Index

Note: Page numbers followed by b indicate boxes, f indicate figures and t indicate tables.

A Constant current type load

a. See Firing angle
a–b–c reference frame, dynamic synchronous
machine model in, 18–20, 19f
Acceleration torque, of synchronous generators, 3
Alternators, 15–16, 16f
Amplifiers, 35–36, 36f
Angle stability, 1
Angular acceleration, 2–3
Angular position, 2–3
Angular velocity, 2–3, 4, 5
Aperiodic drift, 7, 8f
Armature, of synchronous machines, 42
Automatic voltage regulator (AVR), 6
stability with or without, 7, 8f
B 236f, 236t
Block diagram, of SMIB power system, 85
reduction approach applied to,
95f, 102, 103
small-signal stability analysis using, 95f,
96–98
Blondel’s two-reaction theorem, 15, 16–17
Boiler systems, speed governors of, 45, 45f
Bounded real lemma, in H1 control theory, 252
Bus voltage
SSSC regulation of, 72–76, 73f, 74f, 75f
STATCOM regulation of, 60–64, 60f, 61f, 63f
SVC regulation of, 55–60, 56f, 58f, 59f
TCSC regulation of, 64–72, 64f, 65f, 69f, 70f
UPFC regulation of, 76–83, 77f, 78f, 82f
Buses
generator
linearization of network equations for, 50
in multimachine power system, 121, 122,
127–134
network equations for, 48–49, 49f, 50
load
linearization of network equations for, 50–51
in multimachine power system, 121–122,
134–141
network equations for, 48, 49, 49f, 50–51
C 261f, 262t, 263f
CDI. See Critical damping index
Conduction angle (s), of SVC, 55–56, 57, 58, 58f
models of, 51, 52–53
PSS and, 178, 179, 180t, 181t
Constant impedance type load
models of, 51, 52–53
PSS and, 178, 179, 180t, 181t
Constant power type load
models of, 51–53
PSS and, 178–179, 180t, 181t
Control modes, 6
Control optimization, 227
exercises for, 265b
GA-based optimization for, 228
critical loading implications in, 243–245, 244t,
245t
crossover step in, 228
illustration of, 233–235, 234t, 235t,
mutation step in, 228, 229
parameter optimization in, 229–233, 230f,
231f, 233t
PSO compared with, 246, 246t, 247f
selection step in, 228
PSO for, 235
algorithm used in, 237
critical loading implications in, 243–245, 244t,
245t
fitness function in, 238
GA-based optimization compared with, 246,
246t, 247f
parameter selection in, 237
particle definition in, 238
performance study of, 243, 243t
placement and parameter optimization in,
238–242, 239f, 240f, 241t, 242f, 242t
Control robustness, 227
exercises for, 265b
H1 control theory for, 246–248
algorithms for, 248–250, 248f
background for, 248
LMI approach in, 250–255, 251f, 252f
TCSC control design, 255–259, 255f, 258f,
258t
TCSC control performance, 259–262, 260t,
multiarea closed-loop control, 262–266, 264f,
265f

307
308 Index
Critical damping index (CDI)
in GA-based optimization, 229
in PSO, 238
Critical inter-area mode
in H1 TCSC controller design, 257, 258t
in H1 TCSC controller performance, 259–262,
260t, 261f, 262t, 263f
Critical load, GA-based optimization and PSO
implications for, 243–245, 244t, 245t
Critical swing mode, 158–160
load effects on, 179–183, 182t
of longitudinal power system with TCSC,
216–217, 216t, 217f
of multimachine power systems
with PSS, 167–170, 167t, 168t, 169f
with STATCOM, 212–213, 215t
with SVC, 200, 215t
with TCSC, 205–207, 215t
of SMIB
with PSS, 163–164, 164t
with STATCOM, 210
with TCSC, 195–198
Crossover, in GA-based optimization, 228
Current source converter (CSC), STATCOM with,
60–61, 60f
Cylindrical rotor machines, 16–17
D excitation system effects on, 111–113
DAEs. See Differential-algebraic equations
Damped frequency of oscillations (od), for
synchronous generators connected to
infinite bus, 13
Damper windings, 11
in dynamic synchronous machine model in
a–b–c reference frame, 18
in steady-state modeling of synchronous
machines, 42
time constants for, 27
Damping. See also Flexible alternating current
transmission system controllers
PSS enhancement of, 161
exercises for, 183b
load effects on, 178–184, 180t, 181t, 182t,
183t
location selection indicators of, 170–178,
172t, 173t, 175f, 176f, 177f, 183–184, 183t
in multimachine power systems, 164–170,
167t, 168t, 169f
in SMIB power system, 117, 161–164, 162f,
164t, 165f
Damping controller
SSSC with, 75–76, 75f
TCSC with, 70, 70f
UPFC with, 81, 82f
Damping ratio (x)
GA-based optimization of, 229
illustration of, 233–235, 234t, 235t, 236f, 236t
of H1 TCSC controller, 259–262, 260t, 261f,
262t, 263f
load effects on, 179–183, 182t
of longitudinal power system with TCSC, 218,
219f
of multimachine power systems
with PSS, 167–170, 167t, 168t, 169f
with STATCOM, 212–215, 213f, 214t, 215t
with SVC, 200–201, 201f, 202t, 215t
with TCSC, 204–208, 205f, 206t, 207f, 215t
PSO of, 238–242, 239f, 240f, 241t, 242f, 242t,
243, 243t
of SMIB
with PSS, 163–164, 164t
with STATCOM, 210, 210t, 211f
with SVC, 191–192, 193t, 194f
with TCSC, 195–198, 196t, 197t, 199f
of synchronous generator connected to infinite
bus, 11, 13
Damping torque, 7, 8f
of equation of motion, 5
PSS production of, 53–55, 53f, 55f
in SMIB power system, 86
illustration of, 114–118, 116t
with negative K4, 105, 105f, 106b
at rotor oscillation frequency, 113–114
steady-state calculation of, 113
Damping torque coefficient (TD), 7
Dc exciters. See Self-excited dc circuit
Delayed speed signal, in multiarea closed-loop
control, 265–266
Differential equations
of multimachine power system, 120, 122
linearization of, 123, 124, 125
reduced-order flux-decay model, 143–144
of SMIB power system, 87–88
of synchronous machine dynamic model in
a–b–c reference frame, 18, 20
of synchronous machine dynamic model in
d–q–o reference frame, 21
Differential-algebraic equations (DAEs)
of multimachine power system, 120–123, 121f
linearization of, 123–143
reduced-order flux-decay model, 143–144
network equations with, 51
of SMIB power system, 87–89
linearization of, 89–93
 Index 309

Direct axis, in dynamic synchronous machine Fitness function, in PSO, 238

model in a–b–c reference frame, 18 Flexible alternating current transmission system
Direct axis transient reactance (Xd0 ), 26, 27 (FACTS) controllers, 37–38, 39–40,
d–q–o reference frame, dynamic synchronous 185–186
machine model in, 21–24, 23f definition of, 55, 186
Dynamic stability, 1 exercises for, 223b
Dynamic synchronous machine models GA-based optimization for, 228
a–b–c reference frame, 18–20, 19f critical loading implications in, 243–245, 244t,
d–q–o reference frame, 21–24, 23f 245t
steady-state modeling, 42–44, 44f crossover step in, 228
Dynamic voltage stability, 1, 7, 85 illustration of, 233–235, 234t, 235t, 236f, 236t
mutation step in, 228, 229
E parameter optimization in, 229–233, 230f,
Electrical torque (Te) 231f, 233t
components of, 7, 8f PSO compared with, 246, 246t, 247f
of synchronous generators, 2, 3, 4 selection step in, 228
Electromechanical oscillations. See Oscillations H1 control theory for, 246–248
Electromechanical swing modes algorithms for, 248–250, 248f
of multimachine power systems background for, 248
participation factor analysis for identifying, LMI approach in, 250–255, 251f, 252f
154–156, 155b TCSC control design, 255–259, 255f,
with PSS, 167–170, 167t, 168t, 169f 258f, 258t
swing mode and participation ratio, 157 TCSC control performance, 259–262, 260t,
of SMIB, with PSS, 163–164, 164t 261f, 262t, 263f
Equation of motion. See Swing equation modeling of, 55
Equipment models. See Power equipment models SSSC, 72–76, 73f, 74f, 75f
Exciter modes. See Control modes STATCOM, 60–64, 60f, 61f, 63f
Exciters SVC, 55–60, 56f, 58f, 59f
fundamental models of TCSC, 64–72, 64f, 65f, 69f, 70f
IEEE Type I exciter, 34–39, 35f, 36f, 37f UPFC, 76–83, 77f, 78f, 82f
static exciter, 38–39, 39f multiarea closed-loop control and, 262–266,
PSS action through, 53–55, 53f, 55f, 162–163, 162f 264f, 265f
OPLI and, 171–172 PSO for, 235
in SMIB power system, 95f, 97–98, 109–114 algorithm used in, 237
illustration of, 114–118, 116t critical loading implications in, 243–245,
steady-state synchronizing and damping 244t, 245t
torque calculations, 113 fitness function in, 238
synchronizing and damping torque at rotor GA-based optimization compared with, 246,
oscillation frequency, 113–114 246t, 247f
torque-angle loop effects, 95f, 111–113, 112f parameter selection in, 237
particle definition in, 238
F performance study of, 243, 243t
FACTS controllers. See Flexible alternating current placement and parameter optimization in,
transmission system controllers 238–242, 239f, 240f, 241t, 242f, 242t
Ferranti effect, 188 STATCOM in small-signal stability
Field, of synchronous machines, 42 improvement, 208
Field windings multimachine model with, 211–215, 213f,
in dynamic synchronous machine model in 214t, 215t
a–b–c reference frame, 18 SMIB system with, 208–210, 208f,
in steady-state modeling of synchronous 210t, 211f
machines, 42 SVC in small-signal stability improvement, 190
time constants for, 27 illustrations of, 191–192, 193t, 194f, 200–201,
Firing angle (a), of TCSC, 64, 65–68, 69, 69f, 71, 72 201f, 202t
310 Index
Flexible alternating current transmission system
(FACTS) controllers (Continued)
multimachine model with, 198–201, 201f,
202t, 215t
SMIB system model with, 190–192, 190f,
193t, 194f
TCSC in longitudinal power system, 215
description of test system and base case study,
215–217, 216t, 217f
generation drop disturbances and, 218, 219f,
220f
load increase disturbances and, 218, 219f, 220f
SSSR applied to, 215, 222–224, 222t
time domain study of, 218, 220f
transmission line outage disturbances and,
218, 219f, 220f
TCSC in small-signal stability improvement,
192–198
Eigenvalue computation and performance
analysis illustration of, 195–198, 196t, 197t,
199f
multimachine model with, 204–208, 205f,
206t, 207f, 215t
SMIB system model with, 192–198, 194f,
196t, 197t, 199f
technology of
series compensation, 186–188, 186f
shunt compensation, 187f, 188–189
Flux–current relationships
for dynamic synchronous machine model in
a–b–c reference frame, 18, 20
for dynamic synchronous machine model in
d–q–o reference frame, 23–24
after per unitization, 26–27, 26f
stator, 28
Flux-decay model, of multimachine power systems,
143–144, 143f
Frequency response analysis, 85
G GA-based optimization and PSO implications
GAs. See Genetic algorithms
Generation drop disturbances
H1 TCSC controller performance with,
259–262, 260t, 261f, 262t, 263f
in longitudinal power system with TCSC, 218,
219f, 220f
SSSR computations for, 223
Generator buses, network equations for, 48–49, 49f,
50
linearization of, 50
in multimachine power system, 121, 122,
127–134
Generator current, of multimachine power systems,
145–146
Generator notation, conversion to, 24–26
Generator powers, of multimachine power systems,
145–146
Genetic algorithms (GAs), control optimization
using, 228
critical loading implications in, 243–245, 244t,
245t
crossover step in, 228
illustration of, 233–235, 234t, 235t, 236f, 236t
mutation step in, 228, 229
parameter optimization in, 229–233, 230f, 231f,
233t
PSO compared with, 246, 246t, 247f
selection step in, 228
Governor, 45–46, 45f, 46f
H
H constant. See Normalized inertia constant
H1 control, 246–248
algorithms for, 248–250, 248f
background for, 248
LMI approach in, 250–255, 251f, 252f
TCSC control design, 255–259, 255f, 258f, 258t
TCSC control performance, 259–262, 260t, 261f,
262t, 263f
Heffron–Phillips model, of SMIB power system,
86–96, 86f, 87f
derivation of K constants, 93–96, 95f
differential algebraic equations, 87–88
linearization process, 89–93
network equations, 88–89
state-space model, 89–93
stator algebraic equations, 88
Heuristic optimization methods, 227
High-gain exciter. See Static exciter
Hopf bifurcation, 7, 85
for, 243–245, 244t, 245t
Hydroturbines, speed governors of, 45
I
IEEE Type I exciter, 34–38, 35f
amplifiers of, 35–36, 36f
combined components of, 37–38, 37f
self-excited dc circuit of, 35, 36f
stabilizer circuit of, 36–38, 37f
Individual, in GA-based optimization,
229–230, 230f

Initial conditions, of multimachine power system
state variables, calculation of, 144–154,
146f, 149f
Inter-area mode, critical
in H1 TCSC controller design,
257, 258t
in H1 TCSC controller performance, 259–262,
260t, 261f, 262t, 263f
Inter-area mode oscillations, 6
analysis methods for study of, 6
K
K constants, in SMIB power system, 85
derivation of, 93–96, 95f
small-signal stability analysis with negative K4,
105, 105f, 106b
L d–q–o reference frame, 22
Linear matrix inequality (LMI) approach, in H1
control theory, 250–255, 251f, 252f
Linearization
of generator bus network equations, 50
of load bus network equations, 50–51
of multimachine power system equations,
123–143
of SMIB power system equations,
89–93
LMI approach. See Linear matrix inequality
approach
Load
modeling of, 51–53
PSS effects of, 178
critical swing mode and, 179–183, 182t
location indicators and, 183–184, 183t
type of load and, 178–179, 180t, 181t
Load buses, network equations for, 48, 49, 49f,
50–51
linearization of, 50–51
in multimachine power system, 121–122,
134–141
Load increase disturbances
GA-based optimization and PSO implications
for, 243–245, 244t, 245t
H1 TCSC controller performance with,
259–262, 260t, 261f, 262t, 263f
in longitudinal power system with TCSC, 218,
219f, 220f
SSSR computations for, 222, 223
Load-flow equations, of multimachine power
systems, 144–145
Local mode oscillations, 6
analysis methods for study of, 6
Index 311
Longitudinal power system, TCSC in, 215
description of test system and base case study,
215–217, 216t, 217f
generation drop disturbances and,
218, 219f, 220f
load increase disturbances and,
218, 219f, 220f
SSSR applied to, 215, 222–224, 222t
time domain study of, 218, 220f
transmission line outage disturbances and, 218,
219f, 220f
M
Mechanical equations
in dynamic synchronous machine model in
a–b–c reference frame, 18
in dynamic synchronous machine model in
after per unitization, 25
Mechanical torque (Tm), of synchronous generators,
2, 3, 4
Mixed-sensitivity-based H1 controller, 250–255,
251f, 252f
Multiarea closed-loop control, 262–266, 264f, 265f
Multimachine power systems, 119
calculation of initial conditions of state variables
for, 144–154, 146f
illustration of, 148–154, 149f
exercises for, 159b
identification of electromechanical swing modes
for
participation factor analysis, 154–156, 155b
swing mode and participation ratio, 157
PSS in, 164–170
combined model, 165–167
eigenvalue and swing mode analysis,
167–170, 167t, 168t, 169f
location selection of, 170–178, 172t, 173t,
175f, 176f, 177f
small-signal model formulation for
DAEs, 120–123, 121f
linearization and state-space model, 123–143
reduced-order flux-decay model, 143–144, 143f
STATCOM in, 211–212
illustration of, 212–215, 213f, 214t, 215t
SVC in, 198–200
illustration of, 200–201, 201f, 202t, 215t
TCSC in, 203–204, 203f
illustration of, 203–208, 203f, 205f, 206t, 207f,
215t
test case of, 149f, 157–160, 158t
Mutation, in GA-based optimization, 228, 229
312 Index
N nature of, 5–6
Network equations
for generator buses, 48–49, 49f
linearization of, 50
for load buses, 48, 49, 49f
linearization of, 50–51
load modeling and, 51–53
of multimachine power system, 121–122
linearization of, 127–141
reduced-order flux-decay model, 144
of SMIB power system, 88–89
Network models. See Power network models
Normalized inertia constant (H constant), 4
O TCSC damping of
OPLI. See Optimum PSS location index
Optimal control, 227
exercises for, 265b
GA-based optimization for, 228
critical loading implications in, 243–245, 244t,
245t
crossover step in, 228
illustration of, 233–235, 234t, 235t, 236f, 236t
mutation step in, 228, 229
parameter optimization in, 229–233, 230f,
231f, 233t
PSO compared with, 246, 246t, 247f
selection step in, 228
PSO for, 235
algorithm used in, 237
critical loading implications in, 243–245, 244t,
245t
fitness function in, 238
GA-based optimization compared with, 246,
246t, 247f
parameter selection in, 237
particle definition in, 238
performance study of, 243, 243t
placement and parameter optimization in,
238–242, 239f, 240f, 241t, 242f, 242t
Optimum PSS location index (OPLI)
algorithms of calculation of, 172
illustration of, 172–174, 173t
implication of PSS gain in characteristics of,
174–178, 175f, 176f, 177f
load effects on, 183–184, 183t
PSS location selection using, 170, 171–172
Oscillations
analysis methods for study of, 6–7
H1 TCSC controller damping of, 259–262, 260t,
261f, 262t, 263f
modes of, 6–7
PSS damping of, 161
in SMIB power system, 164, 165f
STATCOM damping of
in multimachine power systems, 212–215,
213f, 214t, 215t
in SMIB power system, 210, 210t, 211f
SVC damping of
in multimachine power systems, 200–201,
201f, 202t
in SMIB power system, 192, 194f
of synchronous generators, 2–5, 2f, 3f
of synchronous generators connected to infinite
bus, 8–11, 9f
illustration of, 11–13, 12f
in multimachine power systems, 204–208,
205f, 206t, 207f
in SMIB power system, 198, 199f
Oscillatory instability, 7, 8f
P
P. See Participation matrix
Parameter optimization
in GA-based optimization, 229–233, 230f,
231f, 233t
in PSO, 238–242, 239f, 240f, 241t,
242f, 242t
Park’s transformation, 15, 20, 21–24, 23f
Participation factor (PF, Pkp)
for multimachine power system, 155
PSS location selection using, 170–171
illustration of, 172–174, 172t
Participation factor analysis, for multimachine
power system, 154–156
example computation of, 155–156, 155b
Participation matrix (P)
for multimachine power system, 154–155
example computation of, 155–156, 155b
for SMIB power system, 107–108
Participation ratio, for multimachine power
systems, 157
Particle swarm optimization (PSO), control
optimization using, 235
algorithm used in, 237
critical loading implications in, 243–245, 244t,
245t
fitness function in, 238
GA-based optimization compared with, 246,
246t, 247f
parameter selection in, 237
particle definition in, 238
performance study of, 243, 243t

placement and parameter optimization in,
238–242, 239f, 240f, 241t, 242f, 242t
Particles, in PSO, 235, 238
Penstock gate, 45
Per unit representation, of synchronous machine
equations, 24–26
physical significance of, 26–27, 26f
Per-unit power, of synchronous generators, 3, 4
Per-unit rotor angular velocity (opu), 4, 5
PF. See Participation factor
Pkp. See Participation factor
Population, in GA-based optimization, 229–230,
230f
Power, of synchronous generators, 3, 4, 5
Power equipment models, 41
exercises for, 82b
FACTS devices, 55
SSSC, 72–76, 73f, 74f, 75f
STATCOM, 60–64, 60f, 61f, 63f
SVC, 55–60, 56f, 58f, 59f
TCSC, 64–72, 64f, 65f, 69f, 70f
UPFC, 76–83, 77f, 78f, 82f
governor, 45–46, 45f, 46f
load model, 51–53
PSS, 53–55, 53f, 55f
synchronous generator simple model,
41–42, 42f
synchronous machine steady-state model,
42–44, 44f
turbine, 46–47, 47f, 48f
Power flow models
of STATCOM, 61, 61f
of UPFC, 78f, 79
Power network models, 41, 48–51, 49f
exercises for, 82b
load modeling, 51–53
Power system stabilizer (PSS), 37–38, 39–40, 161
exercises for, 183b
load effects on, 178
critical swing mode and, 179–183, 182t
location indicators and, 183–184, 183t
type of load and, 178–179, 180t, 181t
location selection indicators of, 170
illustration of, 172–174, 172t, 173t
implication of PSS gain in SPE and OPLI
characteristics, 174–178, 175f, 176f, 177f
load effects on, 183–184, 183t
OPLI, 170, 171–172
participation factor, 170–171
SPE, 170, 171
modeling of, 53–55, 53f, 55f
in multimachine power systems, 164–170
combined model, 165–167
Index 313
eigenvalue and swing mode analysis,
167–170, 167t, 168t, 169f
location selection of, 170–178, 172t, 173t,
175f, 176f, 177f
in SMIB power system, 117, 161–164, 162f
combined model of SMIB with PSS,
162–163, 162f
eigenvalue analysis, 163–164, 164t
time domain analysis, 164, 165f
STATCOM compared with, 212–215, 213f, 214t,
215t
SVC compared with, 191–192, 193t, 194f
TCSC compared with, 195–198, 196t, 197t, 199f
Proximity sensor (PS), in multiarea closed-loop
control, 262–266, 264f, 265f
PSO. See Particle swarm optimization
PSS. See Power system stabilizer
Q
ym. See Rotor angular position
Quadrature axis, in dynamic synchronous machine
model in a–b–c reference frame, 18
Quadrature axis transient reactance (Xq0 ), 27
R
r. See Swing-loop participation ratio
Reactive power, 7
of TCSC, 72
Real power, 7
of TCSC, 71, 72
Reduced-order model
of multimachine power systems, 143–144, 143f
of synchronous machines, 30–31
Robust control, 227
exercises for, 265b
H1 control theory for, 246–248
algorithms for, 248–250, 248f
background for, 248
LMI approach in, 250–255, 251f, 252f
TCSC control design, 255–259, 255f, 258f,
258t
TCSC control performance, 259–262, 260t,
261f, 262t, 263f
multiarea closed-loop control, 262–266, 264f,
265f
Root-locus method of stability analysis, SMIB
power system illustration of, 99–104, 99f,
101f
Rotor angle, of multimachine power systems, 146–147
Rotor angle stability, 1
Rotor angular position (ym), 2–3
Rotor angular velocity (om), 2–3, 4, 5
Rotor dynamic equations, 28–29
314 Index
Rotor equation of motion. See Swing equation
Rotor equations
in dynamic synchronous machine model
in a–b–c reference frame, 18
in dynamic synchronous machine model
in d–q–o reference frame, 22
after per unitization, 25
Rotor oscillation frequency
damping torque at, 113–114
synchronizing torque at, 113–114
Rotor oscillations. See Oscillations
Rotor synchronous angular velocity (omsyn), 3, 3f,
4, 5
S small-signal stability analysis using, 95f,
s. See Conduction angle
Salient pole machines, models of, 16–17, 16f, 17f
Scaling, of synchronous machine equations, 24–26
Selection, in GA-based optimization, 228
Self-excited dc circuit, 35, 36f
Sensitivity of PSS effect (SPE)
algorithms of calculation, 171
illustration of, 172–174, 173t
implication of PSS gain in characteristics of,
174–178, 175f, 176f, 177f
load effects on, 183–184, 183t
PSS location selection using, 170, 171
Series compensation, FACTS controllers in,
186–188, 186f
Shunt capacitive compensation, 188
Shunt compensation, FACTS controllers in, 187f,
188–189
Shunt inductive compensation, 188
Signal transmission delay, in multiarea closed-loop
control, 265–266
Single-machine infinite bus (SMIB) power system,
85–86
block diagram of, 85
reduction approach applied to, 95f, 102, 103
small-signal stability analysis using, 95f,
96–98
exciter effects on, 95f, 97–98, 109–114
illustration of, 114–118, 116t
steady-state synchronizing and damping
torque calculations, 113
synchronizing and damping torque at rotor
oscillation frequency, 113–114
torque-angle loop effects, 95f, 111–113, 112f
exercises for, 117b
Heffron–Phillips model of, 86–96, 86f, 87f
derivation of K constants, 93–96, 95f
differential algebraic equations, 87–88
linearization process, 89–93
network equations, 88–89
state-space model, 89–93
stator algebraic equations, 88
illustration of, 98–104, 99f, 101f
with exciter, 114–118, 116t
with negative K4, 105, 105f, 106b
PSS in, 117, 161–164, 162f
combined model, 162–163, 162f
eigenvalue and swing mode analysis,
163–164, 164t
time domain analysis, 164, 165f
STATCOM in, 208–210, 208f
illustration of, 210, 210t, 211f
state-space model of, 89–93
96–98
SVC in, 190–191, 190f
simulation illustration of, 191–192, 193t, 194f
TCSC in, 192–195, 194f
Eigenvalue computation and performance
analysis illustration of, 195–198, 196t,
197t, 199f
Small-signal oscillations. See Oscillations
Small-signal stability
concept of, 1–2
analysis of oscillations, 6–7
damping torque, 7, 8f
exercises for, 13–14
modes of oscillations, 6–7
nature of oscillations, 5–6
oscillations in synchronous generators
connected to infinite bus, 8–13, 9f, 12f
swing equation, 2–5, 2f, 3f
synchronizing torque, 7, 8f
in longitudinal power system with TCSC,
215
description of test system and base case study,
215–217, 216t, 217f
generation drop disturbances and, 218, 219f,
220f
load increase disturbances and,
218, 219f, 220f
SSSR applied to, 215, 222–224, 222t
time domain study of, 218, 220f
transmission line outage disturbances and,
218, 219f, 220f
in multimachine power systems, 119
calculation of initial conditions of state
variables for, 144–154, 146f, 149f
exercises for, 159b
identification of electromechanical swing
modes for, 154–156, 155b, 157
illustration of, 148–154, 149f

small-signal model formulation for, 120–144,
121f, 143f
test case of, 149f, 157–160, 158t
in SMIB power system, 85–86
excitation effects on, 95f, 97–98, 109–118,
112f, 116t
exercises for, 117b
Heffron–Phillips model of, 86–96, 86f, 87f, 95f
illustrations of, 98–104, 99f, 101f, 114–118,
116t
with negative K4, 105, 105f, 106b
state-space model and block diagram analysis
of, 95f, 96–98
STATCOM in, 208
multimachine model with, 211–215, 213f,
214t, 215t
SMIB system with, 208–210, 208f,
210t, 211f
SVC in, 190
illustrations of, 191–192, 193t, 194f, 200–201,
201f, 202t
multimachine model with, 198–201, 201f,
202t, 215t
SMIB system model with, 190–192, 190f,
193t, 194f
TCSC in, 192–198
Eigenvalue computation and performance
analysis illustration of, 195–198, 196t, 197t,
199f
multimachine model with, 204–208, 205f,
206t, 207f, 215t
SMIB system model with, 192–198, 194f,
196t, 197t, 199f
Small-signal stability rank (SSSR), 215, 222–224,
222t
generation drop computations for, 223
load increase computations for, 222, 223
transmission line outage computations for, 223
SMIB power system. See Single-machine infinite
bus power system
SPE. See Sensitivity of PSS effect
Speed governors, 45–46, 45f, 46f
SSSC. See Static synchronous series compensator
SSSR. See Small-signal stability rank
Stabilizer circuit, 36–38, 37f
STATCOM. See Static synchronous compensator
State variables, of multimachine power systems,
calculation of initial conditions of,
144–154, 146f, 149f
State-space model
of multimachine power system, 123–143
of SMIB power system, 89–93, 95f, 96–98
Static exciter, 38–39, 39f
Index 315
Static synchronous compensator (STATCOM),
185–186. See also Unified power flow
controller
modeling of, 60–64, 60f, 61f, 63f
with controller, 62–64, 63f
power flow model, 61, 61f
PSS compared with, 212–215, 213f, 214t, 215t
in small-signal stability improvement, 208
multimachine model with, 211–215, 213f,
214t, 215t
SMIB system with, 208–210, 208f, 210t, 211f
Static synchronous series compensator (SSSC).
See also Unified power flow controller
modeling of, 72–76, 73f, 74f
with damping controller, 75–76, 75f
Static VAR compensator (SVC), 185–186
GA-based optimization of
critical loading implications in, 243–245, 244t
illustration of, 233–235, 234t, 235t,
236f, 236t
parameter optimization in, 229–233, 230f,
231f, 233t
PSO compared with, 246, 246t, 247f
modeling of, 55–60, 56f, 58f, 59f
with controller, 58–60, 59f
PSO of
critical loading implications in, 243–245, 244t
GA-based optimization compared with, 246,
246t, 247f
performance study of, 243, 243t
placement and parameter optimization in,
238–242, 239f, 240f, 241t, 242f, 242t
PSS compared with, 191–192, 193t, 194f
in small-signal stability improvement, 190
illustrations of, 191–192, 193t, 194f, 200–201,
201f, 202t
multimachine model with, 198–201, 201f,
202t, 215t
SMIB system model with, 190–192, 190f,
193t, 194f
STATCOM compared with
in multimachine power system, 212–215,
213f, 214t, 215t
in SMIB power system, 210, 210t, 211f
TCSC compared with, 195–198, 196t, 197t, 199f
Stator algebraic equations, 30–31
equivalent circuit of, 32–34, 33f, 34f
of multimachine power system, 120–121, 121f,
122
linearization of, 125–127
reduced-order flux-decay model, 144
after per unitization, 25
of SMIB power system, 88
316 Index
Stator equations
in dynamic synchronous machine model in
a–b–c reference frame, 18
in dynamic synchronous machine model in
d–q–o reference frame, 21–22
Stator flux–current relationships, 28
Stator windings, in steady-state modeling of
synchronous machines, 42
Steady-state modeling, 42–44, 44f
Steady-state stability, 1
Steam turbines, 46–47, 47f, 48f
Stochastic universal sampling selection, in
GA-based optimization, 228
SVC. See Static Var compensator
Swarm of particles, in PSO, 235, 238
Swing equation
for synchronous generators, 2–5, 2f, 3f
for synchronous generators connected to infinite
bus, 8–11, 9f
illustration of, 11–13, 12f
Swing modes. See also Critical swing mode
of multimachine power systems
participation factor analysis for identifying,
154–156, 155b
with PSS, 167–170, 167t, 168t, 169f
swing mode and participation ratio, 157
of SMIB, with PSS, 163–164, 164t
Swing-loop participation ratio (r), of multimachine
power systems, 157
Synchronizing torque, 7, 8f
in SMIB power system, 86
excitation system effects on, 111–113
illustration of, 114–118, 116t
with negative K4, 105, 105f, 106b
at rotor oscillation frequency, 113–114
steady-state calculation of, 113
Synchronizing torque coefficient (Ts), 7, 10, 12–13
Synchronous angular velocity, 3, 3f, 4, 5
Synchronous electrical radian frequency (osyn), 4, 5
Synchronous generators
models of, 16–17, 16f, 17f
simple model of, 41–42, 42f
swing equation applied to, 2–5, 2f, 3f
Synchronous generators connected to infinite bus.
See also Single-machine infinite bus power
system
illustration of, 11–13, 12f
models of, 16–17, 16f, 17f
small-signal oscillations in, 8–11, 9f
Synchronous machines
fundamental models of, 15–17, 16f, 17f
dynamic model in A–B–C reference frame,
18–20, 19f
dynamic model in d–q–o reference frame,
21–24, 23f
equivalent circuit of stator algebraic equations,
32–34, 33f, 34f
exercises for, 39b
IEEE Type I exciter, 34–39, 35f, 36f, 37f
Park’s transformation, 15, 20, 21–24, 23f
per unit representation, 24–27, 26f
reduced-order model, 30–31
rotor dynamic equations, 28–29
scaling, 24–26
static exciter, 38–39, 39f
stator flux–current relationships, 28
in power network model, 48–51, 49f
steady-state modeling of, 42–44, 44f
Synchronously rotating reference frame, 3, 3f,
32–34, 33f, 34f
T
TCR. See Thyristor-controlled reactor
TCSC. See Thyristor-controlled series compensator
TD. See Damping torque coefficient
Te. See Electrical torque
Thermal inertia, 45
Three-phase synchronous machines, 15–16, 16f
Thyristor-controlled reactor (TCR), of SVC,
55–57, 56f
Thyristor-controlled series compensator (TCSC),
185–186
GA-based optimization of
critical loading implications in, 243–245, 245t
illustration of, 233–235, 234t, 235t, 236f, 236t
parameter optimization in, 229–233, 230f,
231f, 233t
PSO compared with, 246, 246t, 247f
H1
design of, 255–259, 255f, 258f, 258t
performance of, 259–262, 260t, 261f, 262t,
263f
in longitudinal power system, 215
description of test system and base case study,
215–217, 216t, 217f
generation drop disturbances and, 218, 219f,
220f
load increase disturbances and,
218, 219f, 220f
SSSR applied to, 215, 222–224, 222t
time domain study of, 218, 220f
transmission line outage disturbances and,
218, 219f, 220f
modeling of, 64–72, 64f, 65f, 69f
with damping controller, 70, 70f

in multiarea closed-loop control, 262–266,
264f, 265f
PSO of
critical loading implications in, 243–245, 245t
GA-based optimization compared with, 246,
246t, 247f
performance study of, 243, 243t
placement and parameter optimization in,
238–242, 239f, 240f, 241t, 242f, 242t
PSS compared with, 195–198, 196t, 197t, 199f
in small-signal stability improvement, 192–198
Eigenvalue computation and performance
analysis illustration of, 195–198, 196t, 197t,
199f
multimachine model with, 204–208, 205f,
206t, 207f, 215t
SMIB system model with, 192–198, 194f,
196t, 197t, 199f
Time constants, for field and damper windings, 27
Tm. See Mechanical torque
Torque-angle loop, in SMIB power system, 95f, 97,
98, 102, 112f
excitation system effects on, 111–113
Torsional oscillation modes, 6–7
Transient stability, 1
studies of
swing equation in, 2–5, 2f, 3f
synchronous generator modeling in, 41–42, 42f
Transmission line outage disturbances
H1 TCSC controller performance with,
259–262, 260t, 261f, 262t, 263f
in longitudinal power system with TCSC, 218,
219f, 220f
SSSR computations for, 223
Ts. See Synchronizing torque coefficient
Turbines, 46–47, 47f, 48f
Index 317
Two-axis multimachine power system
DAEs for, 120–123, 121f
linearization of, 123–143
state-space model of, 123–143
Two-pole synchronous machines, 18–20, 19f,
21–24, 23f
U
Undamped natural frequency of oscillations (on),
for synchronous generators connected to
infinite bus, 11, 13
Unified power flow controller (UPFC), modeling
of, 76–83, 77f, 78f
with damping controller, 81, 82f
power flow modeling, 78f, 79
V
Variable impedance-type controllers, 185–186
Voltage source converter (VSC)
FACTS controllers based on, 185–186
of STATCOM, 60–61, 60f, 61f, 208
Voltage stability, 1, 7, 85
VSC. See Voltage source converter
W
od. See Damped frequency of oscillations
om. See Rotor angular velocity
omsyn. See Rotor synchronous angular velocity
on. See Undamped natural frequency of oscillations
opu. See Per-unit rotor angular velocity
osyn. See Synchronous electrical radian frequency
X
x. See Damping ratio
X0 d. See Direct axis transient reactance
X0 q. See Quadrature axis transient reactance