1512 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 29, NO.

4, JULY 2014

Robust Damping Control of Power Systems

With TCSC: A Multi-Model BMI Approach
With H Performance
Jingchao Deng and Xiao-Ping Zhang, Senior Member, IEEE

Abstract—This paper presents the robust damping control
of power systems with thyristor-controlled series compensator
(TCSC). A SISO output feedback controller is to be designed for
TCSC to improve the damping of inter-area oscillations under
multiple operating points. The robust damping control problem is
formulated as a multi-objective optimization problem considering
both regional pole placement and H performance for multi-model
system. The multi-objective criterions are described by a set of
bilinear matrix inequalities (BMI) regarding different system
models at multiple operating points; then, a two-step method
is introduced to solve the BMI optimization problem via linear
matrix inequality (LMI) algorithm. The proposed controller is
evaluated by simulations on real-time digital simulator (RTDS).
Numerical results from the simulations show that the proposed
controller can increase the damping of inter-area oscillations
under different system operating conditions.
Index Terms—BMI, H , inter-area oscillations, LMI, multi-ob-
jective, multiple operating points, robust damping control, RTDS,
TCSC, two-step method.
I. INTRODUCTION
T HE small-signal stability problems caused by low fre-
quency oscillations draw great attention in the last few
decades [1]. Much effort has been made to the damping control
studies to prevent system failure that might be caused by low
frequency oscillations. In large inter-connected power systems,
low frequency oscillations can be classified as local oscillation
mode and inter-area oscillation mode: local mode (0.7–2.0 Hz)
is associated with rotor angle oscillations of a single generator
or single plant against the rest of the power system; inter-area
mode (0.1–0.7 Hz) is involved with subgroups of generators
swinging against each other in different areas [2]. It is common
to find that local and inter-area oscillation modes may appear
in a large system at the same time. The conventional root locus
damping control approaches in [3] and [4] show that installing
PSS on generator excitation system can provide supplemen-
tary control to damp out low frequency oscillations. With the
fast development of the FACTS technology, it has been proved
Manuscript received October 23, 2012; revised March 09, 2013 and
September 13, 2013; accepted November 03, 2013. Date of publication January
09, 2014; date of current version June 16, 2014. Paper no. TPWRS-01188-2012.
The authors are with the School of Electronic, Electrical and Computer En-
gineering, University of Birmingham, Edgbaston, Birmingham, B15 2TT, U.K.
(e-mail: dengjingchao0108@gmail.com; x.p.zhang@bham.ac.uk).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TPWRS.2013.2292067
that the root locus approaches can also be applied to FACTS
devices for low frequency oscillation damping [5], [6]. How-
ever, in a multi-machine system, root locus sometimes can be
complicated since it is difficult to find a path for the damping
and synchronizing torques. A multi-variable root locus method
is proposed in [7] for coordination control of multiple PSSs
for a multi-machine system. However, the robustness is not di-
rectly considered in the design approach. In consideration of real
power system operation, it is mandatory that the damping con-
troller should have some degree of robustness to work against
system uncertainties.
Over the years, many robust damping control approaches
have been proposed for large power systems with multiple
inter-area oscillation modes. The optimization of H and
H norm is widely used for robustness design, disturbance
rejection and control effort reduction: robust power system
stabilizer designs based on H performance are proposed in
[8] and [9]; mixed sensitivity H and mixed H approach
are proposed for the design of FACTS damping controllers in
[10]–[14]. Most of these designs are based on nominal oper-
ating point; control objectives from regional pole placement
to H and H performances are only guaranteed around one
particular operating point. However, on some occasions, the
system might not be operating under a nominal operating point,
and the controller might not work as expected.
To address the above problem, robust damping control
designs of a set of bilinear matrix inequalities (BMI) consid-
ering multiple operating points or off-nominal operating points
are introduced. In [15], an LMI based two-step method for
STATCOM damping controller design considering multiple op-
erating points was proposed where a common output feedback
controller was determined in order to place the weakly damped
poles of all system models into a desired LMI region. The
drawback of this method is that the controller output effort is
not limited which sometimes could cause numerical instability.
In this paper, a multi-objective robust damping control design
approach considering multiple operating points is proposed to
significantly improve the method in [15] by incorporating H
performance so that the controller output effort can be reduced
under all operating points while avoiding the numerical insta-
bility of the approach proposed in [15]. The control problem
is initially formulated as synthesis optimization problem in
BMIs. However, for system with multiple operating points, it
is impossible to solve the BMI problem by transferring it into
an LMI problem via system parameterization directly due to
the fact that the system state matrices are varying with system

0885-8950 © 2014 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.

Authorized licensed use limited to: Indian Institute Of Technology (Banaras Hindu University) Varanasi. Downloaded on July 24,2022 at 14:17:39 UTC from IEEE Xplore. Restrictions apply.
 DENG AND ZHANG: ROBUST DAMPING CONTROL OF POWER SYSTEMS WITH TCSC 1513

models. Following the techniques in [16], the BMI optimization

problem is finally solved via a two-step LMI method in this
paper.
This paper is organized as follows: Section II presents the
power system modeling with the TCSC (open-loop system).
Sections III and IV present the optimization problem formu-
lation and the determination of controller matrix variables, re-
Fig. 1. TCSC dynamic model.
spectively. In Section V, TCSC damping controller designs are
implemented on a two-area system and a 68-bus system, and
For multi-machine system, differential equations in (3) and
small-signal analysis is carried out to examine the controller
algebraic equations in (4) are extended as
performances. In Section VI, the obtained controllers are val-
idated by real-time simulation on RTDS under several different (5)
operating conditions.
(6)

II. POWER SYSTEM MODELING where

The system modeling consists of three parts: synchronous and
generators, controllable devices (FACTS, PSS, etc.) and net- are block matrices.
work power flows. The synchronous generators and their ex-
citation systems are expressed by detailed dynamic and alge- B. Network Power Flow
braic models. TCSC is expressed by the dynamic model and The linearized network power flow balance equations for
the equivalent power injection model. The network power flows generator buses are given in matrix form:
are expressed by algebraic equations. All of the models are lin-
earized and rearranged in the compact matrix form for the small- (7)
signal dynamic analysis and the following controller design.
The linearized network power flow balance equations for
A. Synchronous Generator and Excitation System non-generator buses are given in matrix form:
The synchronous generator dynamics can be described by a
(8)
set of differential equations with different level of details, a sub-
transient model with the order of 6th is chosen in the following
where , in which is the total
design. The linearized differential equations of the synchronous
number of buses in the system and denotes the non-gener-
generators are rearranged in matrix form:
ator bus voltages, while the other notations are the same as that
has been described in synchronous generator and excitation
(1)
system modeling.
for , where
C. TCSC
generator state variables; A TCSC consists of a series capacitor shunted by a thyristor
generator internal bus d-q axis current; controlled reactor (TCR). With the control of the firing angle of
generator terminal bus voltage; TCR, the reactance of TCSC can be continuously varied to pro-
vide different levels of compensation for the transmission line
generator input; such that the power flow through the line can be controlled. For
total number of generators. damping control designs, the small signal dynamics of TCSC
A thyristor exciter with high transient gain is used for ex- can be simply considered as a delay unit with a time constant
citation. The linearized differential equation of the excitation of ms. The dynamic model of TCSC is shown in
system dynamics is Fig. 1, where is the reactance reference for TCSC,
is the actual output reactance value of TCSC and is the
supplementary damping control input for TCSC. Thereby, the
(2)
differential equation for TCSC dynamics is given by

Combining (1) and (2), the synchronous generator and excita- (9)
tion system dynamics can be obtained as follows:
Equation (9) can be rewritten by scaling the value of the TCSC
(3)
reactance to the percentage compensation:
where .
The linearized stator algebraic equations of the corresponding (10)
generators are given in matrix form:
where % and is the reactance of
(4) the line that TCSC installed on.

Authorized licensed use limited to: Indian Institute Of Technology (Banaras Hindu University) Varanasi. Downloaded on July 24,2022 at 14:17:39 UTC from IEEE Xplore. Restrictions apply.
 1514 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 29, NO. 4, JULY 2014

The transmission line impedance regulation behavior of

TCSC is modeled by real and reactive power injections on
the buses between which TCSC installed so that during the
power flow iterations, the bus admittance matrix does not need
to be modified [17]. Suppose the TCSC is installed on the
transmission line between bus and bus , the corresponding
real and reactive power injections are given by

(11)
Fig. 2. Close-loop system with regulated H output.
(12)
(13)
(14)

where and are the bus voltages for bus and bus .
Equation (11)–(14) can be rewritten by using non-generator bus
voltage

(15)
(16)
(17) Fig. 3. Pole placement region.
(18)
III. PROBLEM FORMULATION WITH MULTIPLE OBJECTIVES
D. Overall System In order to secure the robustness of the design, a common
output feedback controller is to be found for the multi-model
The overall system model is derived by combining the gen- system. Regional pole placement and H performance are em-
erator, exciter, network power flow and TCSC models, which ployed to increase the close-loop system damping and reduce
include (5), (6), (7), (8), (10) and (15)–(18). Equations (5) and the control effort. A block diagram of the close-loop system with
(10) are dynamic differential equations while the rest are linear H performance output is shown in Fig. 2.
algebraic equations. Substituting (15)–(18) into (8) and elimi-
nating the variables between (6), (7) and (8), the A. Regional Pole Placement
overall system model can be described by differential equations:
The damping performance of the close-loop system is highly
(19) related with the location of poles. With the controller, the weakly
damped poles should be placed in a specified conic sector region
(20) on the complex plane, as shown in Fig. 3, to satisfy the system
damping specifications. The damping ratio boundary can be de-
Combining (19) and (20), the overall system model can be rep- termined by the inner angle of the conic sector. Then, the pole
resented as placement region can be defined as an LMI region , as given
in (23), in order to incorporate with the multi-model system ma-
(21) trix variables to form the pole placement constraints in BMIs:

where is the state variable and

is the supplementary control input.
(23)
E. Multi-Model System
When the system is linearized around several different oper- From the generalized Lyapunov theory, it is known the close-
ating points, a set of linear time invariant (LTI) systems could loop system matrices are -stable if and only if there exists
be obtained in state-space form: symmetric positive Lyapunov matrix such that [10]

(24)

(22) where denotes the Kronecker product of matrices.

where is the index of operating points and is the total number
of operating points.
Combining these LTI systems, a multi-model system sharing
the same state vector and system output could be formed con-
taining dynamic characteristics of different operating points.
B. H Performance
The H performance measures the overall energy of a
system relating the input disturbance to the output response.
By choosing regulated as the H performance output, the
controller output energy against the disturbance can be

Authorized licensed use limited to: Indian Institute Of Technology (Banaras Hindu University) Varanasi. Downloaded on July 24,2022 at 14:17:39 UTC from IEEE Xplore. Restrictions apply.
 DENG AND ZHANG: ROBUST DAMPING CONTROL OF POWER SYSTEMS WITH TCSC 1515

reduced when the H norm is minimized In the first step, a state feedback controller is deter-
subject to , where is the weight mined by convex LMI method so that the close-loop system sat-
function. is usually selected as a high-pass filter or a isfies all design objectives. In the second step, the state feedback
small constant for H performance to reduce the control effort gain matrix variable obtained in the first step is plugged into
in the high frequency range [18]. In this paper, is set to the output feedback controller to find the matrix variable and
scalar 1 for the ease of the design. so that output feedback controller is equal or comparable to
It is known that the close-loop system is stable and the state feedback controller obtained in the first step.
holds if and only if there exist Lya-
punov matrix and a symmetric matrix such that [16] A. First Step: Determination of K
The close-loop system with the state feedback is given by

(28)
(25)
where
where Trace is the sum of the diagonal of matrix is
the close-loop system matrix for H output and denote entries
that follow from the symmetry. The control effort then could (29)
be reduced by minimizing subject to BMI con-
straints in (25). Substitute (29) into (24) and (25), the determination of in this
step is finally transferred into a multi-objective LMI optimiza-
tion problem:
IV. SOLVING THE BMI OPTIMIZATION: AN LMI BASED
TWO-STEP APPROACH
The synthesis problem of pole placement and H perfor-
mance can be formulated as a multi-objective BMI optimization
problem. For nominal model system, system parameterization
and transformation are applied to transfer the BMIs into LMIs
so that they could be solved by convex LMI solver. However,
this method is not applicable for multi-model system since
the state-space matrices are varying with different operating
points. Followed the techniques in [16], an LMI based two-step (30)
approach is proposed to solve the multi-objective BMI opti-
mization problem. where . The state feedback
The state-space realization of the multi-model system can be gain matrix is obtained as
written as
(31)

where and are the optimal solutions of (30).

(26)
B. Second Step: Determination of and
where is the system state vector, is the In this step, the state feedback gain obtained in (31) is
system output, is the weighted H output, is the disturbance plugged into the output feedback controller in (27). The close-
input and is damping control input. loop system with the output feedback controller is given by
Suppose the output feedback controller is given in the fol-
lowing state-space form:
(32)

(27) where

where is the controller state vector, is the controller input

and is the controller output.
The LMI based two-step procedure is then carried out to de-
termine the controller matrix variables:
1) Determine K by state feedback design
2) Determine and by output feedback design (33)

Authorized licensed use limited to: Indian Institute Of Technology (Banaras Hindu University) Varanasi. Downloaded on July 24,2022 at 14:17:39 UTC from IEEE Xplore. Restrictions apply.
 1516 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 29, NO. 4, JULY 2014

In order to remove the nonlinearity of the term in the

Lyapunov function, it is constrained that the Lyapunov matrix
will be in a block diagonal structure:

(34)

Fig. 4. Two-area system with TCSC.

where and are two positive symmetric matrices. It is known
that the necessary condition for the existence of structured Lya-
punov matrix of the form (34) is that all are stable [16]. For- TABLE I
tunately, the restriction can be removed by applying a change of MULTIPLE OPERATING POINTS
basis of the state vector of the close-loop system:

(35)

where

(36)
and V. CONTROLLER DESIGN IMPLEMENTATION

A. Two-Area System
The proposed controller design is first implemented on a two-
area system [2], as shown in the Fig. 4. It is a simple testing
system consists of 4 synchronous generator and 10 buses; the
(37)
two areas are connected by two parallel tie lines between bus 7
and bus 8; TCSC is installed on one of the tie lines, providing
Now, the existence of structured Lyapunov matrix is decided by 25% line compensation for steady state operation. G1 and G3
the stability of matrices , which is already guaranteed are equipped with PSS to increase the damping of the local oscil-
in the first step. lation modes; however, the inter-area oscillation mode between
The determination of and can be considered to be the two areas is still weakly damped. With different load con-
finding a solution of the multi-objective LMI optimization figurations on bus 7 and bus 8, multiple operating points can be
problem, shown in (38) at the bottom of the page, where generated to form the multi-model system. Table I shows the
. The controller variable four operating points used in the following design for two-area
matrices and are obtained as system. A minimum damping ratio of 15% is selected as the
boundary of the pole placement region to make sure that the
settling time is less than 15 s.
(39) The controller input is selected from signals which contain
invaluable information of the inter-area oscillation mode, such
where are the optimal solutions of (38). as active line power flow, generator power output and generator

(38)

Authorized licensed use limited to: Indian Institute Of Technology (Banaras Hindu University) Varanasi. Downloaded on July 24,2022 at 14:17:39 UTC from IEEE Xplore. Restrictions apply.
 DENG AND ZHANG: ROBUST DAMPING CONTROL OF POWER SYSTEMS WITH TCSC
Fig. 5. Frequency responses of the original system and reduced system for op-
erating point 1.
speed. Since the two-area system is considerably small, we de-
cide to use remote generator speed as the direct control input.
Moreover, research in [19] shows that by using two generator
speeds which are sensitive to the inter-area mode as the control
input is more effective for the damping of inter-area oscillation
than using either one of the speeds itself. Therefore, a combi-
nation of two generator speeds with high participation factor to
the inter-area mode is used as the controller input:
(40)
In the multi-model system, each linearized open-loop system
model and the output feedback controller to be designed will
be in the order of 35; if H performance weights are included,
the order will be even higher. To ease the design for the BMI
approach and reduce the complexity of the final controller, the
system models should be simplified in advance. Hankel norm
approximation [18] is employed here to reduce the order of
system models to 7 without losing much information around the
frequency of inter-area modes. A comparison of frequency re-
sponse between the original system and the reduced system is
shown in Fig. 5 for operating point 1.
When the controller is obtained, Hankel norm approximation
is employed again for a further reduction of the controller. A
controller in the order of 5th, as shown in Appendix A, is finally
acquired. In the end, a washout filter with the time constant of
10 seconds is added to the controller to remove the d.c. signals
as it is suggested for inter-area mode in [4].
Eigenvalue analysis is carried out to examine the close-loop
system performance with the proposed controller, a compar-
ison of damping ratio and damping frequency between the
open-loop system and the close-loop system with respect to dif-
ferent operating points is shown in Table II. Furthermore, a com-
parison of the close-loop system performance between the pro-
posed controller and a controller obtained via Xue’s approach
[15] is shown in Table III. It is clear that the proposed con-
troller is robust against different operating points that we se-
lected. Moreover, the close-loop system damping ratio with the
proposed controller is much closer to our specified boundary
which means the controller output effort has been reduced.
B. 68-Bus System
In order to explore the feasibility of the proposed method
for larger power system, the controller design is consequently
implemented on a 68-bus system [20]. The 68-bus system, as
shown in Fig. 6, is the reduced system of New England–New
York interconnected system. The system has been divided into
5 different areas; synchronous generators G1 to G9 belong to
Authorized licensed use limited to: Indian Institute Of Technology (Banaras Hindu University) Varanasi. Downloaded on July 24,2022 at 14:17:39 UTC from IEEE Xplore. Restrictions apply.
1517
TABLE II
DAMPING RATIO AND FREQUENCIES OF INTER-AREA MODES
TABLE III
DAMPING RATIO AND FREQUENCIES OF INTER-AREA MODES
area 1 and G10 to G13 belong to area 2; G14, G15 and G16 are
equivalent representation of area 3, area 4 and area 5. TCSC is
installed between bus 50 and bus 52, providing 40% line com-
pensation for steady state operation. A nominal operating point
is selected with 300 MW active power transferring from Area 1
to Area 2, detailed system parameters can be found in the PST
packages attached to [20]. Similar to the two-area system, mul-
tiple operating points can be generated by different load config-
urations. Table IV shows the four operating points which form
the multi-model system.
Small-signal analysis is carried out to study the inter-area os-
cillation characteristics of the open-loop system. From Table V,
it is clear that the 68-bus system has 4 dominant inter-area os-
cillation modes. By calculating the participation factors of the
state variables to each inter-area mode, it is known that mode 1
is between Area 1, 2 and Area 3, 4, 5; mode 2 is between Area
1, 3 and 5; mode 3 is between Area 1 and 2; mode 4 is between
Area 3, 5 and 4. A minimum damping ratio of 10% is used here
as the boundary of pole placement region for all the inter-area
oscillation modes.
The choice of controller input signal is based on controlla-
bility, observability and residue analysis presented in [18]. In
this case, the active power flow of the line adjacent to the TCSC
(Line 50–51) is selected as the controller input.
In the multi-model system, each linearized model will be in
the order of 148. Hankel norm approximation is employed here
to reduce the system order for further design. Table VI shows the
inter-area oscillation modes of the reduced system (7th order).
Note that only 3 inter-area modes (mode 1–3) are included in the
reduced system for the robust pole placement. This is because
single FACTS damping controller sometimes is insufficient for
the damping of all inter-area oscillation modes in a large system
and forcing the pole placement of all the modes may result in
an infeasible solution.
When the controller is obtained, Hankel norm approximation
is employed again for further reduction of the controller. A con-
troller in the order of 6, as shown in Appendix B, is finally
acquired. A washout filter identical to the one in the two-area
system design is added here to remove d.c. signals.
 1518 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 29, NO. 4, JULY 2014

Fig. 6. 68-bus system with TCSC.

TABLE IV TABLE VII

MULTIPLE OPERATING POINTS DOMINANT INTER-AREA OSCILLATION MODES FOR CLOSE-LOOP SYSTEM

TABLE VIII
TABLE V MULTIPLE OPERATING POINTS
DOMINANT INTER-AREA OSCILLATION MODES FOR OPEN-LOOP SYSTEM

C. Comparisons Between Multi-Model Controller and

TABLE VI
DOMINANT INTER-AREA OSCILLATION MODES
FOR REDUCED OPEN-LOOP SYSTEM
Damping ratio and frequencies of inter-area oscillation
modes for the close-loop system are presented in Table VII. It is
noted that the proposed controller improves the damping ratio
of inter-area oscillation mode 1–3 up to a desired level and the
controller is capable to work under different operating points.
Nominal Model Controller
Comparisons are made between the proposed multi-model
damping controller and a conventional H robust damping
controller designed on nominal operating point on the 68-bus
system. In this case, we select two operating points with dif-
ferent active power generated from G16 instead of different
active power flow transferred between Area 1 and Area 2
to further distinguish one operating point from the other in
considering of the power flow impact on mode 1, 2 and 3. The
operating points are shown in Table VIII.
The proposed multi-model damping controller is designed
with both operating points in Table VIII, while, the conventional
H robust damping controller is designed on the nominal op-
erating point based on the approach in [13].
Eigenvalue analysis results are shown in Tables IX–XI for
the open-loop systems and the close-loop systems with two
different controllers. It is clear that both controllers could

Authorized licensed use limited to: Indian Institute Of Technology (Banaras Hindu University) Varanasi. Downloaded on July 24,2022 at 14:17:39 UTC from IEEE Xplore. Restrictions apply.
 DENG AND ZHANG: ROBUST DAMPING CONTROL OF POWER SYSTEMS WITH TCSC 1519

TABLE IX
DOMINANT INTER-AREA OSCILLATION MODES FOR OPEN-LOOP SYSTEM

TABLE X
DOMINANT INTER-AREA OSCILLATION MODES FOR CLOSE-LOOP
SYSTEM WITH MULTI-MODEL CONTROLLER

TABLE XI Fig. 7. Active power on Line 7: (a) operating point 1; (b) operating point 4.
DOMINANT INTER-AREA OSCILLATION MODES FOR CLOSE-LOOP
SYSTEM WITH NOMINAL MODEL CONTROLLER

increase the damping of the system to a desired value on

the nominal operating point and the damping performance is
relatively close. However, for the off-nominal operating point,
the proposed multi-model damping controller shows better
damping capability than the conventional H robust damping
controller, especially for mode 1 and 2. It can be concluded that
when multiple operating points are considered in the design
stage, the overall system robustness could be further increased.

VI. CASE STUDY

To validate the performance of the proposed controller, simu-
lations are carried out on the RTDS. Different from conventional
EMTP simulation packages, the RTDS is a digital simulator
designed for real time power system simulation and hardware
based equipment testing [21]. Because of the “hard real time”
feature of the RTDS, its simulation speed is much faster than of-
fline simulation packages and it also allows online system mon-
itoring and tuning.
The obtained controllers are tested on the two-area system
and the 68-bus system with respect to different operating con-
ditions. (i.e., different type of disturbances and different power
flow patterns).
A. Two-Area System
1) Excitation System Disturbance: In this case, a small im-
pulse is given to the excitation system voltage reference
on G3. The followed active power flow responses on Line 7
for operating point 1 and 4 are shown in Fig. 7. It is clear that
the inter-area oscillation excited by the small disturbance on the
excitation system can be effectively damped out under different
operating points by the proposed controller.
2) Post-Fault Disturbance: In this case, a three phase ground
fault occurs on Line 7; immediately after that, Line 7 is tripped;
Fig. 8. Active power on Line 7: (a) operating point 1; (b) operating point 4.
60 ms later, the fault is cleared and Line 7 is auto-reclosed. It
can be seen from Fig. 8 that, when the Line 7 is tripped, power
transferring through the line immediately drops; after the line
is reclosed, the active power returns to a pre-fault level with an
obvious inter-area oscillation. Furthermore, the proposed con-
troller successfully damps out the inter-area oscillation under
different operating points.
3) Load Variation: In this case, the increase and shedding of
load are tested. It is noticed that the operating points used in the
controller design are actually based on different load configura-
tions; therefore, the load variations can be easily generated by
operating point switching. Fig. 9 shows the responses of active
power flow on Line 7 when the system is switching between
operating point 1 and 4. It can be seen that the magnitude of
the inter-area oscillations excited by load variations is relatively
larger than that in the case of small disturbance and post-fault
disturbance. However, the controller could adequately damp out
the inter-area oscillations within 10 s.

Authorized licensed use limited to: Indian Institute Of Technology (Banaras Hindu University) Varanasi. Downloaded on July 24,2022 at 14:17:39 UTC from IEEE Xplore. Restrictions apply.
 1520
Fig. 9. Active power on Line 7: (a) switching from operating point 1 to 4;
(b) switching from operating point 4 to 1.
Fig. 10. Active power on Line 50–52: (a) operating point 1; (b) operating point
4.
B. 68-Bus System
1) Excitation System Disturbance: In this case, a small im-
pulse is given to the excitation system voltage reference on
G13. The followed active power flow responses on Line 50–52
for operating point 1 and 4 are shown in Fig. 10.
It is clear that the oscillation excited by the small disturbance
on the excitation system can be damped to an acceptable level
in 20 s by the proposed controller.
2) Line Out of Service: In this case, a three phase ground
fault occurs on Line 1–27, which is one of the three tie lines
connecting Area 1 and Area 2; immediately after that, Line 1–27
is tripped and stays out of service for the rest of the time. Fig. 11
shows the active power flow on Line 1–2 and Line 8–9 after the
incident. It is known that when Line 1–27 is tripped, power flow
on the other two lines connecting Area 1 and Area 2 is increased;
and the oscillation excited by the incident can be damped out
within 20 s.
Authorized licensed use limited to: Indian Institute Of Technology (Banaras Hindu University) Varanasi. Downloaded on July 24,2022 at 14:17:39 UTC from IEEE Xplore. Restrictions apply.
IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 29, NO. 4, JULY 2014
Fig. 11. Active power on Line 1–2 and Line 8–9: (a) Line 1–2; (b) Line 8–9.
Fig. 12. Active power on Line 8–9: switching from operating point 1 to 4;
(b) switching from operating point 4 to 1.
3) Load Variation: In this case, the increase and shedding of
load are tested. Similar to the controller validation for the two-
area system, operating point switching is adopted again. Fig. 12
shows the active power flow on Line 8–9 when the system is
switching between operating point 1 and 4.
It can be seen that the oscillations excited by the load varia-
tions could be successfully damped out within in 20 s.
VII. CONCLUSION
In this paper, we presented the robust damping control de-
sign considering multiple operating points. System with mul-
tiple operating points has been modeled as an LTI multi-model
system which can be represented by a set of state-space ma-
trices. Multiple control objectives consisting of both regional
pole placement and H performance have been considered for
each linearized system model to ensure the robustness and to
reduce the control effort. Then the damping control problem
has been formulated as a BMI optimization problem. For the
nominal model design approach, BMI optimization could be
 DENG AND ZHANG: ROBUST DAMPING CONTROL OF POWER SYSTEMS WITH TCSC
transferred into LMI optimization by system parameterization,
and then solved by convex LMI solver. However, system pa-
rameterization is not applicable for multi-model system due to
the fact that system state matrices are varying with respect to
different models. Following the techniques presented in [16],
we proposed a two-step approach to solve the BMI optimiza-
tion problem with both regional pole placement and H perfor-
mance via LMI techniques. The proposed method has been im-
plemented on the TCSC damping controller design for a two-
area system and a 68-bus system. Analytical results showed
that the proposed multi-model controllers were capable to im-
prove the damping ratio of weakly damped inter-area oscillation
modes under different operating points with better performance
than the robust damping controllers designed on a nominal op-
erating point. Finally, the proposed controllers have been vali-
dated on the 68-bus system by real-time simulations on RTDS.
Tests with different operating conditions have been carried out
to examine the robustness of the controller. Numerical results
showed that the proposed controllers could effectively damp out
the inter-area oscillations under different operating conditions.
APPENDIX A
Robust TCSC damping controller for two-area system
(A)
Robust TCSC damping controller for 68 bus system is shown in
(B) at the top of the page.
REFERENCES
[1] J. Paserba, “Analysis and control of power system oscillation,” Tech.
Brochure 111, 1996, in CIGRE Special Publication 38.01.07.
[2] P. Kundur, Power System Stability and Control. New York, NY,
USA: McGraw-Hill, 1994.
[3] E. V. Larsen and D. A. Swann, “Applying power system stabilizers:
Part I-III,” IEEE Trans. Power App. Syst., vol. PAS-100, no. 6, pp.
3017–3046, 1981.
[4] P. Kundur, M. Klein, G. J. Rogers, and M. S. Zywno, “Application of
power system stabilizers for enhancement of overall system stability,”
IEEE Trans. Power Syst., vol. 4, no. 2, pp. 614–624, May 1989.
[5] E. V. Larsen, J. J. Sanchez-Gasca, and J. H. Chow, “Concepts for de-
sign of FACTS controllers to damp power swings,” IEEE Trans. Power
Syst., vol. 10, no. 2, pp. 948–956, May 1995.
[6] P. Pourbeik and M. J. Gibbard, “Damping and synchronizing torques
induced on generators by FACTS stabilizers in multimachine power
systems,” IEEE Trans. Power Syst., vol. 11, no. 4, pp. 1920–1925, Nov.
1996.
[7] J. Ferraz, N. Martins, and G. Taranto, “Coordinated stabilizer tuning
in large power systems considering multiple operating conditions,” in
Proc. IEEE Power Engineering Society General Meeting, 2007, pp.
1–8.
[8] P. S. Rao and I. Sen, “Robust pole placement stabilizer design using
linear matrix inequalities,” IEEE Trans. Power Syst., vol. 15, no. 1, pp.
313–319, Feb. 2000.
Authorized licensed use limited to: Indian Institute Of Technology (Banaras Hindu University) Varanasi. Downloaded on July 24,2022 at 14:17:39 UTC from IEEE Xplore. Restrictions apply.
1521
(B)
[9] H. Werner, P. Korba, and T. C. Yang, “Robust tuning of power system
stabilizers using LMI-techniques,” IEEE Trans. Control Syst. Technol.,
vol. 11, no. 1, pp. 147–152, 2003.
[10] M. Chilali and P. Gahinet, “H design with pole placement con-
straints: An LMI approach,” IEEE Trans. Autom. Control., vol. 41,
pp. 358–367, 1996.
[11] M. M. Farsangi, Y. H. Song, and M. Tan, “Multi-objective design of
damping controllers of FACTS devices via mixed H with re-
gional pole placement,” Int. J. Elect. Power Energy Syst., vol. 25, no.
5, pp. 339–346, 2003.
[12] B. Chaudhuri and B. C. Pal, “Mixed-sensitivity approach to H con-
trol of power system oscillations employing multiple facts devices,”
IEEE Trans. Power Syst., vol. 18, no. 3, pp. 1149–1156, Aug. 2003.
[13] B. Chaudhuri and B. C. Pal, “Robust damping of multiple swing modes
employing global stabilizing signals with a TCSC,” IEEE Trans. Power
Syst., vol. 19, no. 1, pp. 499–506, Feb. 2004.
[14] Y. Li and C. Rehtanz, “Wide-area robust coordination approach of
HVDC and FACTS controllers for damping multiple interarea oscil-
lations,” IEEE Trans. Power Del., vol. 27, no. 3, pp. 1096–1105, Jul.
2012.
[15] C.-F. Xue and X.-P. Zhang, “Design of STATCOM damping control
with multiple operating points: A multimodel LMI approach,” Proc.
Inst. Elect. Eng., Gener. Transm. Distrib., vol. 153, pp. 375–382, 2006.
[16] S. Kanev and C. Scherer, “Robust output-feedback controller de-
sign via local BMI optimization,” Automatica, vol. 40, no. 7, pp.
1115–1127, 2004.
[17] M. Noroozian, L. Angquist, M. Gandhari, and G. Andersson, “Im-
proving power system dynamics by series-connected FACTS devices,”
IEEE Trans. Power Del., vol. 12, no. 4, pp. 1635–1641, Oct. 1997.
[18] B. C. Pal and B. Chaudhuri, Robust Control in Power Systems. New
York, NY, USA: Springer, 2005.
[19] J. H. Chow and J. J. Sanchez-Gasca, “Power system damping controller
design using multiple input signals,” IEEE Magn. Control Syst., vol.
20, no. 4, pp. 82–90, 2000.
[20] G. Rogers, Power System Oscillations. Norwell, MA, USA: Kluwer,
2000.
[21] P. Forsyth, T. Maguire, and R. Kuffel, “Real time digital simulation
for control and protection system testing,” in Proc. IEEE 35th Annu.
Power Electronics Specialists Conf., 2004, vol. 1.
Jingchao Deng received the B.Eng. degree in electrical engineering and its au-
tomation from Huazhong University of Science and Technology, China, in 2009
and the M.Sc. degree in control systems from Imperial College London, U.K.,
in 2010. He is currently pursuing the Ph.D. degree in electrical engineering at
the University of Birmingham, U.K.
His major research interests are power system stability analysis with FACTS
and HVDC.
Xiao-Ping Zhang (M’95–SM’06) received the B.Eng, M.Sc., and Ph.D. de-
grees in electrical engineering from Southeast University, China, in 1988, 1990,
and 1993, respectively.
He is currently a Professor in electrical power systems at the University of
Birmingham, U.K., and he is also Director of the University Institute for Energy
Research and Policy. Before joining the University of Birmingham, he was an
Associate Professor in the School of Engineering at the University of Warwick,
U.K. From 1998 to 1999, he was visiting UMIST, U.K. From 1999 to 2000, he
was an Alexander-von-Humboldt Research Fellow with the University of Dort-
mund, Germany. He worked at China State Grid EPRI on EMS/DMS advanced
application software research and development between 1993 and 1998. He is
co-author of the monograph Flexible AC Transmission Systems: Modeling and
Control (New York, NY, USA: Springer, 2006 and 2012).
Prof. Zhang is an Editor of the IEEE TRANSACTIONS ON POWER SYSTEMS.