed control method has better performance compared to the
other controllers in regulating the frequency and voltage of MG.
 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269
Fig. 19. Stability analysis.
In General, the results obtained show that the proposed
method has the ability to regulate the MG operation in presence
of different loading conditions. Also, the reduction of the THD of
current and voltage waveforms leads to enhancing the MG power
quality by applying the proposed method. The suggested method
of control improves the CRT, reduces the MFD, and improves the
system frequency and voltage ISE.
4.7. Stability analysis
The root locus and system step response were obtained to
assess the system stability under the implementation of the pro-
posed control approach. The root locus is used under the variation
of system parameters to analyze the locus of the roots in the
s-plane.
The feedback control scheme is presented below in Fig. 18. The
feedforward, feedback, and transfer functions of the controller are
the G(s), H(s), and k. The root locus approach is applied to study
the impact of the gain variations on the position of the closed-
loop system poles of [49]. The transfer function of the closed-loop
obtained from Fig. 18 is as follows;
Y (s) G(s)
= (14)
X (s) 1 + kG (s) H(s)
Fig. 19(a) is quite revealing in several ways. First, the profile
stays in the Left-hand plane (LHP) whatsoever the gain of the
controller. Second, further analysis showed that the designer has
the freedom to choose appropriate system gain to match tran-
sient system response. From the data in Fig. 19(b), it is apparent
that the settling time (5.32 µs) and the rise time (2.66 µs) are
decreased to an acceptable value. These results suggest that the
controller can adjust the MG parameters efficiently and very fast.
265
Furthermore, system stability is analyzed based on singular
value decomposition (SVD). The SVD is obtained for the frequency
response and to process noise. Considering the process noise the
minimum SVD σmin = −130 dB as depicted in Fig. 20(a) and
(b). The most surprising aspect is that the system is less prone
to process noise.
The gain margin is the factor that increases the gain before
instability takes place, while the phase is constant, i.e., the gain
margin is a measure of gain uncertainty tolerance. Similarly, the
phase margin definition assumes that the gain margin is kept
constant, so the phase margin is a metric of pure phase sensitivity
tolerance. According to the open-loop bode plot of the system is
shown in Fig. 21 is marginally stable.
4.8. Robustness analysis
Since the working circumstances may differ (changes in load
and, disturbances), and control systems are typically built using
much-simplified models, the control system must be robust to
function correctly in these conditions. Mathematically, this im-
plies that not just for one plant, but for a collection of plants,
the controller must perform well. Despite model uncertainty,
the system’s stability must be preserved. To have a robust con-
troller it is required to design a controller that satisfies stability
in uncertain conditions. If the system also meets performance
specifications such as sensitivity and disturbance rejection, good
tracking, steady-state performance, the system is ensured that it
has robust performance [50].
There are usually two categories of model uncertainty: struc-
tured uncertainty and unstructured uncertainty. If one is unsure
about the place of the poles, zeros, or gain of the system, this
is an example of structured uncertainty. The system coupling
parameters are presumed to be unpredictable and off by 20% so
266 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269

Fig. 20. System stability singular values decomposition.

Table 4
Comparison between various control methods based on THD.
With linear loading condition
Base control method Droop control method Proposed control method MPC Method
% value % value % decrease % value % decrease % value % decrease
THDI 3.16 0.93 70.56% 0.66 79.11% 0.82 74.05%
THDV 2.74 1.93 29.56% 1.26 54.01% 1.40 48.90%
With Non-linear loading condition
Base Control Method Droop Control Method Proposed Control Method MPC Method
% value % value % decrease % value % decrease % value % decrease
THDI 8.09 2.03 74.90% 0.89 88.99% 1.08 86.65%
THDV 3.38 2.30 31.95% 1.21 72.37% 1.40 58.57%

Table 5
Comparison between various control methods based on CRT, MFD, and ISE.
With linear loading condition
Base control method Droop control method Proposed control method MPC method
CRT 0.04 0.029 0.01 0.025
MFD 2.59 2.29 0.45 0.9
ISEV 8823 6591 978.6 2784
ISEF 43.24 15.95 7.789 10.07
With non-Linear Loading Condition
Base control method Droop control method Proposed control method MPC method
CRT 0.052 0.045 0.015 0.029
MFD 24.99 3.55 0.60 1.19
ISEV 9395 6754 1198 3774
ISEF 67.48 46.58 8.285 10.35
 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269 267

Fig. 21. System bode diagram.

as to examine the robustness of the proposed controller against

structured uncertainty. What is interesting in Fig. 22(a) is that
still at the utmost point of uncertainty, the output is adequately
accepted (as demonstrated by the percent overshoot, rise and
settling times). SVD extends the bode magnitude response to
MIMO systems and is helpful for robustness analysis. SVD offers
a helpful way to quantify multivariable directionality, but in
terms of frequency-domain performance and robustness [51], the
maximum singular value is also very useful. From the data in
Fig. 22(b) (c), it is apparent that the control system has robust
performance.
Unstructured uncertainty can be modeled in different ways,
like additive and multiplicative uncertainty [50]. Feedback de-
creases the closed-loop system’s sensitivity to uncertainties or
differences in components situated in the system’s forward route.
Rejection of disturbance relates to the reality that feedback can
eliminate or decrease the impacts of undesirable disturbances in
the feedback loop. Disturbance tracking and rejection require low
sensitivity while noise suppression requires small complemen-
tary sensitivity.
For the specified uncertainty, one can check the stability of the
closed-loop using the small-gain theorem; then it is important
to understand what is the least uncertainty that will destabilize
the scheme. In the event of multiplicative uncertainty, the lowest
destabilizing uncertainty is also referred to as a multiplicative
stability margin (MSM).
1
MSM = (15)
Mr
where

Mr = sup |T (jω)|

ω

In addition, the symbol ‘‘sup’’ represents the function’s supre-

mum. The supremum of a function is its maximum value even it Fig. 22. System robustness analysis in the presence of uncertainty.
is not achieved.
Let us compute the MSM for the system. For the MSM, it is
required to obtain the complementary sensitivity and find its uncertainties with transfer function magnitudes below 2.083, the
peak value. The plot is shown in Fig. 23, the peak value is 0.48, system will be robustly stable against.
resulting in an MSM of 2.083. Thus, unmodeled multiplicative
268 B.E. Sedhom, M.M. El-Saadawi, M.A. Elhosseini et al. / ISA Transactions 99 (2020) 252–269
Fig. 23. The frequency response of the complementary sensitivity for
determining the MSM.
5. Conclusion
A proposed control method for regulating frequency/voltage as
well as improving the power quality of an autonomous MGs was
presented in this paper. The approach depended on enhancing
the conventional droop control method by using a robust H∞
controller. To enhance the system stability, the HS optimization
technique was applied to accurately determine the weighted pa-
rameters of H∞ controller. The proposed controller succeeded in
regulating the frequency and voltage to their nominal values after
any breach of system loading while enhancing the power quality
of the MG. The proposed approach was applied to a test-system in
presence of two loading conditions in the MATLAB/SIMULINK en-
vironment. Based on the THD for voltage and current waveforms,
CRT, MFD, and the ISE for frequency and voltage waveforms,
a comparative analysis between a base controller, droop con-
troller, the proposed H∞ based HS controller, and a proposed
MPC controller was performed. The comparison showed that the
suggested controller had a more agile response, a reduced MFD,
a reduced ISE for frequency and voltage waveforms, and a better
power quality. Considering root locus, step response, and SVD, the
stability analysis was performed. The settling and the rise times
were reduced to minimum values. Besides, a robustness judgment
based on step response, SVD, and bode diagram were conducted
to prove system robustness against system parameter uncer-
tainties. In addition, the stability of the closed-loop using the
small-gain theorem was investigated when the system subjected
to multiplicative uncertainty. On top of that, the multiplicative
stability margin (MSM) was calculated. Together these results
provide important insights: (1) the proposed control system is
more stable, (2) effective to change in the frequency and voltage
of the system, (3) improve the quality of the system power, and
(4) system robustness against system parameter uncertainties
Declaration of competing interest
The authors declare that they have no known competing finan-
cial interests or personal relationships that could have appeared
to influence the work reported in this paper.
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