This article has been accepted for publication in a future issue of this journal, but has not been
fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2018.2822315, IEEE
Transactions on Power Systems
Integration of Renewables into the Wide Area
Control Scheme for Damping Power Oscillations
Lazaros Zacharia, Student Member, IEEE, Lenos Hadjidemetriou, Member, IEEE,
and Elias Kyriakides, Senior Member, IEEE 1
Abstract—This paper presents a Wide Area Control (WAC)
method to coordinate the local controllers of generators and
Renewable Energy Sources (RESs), for robust power oscillation
damping. The WAC signals are synthesized by a two-level
hierarchical controller, which utilizes wide area measurements
from all the installed synchronous generators and RESs for
maximizing the performance of their corresponding local
controllers. In the resulting WAC scheme, the generators are
“aware” of the RES oscillations and vice versa, the RESs are
“aware” of the generator oscillations. Further, the WAC signals
intended for the RESs are adjusted in order to require only slight
modifications on the RES local controllers. This study illustrates
that the correct coordination of generators and RESs, through
the WAC, improves the damping performance of the entire
system even under high penetration of renewables. The
performance of the proposed scheme has been tested and
validated in the IEEE 9-bus and 39-bus test systems.
Index Terms— Local controller, power oscillations, Renewable
Energy, Wide Area Control, wide area measurements.
I. INTRODUCTION
T HE increasing energy demand and the necessity to meet
the consumer’s needs while satisfying the environmental
concerns, led to the introduction of the smart grid concept
[1]. This concept has recently emerged to propose the
development of an intelligent power system, which will
support the increasing penetration of Renewable Energy
Sources (RESs) in the system, alongside with its improved
reliability and stability. The first step towards the realization
of the smart grid, is to be able to observe the dynamic
behavior of the system and to provide the correct control
signals, so that the system will be able to operate safely even
when close to its limits [2]. The deployment of Phasor
Measurement Units (PMUs) in the transmission level and their
capability in providing synchronized, quasi real time
measurements from remote locations, has made this goal
achievable. The exploitation of the wide area measurements,
provided by the PMUs, for monitoring and controlling the
power system led to the introduction of the Wide Area
Monitoring and Control (WAMC) systems [2].
Wide Area Control (WAC) aims to utilize the available
wide area measurements for the development of suitable
control signals in order to enhance the performance of the
This work has been supported by the European Union's Horizon 2020
research and innovation programme under grant agreement No 739551 (KIOS
CoE) and from the Government of the Republic of Cyprus through the
Directorate General for European Programmes, Coordination and
Development.
The authors are with the Department of Electrical and Computer
Engineering and the KIOS Research and Innovation Center of Excellence,
University of Cyprus, Nicosia, Cyprus (email: zacharia.lazaros@ucy.ac.cy;
hadjidemetriou.lenos@ucy.ac.cy; elias@ucy.ac.cy).
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1
generators’ local controllers. These control signals intend to
overcome the shortcomings of the local controllers and more
specifically their lack of global observability. The main
benefit of having WAC signals in the power system is the
effective and simultaneous compensation of the system’s local
and inter-area oscillations. The latter are highly undesirable
and they can only be detected through the utilization of wide
area measurements. Inter-area oscillations are found in large
power systems, where groups of generators are connected via
long distance transmission lines [3]. These oscillations are
characterized by low frequency (0.2-1 Hz) and occur when
generators of one group swing against generators of another
group [4], [5].
Several design methods have been proposed for the
development of a wide area controller. These can be separated
mainly into methodologies which are based on a model of the
system or on predefined typical operating conditions. More
specifically, in [6] a wide area controller has been
implemented according to an adaptive measurement-based
identification of the model. Furthermore, [7] proposes the
utilization of a network control system model for the WAC
design, according to linear matrix inequality techniques. The
authors in [8] use an expectation model to derive the WAC
signals, which considers time delay distribution. In [9], the
WAC development is based on the Takagi-Sugeno fuzzy
approach which takes into account various operating
conditions of the system. Finally, a control design method,
which does not consider any simplified model or typical
operating conditions of the system, is proposed in [10]. It
suggests the implementation of a hierarchical WAC, based on
wide area signals from all the generators and the reformulation
of the power system into a suitable, closed form.
The increasing penetration of renewables in the power
system may deteriorate the stability of the entire grid mainly
due to the reduction of the system’s inertia (e.g., displacement
of synchronous generators) and the change in the system’s
dynamic characteristics, as illustrated in [11]. The majority of
WAC design methodologies do not take into account the effect
of the installed RESs on the performance of the wide area
controller. However, the consideration of the effect of RESs
while utilizing WAC or their integration in the WAC design,
is vital for the implementation of the smart grid, since the
smart grid of the future is expected to have a high penetration
of renewables. The current practice by the system operator
(especially at low penetration levels), is to utilize the RESs as
negative loads and not as components able to contribute to the
overall stability [12]. Therefore, the WAC concept provides
the opportunity and capability of including the renewables
(along with the synchronous generators) in a coordination
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Transactions on Power Systems
2

11 validate the performance of the proposed control scheme in

Exciter Exciter compensating local and inter-area oscillations. The

PMU
RES
efd2 egfd2 egfd3 efd3 performance of the proposed WAC scheme has been evaluated
2 7 8 9 3
Vt2 Vt3 through the use of Prony analysis method. The main

PMU
G G

PMU
Pm2 Pm3 contributions of this paper are the quantification of the
10
ω2 PgGV2 12 P GV3 ω3
g
interactions between generators and RESs and the development
RES

PMU
Valve Valve
RES of coordination signals to explicitly compensate them.
PMU
Governor 5 Governor
6 The rest of the paper is structured as follows. Section II
overviews the components needed for the WAC design. A
vd, vq, δ, f, from each detailed description of the RESs which are used in this study is
generator 4
WAC provided in Section III. Section IV shows the design
vd-res, vq-res, δres, f, from PMU
methodology for the formulation of the WAC signals. The
each RES 1 evaluation of the proposed scheme is presented and discussed
egfd , PgGV Vt1 PgGV1
e g Pm1 Governor in Section V. Section VI concludes the paper.
fd1
Exciter

G
dP, dQ Valve
efd1 ω1 II. MODELS NECESSARY FOR THE WAC DESIGN

Fig. 1. Proposed integration of WAC and RES A. Phasor Measurement Units

As it was mentioned in the previous section, the WAC
scheme in order to damp effectively all the power oscillations. formulation requires wide area measurements. It is a common
In [13], a hierarchical control scheme is proposed, which practice to use PMUs for WAMC applications, to measure
consists of centralized and local Power Oscillation Dampers voltage phasors, current phasors and frequency in a
(PODs) and Power System Stabilizers (PSSs) in order to synchronous way. Thus, PMUs are utilized in this study in
coordinate all the wind farms and generators of the system. order to provide the necessary signals to the WAC scheme.
Furthermore, [14] presents a WAC design, based on particle For this purpose, it is assumed that PMUs are installed on all
swarm optimization, for improving the performance of the generator and RES buses (Fig. 1). Furthermore, the
power system through the control of wind farms. In [15], an measurement signals are constructed in such a way as to
observer-driven reduced copy is utilized along with a linear emulate signals provided by PMUs. This means that their
quadratic regulator to damp inter-area oscillations, when two sampling rate and their measurement error are based on
generators are replaced by wind farms. All the aforementioned realistic PMU measurements as discussed in [17].
methods consider only Doubly-Fed Induction Generator
(DFIG) wind farms. A work which utilizes an average model B. Synchronous Generator
of the wind farms’ voltage-source converter for control The model of the generator is vital for the WAC
(instead of a DFIG model) is presented in [16], where the implementation, since the wide area controller is essentially
coordination of multiple wind farms with other power system controlling the generators through their local controllers.
devices is illustrated. Amongst the various models of the generators, the fourth
In this paper, the implementation of a two-level order model, expressed in the local d-q frame, is found
hierarchical controller is proposed as shown in Fig. 1, which sufficient for WAC design [18]. For this study, the selected
integrates both synchronous generators and RESs in its design. fourth order model depends only on internal voltages (ed and
The proposed WAC scheme is developed by advancing the eq), stator currents (id and iq) and the field voltage (efd), as
methodology presented in [10], in order to derive WAC shown in (1)- (2). Furthermore, the swing equation of the ith
signals not only for the generators but for the RESs as well. generator (as presented in (3)-(4)), is required as well:
This method has the advantage that by reformulating the '
Tdoi eqi' = − eqi' − ( xdi − xdi' )idi + e fdi (1)
power system into a suitable and closed form, it leads to the
Tqoi edi =
' '
− edi + ( xqi − xqi )iqi
' '
(2)
implementation of a reliable and effective wide area
controller. In this WAC scheme, wide area measurements 2 H iω pui d 2δ i Diω pui d δ i
+ =
Pmi − Pei (3)
from all the generators and RESs can be utilized to develop ωs dt 2 ωs dt
control signals for enhancing the performance of the = Pei vdi idi + vqi iqi (4)
corresponding local controllers. The investigation considers
the effect of the high penetration of large scale fully converted T’do and T’qo stand for the open circuit constants, while xd, xq,
renewables, the local controller of which has been slightly x’d and x’q are the generator’s synchronous and transient
modified in order to allow its coordination by the wide area reactances, all expressed on the local d-q frame. Pm and Pe
controller during disturbances. It is to be noted that in this represent the mechanical and electrical power. ω is the rotor
paper, a detailed model of the power system is combined with a speed, while ωs is the synchronous speed. Lastly, H, D and δ
very accurate model of the RES local controller for more represent the generator’s inertia constant, its damping
realistic operation. Electro-Magnetic Transient (EMT) coefficient and power angle, respectively. All the quantities
simulations on the IEEE 9-bus and 39-bus dynamic test are in per unit, except the time constants which are in seconds
systems with integrated large-scale RESs have been used to and the power angle in radians.

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Transactions on Power Systems
3

In addition, it is important to have equations which connect Generator Three-Phase Inverter (GSC)
the terminal voltage and stator currents of the generator to its Converter
+ LC Filter PCC Power
Grid
AC Lgrid
internal voltages, since the PMU can provide measurements eres r x

DC-
link
a b
CD c
concerning only the former two. Equations which contain the Cf vgrid
C
DC - vres
terminal voltage of the generator expressed on the d-q axis (vd Wind Turbine VDC ires
Sampling Pulse Width Modulation Sampling
and vq), are the following stator dynamic equations: GSC vref
vdi =edi' − rsi idi + xqi' iqi (5) Controller
iL v, θPLL
Synchronization Method (PLL)
v θPLL |Vgrid|
vqi =eqi' − rsi iqi − xdi' idi (6) Current Controller PQ Controller (with FRT)
iref
where rs stands for the stator resistance. VDC* Vdc Pref P* Q* Qref Q
Pset-point controller ++ ++ profile
C. Local Controllers for the Generators dP dQ
From WAC scheme
Generators utilize local controllers (i.e., exciter and
Fig. 2. A fully converted RES with the generator converter, the GSC and
governor controllers) to compensate local disturbances, but its controller, and the slight modifications for considering WAC signals.
when inter-area oscillations occur, their lack of global
observability makes them unable to react effectively. WAC electronics technology as shown in Fig. 2. The generator side
aims to enhance their operation by providing suitable converter is responsible for the optimal power extraction from
coordination signals to their local control inputs. Thus, it is the wind turbine according to the wind speed, while the GSC
important to know the types of the local controllers used in the properly injects the produced power into the grid.
system, in order to identify correctly their local control inputs. The GSC controller developed for the purpose of this work
This study considers the exciter DC2A and the general (Fig. 2) is mainly based on: a robust synchronization method
purpose governor [19], [20]. Their respective local control [21] for estimating the phase angle (θPLL) of the grid voltage
inputs, which the wide area controller will interact with, are vres=[va vb vc]T at the Point of Common Coupling (PCC), an
the excitation signal (efd) and the steam valve output (PGV). accurate current controller [22] for regulating the injected
Furthermore, the following turbine model is required as well currents ires=[ia ib ic]T, and a PQ controller [23] for generating
to implement the WAC signals, since it connects the the reference currents iref=[ia* ib* ic*]T. The PQ controller needs
governor’s PGV and the generator’s mechanical power (Pm). to be enhanced with Fault Ride Through (FRT) capabilities to
1 1 + sTRH FHP ensure that the renewable source will meet the modern grid
Pm = PGV (7) regulations for interconnecting RES [24]. In the usual case, the
1 + sTCH 1 + sTRH
reference active and reactive power (Pref and Qref), which are
where TCH represents the delay due to the steam chest/inlet the inputs to the PQ controller, are generated by the Vdc
piping, TRH stands for the delay of the re-heaters and FHP is the controller and the Q profile scheme. The Vdc controller
total turbine power developed in the high-pressure cylinder. generates the Pref in order to inject the produced power by the
The delays are expressed in seconds and the power in per unit. RES into the grid by maintaining a constant DC link voltage
D. Power System Network (equal to VDC*). The Q profile determines the required Qref that
The interconnection of the transmission system can be needs to be injected by the RES according to the amplitude of
represented by two current equations, depending on whether the grid voltage at the PCC as defined by the grid regulations.
the system’s nodes are generator or generator-free buses ((8) It should be noted that the only requirement for integrating
and (9) respectively). Index m refers to the total number of the renewables into the proposed WAC scheme is to slightly
system’s buses. G’, B’ are the bus admittance matrix elements. adjust the GSC controller as shown in Fig. 2. The GSC needs
to be able to receive the remote signals dP and dQ in order to
−1 ' j (δ −π )
'
(edi + ( xqi' − xdi' )iqi + jeqi' ) e i 2 adjust the injected active and reactive power by the RES
jxdi according to the proposed WAC scheme. The signals dP and
m
(8)
+ ∑ (Gik + jBik )vk e =
' ' jθ k dQ are derived by the wide area controller, as will be
0
k =1
described in Section IV.B. These signals aim to decouple the
m oscillations caused by other generators and RESs and as a
∑ (G
k =1
'
ik + jBik' )vk e jθk =
0 (9) result to properly damp local and inter-area oscillations under
an intense power disturbance.

III. LARGE SCALE FULLY CONVERTED RES
The main contribution of this paper is the integration of the
installed RESs into the design of the WAC scheme. For
achieving this purpose, large scale fully converted RESs have
been considered in the design of the WAC scheme due to their
increased flexibility regarding the power controllability.
A fully converted RES consists of a wind turbine with any
type of a three-phase electric generator, a generator side
converter, and a Grid Side Converter (GSC) based on power
IV. WIDE AREA CONTROL DESIGN
The methodology proposed in [10] for the formulation of
WAC signals is briefly presented in this section, along with
the necessary modifications in order to integrate the installed
RESs into the WAC design.
A. Conventional Design of Wide Area Control signals
The methodology presented in [10] essentially reformulates
the power system model into a closed form, by utilizing (1)-

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(6) and (8)-(9). More specifically, a change of variables is Start

performed, having as an objective to obtain a state space
representation of the system, which will have as state variables Load the topology of
the terminal voltage of the generators (expressed on the d-q the power system
axis). The main goal of the methodology is to develop
Identify the n generator buses and the l
coordination signals which explicitly cancel out all the RES buses
interactions (perturbation terms) between the generators of the
system, increasing that way the damping performance of the Reformulate the power system in terms of vd, vq
local controllers. Furthermore, the measurement signals and vres_d, vres_q based on (8), (9) and (19)
required by this methodology are the generator’s terminal
voltage, its frequency and its power angle. The latter is t=0
estimated according to PMU measurements [25].
The following three steps summarize the method’s procedure: Y
t=Tfinal+tstep? End
1) The voltages of the generator-free buses are expressed in
egfdi(t), PgGVi(t)
terms of the generators’ terminal voltages (vd and vq). N
dPi(t), dQi(t)
2) The internal voltage (ed and eq) and stator current (id and iq) Bus i=0
of each generator are expressed in terms of its terminal voltage Develop Utilize (24)-(33) to
generator i WAC derive RES i WAC
(vd and vq). signals through t=t+tstep signals
3) The derived expressions of the internal voltage and stator (14) and (15)
i=n+l ?
current are replaced in the generator model and swing equation. Y Develop deᵍres_d &
N deᵍres_q through (22)
The result of applying these steps are the ith generator’s and (23)
dynamic equations for the terminal voltage and rotor speed: i=i+1

vdi =a1i vdi + a2i vqi + p1i e fdi +ψ di (10) Estimate generator i Estimate RES i
vqi =b1i vdi + b2i vqi + p2i e fdi +ψ qi (11) perturbation terms ψdi, Y Is bus i N perturbation terms
ψqi, and ψdωi generator ψres_d and ψres_q
2 H i ω pui d ωi Diω pui d δ i bus ?
+ =Pmi − Gii f (vdi2 + vqi2 ) −ψ ωi
ωs dt ωs dt (12) vd-gen(t), vq-gen(t), vd-gen(t), vq-gen(t),
δgen(t), fgen(t), vd-res(t), δgen(t), fgen(t), vd-res(t),
vq-res(t), δres(t), fres(t) vq-res(t), δres(t), fres(t)
where a1, a2, b1, b2, p1, p2 are parameters which mainly depend
on the network topology, resulting from the reformulation of Fig. 3. Flow diagram of proposed methodology
the power system into a closed form. ψd, ψq, ψω are the
coupling perturbation terms (or inter-generator interactions) −(ψ dvi d dvdi + ψ dvi q dvqi )
from other generators on the ith generator, which mainly e gfdi = (14)
depend on the terminal voltages of the former. Detailed p1i dvdi + p2i dvqi
expressions of all these terms are provided in [10]. TCHψ ωg + ψ ωg
Furthermore, the formulation of the wide area control
g
pGVi = − (15)
FHP
signals derives from the replacement of vd, vq and ω in the
dynamic equations by their error compared to their steady B. Integration of RESs in the WAC scheme
state values (dvd, dvq and deω). The main idea is to In the previous subsection, the methodology presented
differentiate the resulting dynamic equations until the local considers only the system’s generators to derive the WAC
control inputs (efd and PGV) appear in the equations. Then, signals. Therefore, all the necessary modifications of the
these control inputs are substituted by their local and global aforementioned methodology are discussed in detail here, in
signals (since the WAC interacts with them), where the global order to also include the renewable sources of the system into
signal expressions are chosen to explicitly cancel out all the the WAC design. More specifically, the formulation of WAC
perturbation terms of the dynamic equations. signals intended for the RES local controller is shown.
Looking at (10) and (11), it is evident that the exciter’s Furthermore, the ultimate goal is to illustrate that the correct
local control input appears in both dynamic equations. Thus, coordination of generators and RESs, through the WAC,
their combination is utilized to find a common global control improves the damping performance of the entire system
input, which cancels both perturbation terms (ψd and ψq). This instead of decreasing it, even under a high penetration of
is achieved through (13), which is essentially an expression renewables. The flowchart of Fig. 3 summarizes the overall
for the terminal voltage deviation (dvt). procedure of the proposed scheme for the development of
=
dvt
2
dvd2 + dvq2 (13) coordination signals for generators and RESs. Note that Tfinal
The following set of equations shows the resulting wide represents the total time of the simulation and tstep the
area control signals for the exciter and governor. An analytical reporting rate of the PMU (20 ms).
description of their development, along with full expressions The first step towards the integration of RESs into the
of all the reported parameters is presented in [10]. WAC scheme, is to obtain wide area measurements from the

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Transactions on Power Systems
renewables, similar to the ones collected from the generators.
Thus, PMUs are assumed to be connected at the PCC of each
RES in order to provide their terminal voltage (vres) and
frequency (Fig. 1). The problem that arises is that the power
angle is also required when applying the methodology of [10].
However, in the case of RESs there is no power angle (in
contrast to the generators). To overcome this obstacle and
make the methodology applicable for renewables as well, a
virtual power angle for RES (δres) is introduced that represents
the angle between the terminal voltage vres and the virtual
voltage eres. The latter voltage is the fundamental voltage
phasor at the output of the GSC as shown in Fig. 2. It contains
high-frequency switching noise (this noise is eliminated by the
LC filter) and cannot be measured directly. The computation
of δres is based on vres=[vres-d vres-q]T and the injected current
phasor ires=[ires-d ires-q]T , expressed into the local dq-frame,
according to (16)-(18). More specifically, (16) and (17) are
used to calculate the corresponding components of the
eres=[eres-d eres-q]T and as a result the virtual δres can be obtained
by (18).
eres − d = vres − d + rires − d − xires − q (16)
eres − q = vres − q + rires − q + xires − d (17)
 eres − d 
δ res = arctan   (18)
e
 res − q 
It is to be noted that r and x represent the series resistance
and reactance of the LC filter between the inverter and the
PCC, as shown in Fig. 2. The capacitor (Cf) of the LC filter
can be neglected since it damps only the high order harmonics.
By obtaining the appropriate wide area measurements from
the RESs, the methodology of [10] can now be modified
accordingly in order to become applicable for the renewables
as well. Thus, the first step of the proposed procedure is that
the generator-free and renewable-free buses are expressed in
terms of the generators and RESs terminal voltages (vd, vq and
vres-d, vres-q, respectively). This step is important in order to
make each generator “aware” of the oscillations caused by the
rest of the generators and RESs and vice versa, each RES to be
“aware” of the oscillations caused by the rest RESs and
generators. The result in the case of generators is to also
include in the perturbation terms of (14) and (15) the terminal
voltages of the renewables. The rest of the steps remain as
they were described in the previous subsection, to derive the
generators’ WAC signals, while for the RESs these steps are
different.
More specifically, in the case of renewables, (19) needs to
be added to the power system network model ((8)-(9)), which
actually represents the current equation for the ith RES bus.
j (δ i −π
m deviation signals. Thus, for compatibility issues, the degres-d and
(ires − di + jires − qi ) e + ∑ (Gik' + jBik' )vk e jθk =
)
2
0 (19)
k =1
Based on (19), the injected current phasor (ires-d and ires-q) of
each RES is expressed in terms of its terminal voltage (vres-d
and vres-q) respectively. This leads to (20)-(21), where indices n
and l refer to the total number of generator and RES buses,
respectively. Gf and Bf are terms based on the elements of the
admittance matrix, which result from the application of the first
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5
step of the proposed methodology.
ires − di =
−Giif vres − di + Biif vres − qi
n
−∑ (Gikf vdk − Bikf vqk ) cos δ ki − (Gikf vqk + Bikf vdk ) sin δ ki
k =1
l
−∑ (Gijf vres − dj − Bijf vres − qj ) cos δ ji − (Gijf vres − qj + Bijf vres − dj ) sin δ ji
j =1
j ≠i
(20)
ires − qi =
−Giif vres − qi − Biif vres − di
n
+ ∑ (Gikf vdk − Bikf vqk ) sin δ ki + (Gikf vqk + Bikf vdk ) cos δ ki
k =1
l
+ ∑ (Gijf vres − dj − Bijf vres − qj ) sin δ ji + (Gijf vres − qj + Bijf vres − dj ) cos δ ji
j =1
j ≠i
(21)
Note that respective expressions (which depend on terminal
voltages of generators and renewables), will result when the
formulation of the generator WAC signals is considered.
The next step is to replace (20) and (21) into the model of
the RES. For this reason, the RES virtual model (which has
been defined in (16) and (17)) is utilized. Furthermore, all the
terminal voltages of generators and renewables existing in the
resulting expressions are substituted by their error compared
to their steady state values (corresponding dvd, dvq and dvres-d,
dvres-q), deriving expressions of the deres-d and deres-q. This
change of variables is required in order to cancel out the WAC
contribution when the system is in steady state.
Similar to the generators’ case, in order to formulate the
RES WAC laws, it is important to identify the suitable local
signals, which the wide area controller will utilize to interact
with the RES local controller. Based on the RES virtual model,
these are the eres-d and eres-q, presented in (16) and (17). Thus,
by decomposing deres-d and deres-q, into local and global control
signals, the RES WAC signals are selected to explicitly cancel
out the perturbation terms ψres_d and ψres_q. These terms are
equal to the superposition terms of (20) and (21), respectively,
where dvd, dvq and dvres-d, dvres-q are considered. This leads to
the following expressions for the RES WAC signals:
g
deres −rψ res
_d =
i
_ d + xψ res _ q
i
(22)
g
deres −rψ res
_q =
i
_ q − xψ res _ d
i
(23)
The result of the aforementioned analysis is that the wide
area controller can now provide the degres-d and degres-q control
signals of (22)-(23) to the renewables’ controller in order to
regulate their operation for damping the power system
oscillations. However, the GSC controller of the RES can
easily be regulated by active (dP) and reactive (dQ) power
degres-q signals (according to the virtual RES model) should be
converted into the compatible signals, dP and dQ, by the wide
area controller and then be sent into the RES local controller as
shown in Figs. 2 and 3.
To overcome this compatibility issue, firstly the wide area
controller needs to compute the new expressions for the virtual
internal RES voltage according to (24) and (25), as resulting
from the application of the WAC signals of (22)-(23).
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2018.2822315, IEEE
Transactions on Power Systems
6

− d = vres − d + rires − d − xires − q + deres _ d

new
eres g
(24) discrete time (using a sampling rate of 10 kHz). The
development of the test systems, WAC, and RES is performed
e = vres − q + rires − q + xires − d + de
new
res − q
g
(25)
res _ q in MATLAB/Simulink using discrete time EMT simulations.
Thus, the resulting active and reactive power flow between The objective of this section is to validate the performance
the grid tied inverter and the LC filter can be calculated: of the proposed control scheme. To achieve this, various
3 new simulation case studies were performed, based on the two
= Pdq (eres − d ires − d + eres
new
− q ires − q )
(26)
2 dynamic test systems. To verify the performance of the
3 new proposed WAC-RES integration (WAC-RES), a comparison
= Qdq (eres − q ires − d − eres
new
− q ires − q )
(27) was made with the normal operation scenario where no WAC
2 exists in the system, (No WAC) and the scenario where WAC
Furthermore, the new resulting active and reactive power of
exists in the system, but it considers only the generators (not
RES at the PCC (Pnew and Qnew) according to the WAC signals
the RESs) in its design (WAC only). This comparison was
are given in (30)-(31), by subtracting the LC filter losses of
carried out by utilizing the Prony analysis, to evaluate the
(28)-(29) from the power of (26)-(27).
damping capability of all the above scenarios. This analysis
3 2
= Plosses (ires − d + ires
2
− q )r
(28) tool has the important advantage of requiring only the
2 measured data to provide all the information regarding the
3 2 stability of the system. Therefore, the Prony method is applied
=Qlosses (ires − d + ires
2
−q ) x
(29)
2 to extract the damping ratio (ζ) and frequency (f) of local and
= Pdq − Plosses
Pnew (30) inter-area modes for all the examined scenarios and case
studies (Table I and Table II). Note that only the dominant
= Qdq − Qlosses
Qnew (31) modes are provided, which are estimated through their energy
Finally, the required coordination signals (dP and dQ) are content [28] and their constant appearance [29]. A higher
derived according to (32)-(33), where Pres and Qres represent damping ratio, means better WAC performance.
the current active and reactive power output of RES.
B. IEEE 9-Bus Dynamic Test System
=
dP Pnew − Pres (32) The IEEE 9-bus dynamic test system includes three
=
dQ Qnew − Qres (33) machines and three loads. The initial total load of the system is
315 MW and 115 MVAr. To illustrate the performance of the
It is to be noted that the lower bound of dP, can be as
proposed methodology, a significant penetration of large-scale
much as the WAC needs it to be. However, its upper bound is
renewables is considered. More specifically, three 20 MVA
limited by the available active power, which the RES can
RESs are integrated at buses 5, 6 and 8 through step-up
provide. The resulting dP and dQ signals derived by the WAC
transformers, as shown in Fig. 1.
scheme can now be sent to the respective renewables in order
to ensure that both generators and RESs can properly 1) Case Study 1: Constant Loads
contribute to the power oscillation damping. To present the increased performance of the proposed
WAC, in this first case study a symmetric fault occurs. More
V. CASE STUDY specifically, a 5-cycle three-phase fault (grounded) is
A. Simulation Description considered in the simulation (which occurs on the line
connecting bus 4 and bus 6 at t=8 s) along with constant loads.
The proposed integration of WAC with RESs has been
Table I lists the Prony analysis results, for the dominant local
implemented and applied to the IEEE 9-bus and 39-bus
and inter-area modes of the system. From Table I, it can be
dynamic test systems, both developed according to [26]. The
noted that in the case of both local and inter-area oscillations,
generators included in the simulations are equipped with their
the proposed WAC-RES scheme provides significant
own local controllers (exciter and governor) in order to achieve
additional damping compared to the WAC only and No WAC
dynamic responses [26]. The renewable is implemented
scenarios. Furthermore, Fig. 4a presents the frequency
according to a full detailed model of a central grid tied inverter
oscillation of generator 2 (G2), where it is evident that the
[24], (a typical three-phase two-level voltage source converter
proposed scheme surpasses all the other scenarios.
based on six switching IGBTs). The controller of the RES (Fig.
2) is based on advanced synchronization [21], current control 2) Case Study 2: Dynamic Loads
[22], and PQ control techniques [23], in order to achieve a In order to further verify the stability improvement of the
proper operation under grid disturbances. The parameters of proposed method, the aforementioned symmetric fault is
the LC filter of the GSC are crucial for the design of the WAC utilized again for the case where dynamic non-linear loads are
scheme. For the IEEE 9-bus system, the LC filter parameters of included in the test system. Specifically, the constant loads
all renewables are set to r=0.01 Ω, x=0.086 Ω, and Cf =292 μF located at buses 6 and 8 (Fig. 1) are substituted by
according to [27]. In the case of the IEEE 39-bus test system corresponding dynamic loads (considering the same initial
RESs, r=0.01 Ω, x=0.297 Ω, and Cf =0.132 mF. All the local active and reactive power). The model of the dynamic load
controllers utilized in the study, such as the RES controllers adopted in this case study is the exponential dynamic load
and generator local controllers, have been digitally designed in model, which is described by the following equations:

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2018.2822315, IEEE
Transactions on Power Systems
7

TABLE I TABLE II
Prony Analysis for the IEEE 9-bus test system Prony Analysis for the IEEE 39-bus test system
Constant Loads Load Change
Type Type
No WAC WAC only WAC-RES No WAC WAC only WAC-RES
ζ(%) f(Hz) ζ(%) f(Hz) ζ(%) f(Hz) ζ(%) f(Hz) ζ(%) f(Hz) ζ(%) f(Hz)
Local mode 3.85 1.9 4.68 1.9 5.27 1.9 Local mode 8.49 1.4 9.82 1.5 11.3 1.4
Inter-area Inter-area
mode 4.62 0.93 5.69 0.95 6.29 0.96 mode 20.8 0.66 22.3 0.66 27.4 0.67

Type Dynamic Loads Type Symmetric Fault

No WAC WAC only WAC-RES No WAC WAC only WAC-RES
ζ(%) f(Hz) ζ(%) f(Hz) ζ(%) f(Hz) ζ(%) f(Hz) ζ(%) f(Hz) ζ(%) f(Hz)
Local mode Instability Instability 4.35 1.9 Local mode 3.29 1.4 5.22 1.4 6.23 1.3
Inter-area Inter-area
mode Instability Instability 6.35 0.95 mode 12 0.79 10.6 0.85 12.3 0.83
DFIG and Dynamic Loads Asymmetric Fault
Type Type
No WAC WAC only WAC-RES No WAC WAC only WAC-RES
ζ(%) f(Hz) ζ(%) f(Hz) ζ(%) f(Hz) ζ(%) f(Hz) ζ(%) f(Hz) ζ(%) f(Hz)
Local mode 5.27 1.9 5.85 1.9 6.1 1.9 Local mode 5.45 1.4 5.72 1.5 6.56 1.5
Inter-area Inter-area
mode 5.3 0.93 5.57 0.94 6.08 0.94 mode 15.1 0.77 16.3 0.77 19.2 0.75
1.01 (a)
(a) 1.06

V7 (pu)
f3 (pu)

1.005
1.05
1
1.04
6 8 10 12 14 16 18 20 22 2 3 4 5 6 7 8
(b) 1.05
2
(b)
V27 (pu)
Vt1 (pu)

1
1

0 0.95
2 3 4 5 6 7 8
10 15 20 25 30
(c)
1.004 (c)
Vt3(pu)

f10 (pu)

1.002
1 1
0.998
0.996
0.9
2 3 4 5 6 7 8
6 8 10 12 14 16 18 20 22
WAC-RES WAC only No WAC Time (s) WAC-RES WAC only No WAC Time (s)
Fig. 4. Comparison of WAC-RES, WAC only and No WAC performances on Fig. 5. Comparison of WAC-RES, WAC only and No WAC performances
the IEEE 9-bus test system considering: (a) the frequency oscillation of G3 for on the IEEE 39-test system considering: (a) the terminal voltage oscillation
constant loads, (b) the voltage oscillation of G1 for dynamic loads, and (c) the of G7 during load change, (b) the voltage oscillation of bus 27 during a
voltage oscillation of G3 for DFIG and dynamic loads. symmetric fault, and (c) the frequency oscillation of G10 during an
asymmetric fault.
np
V  1 WAC-RES scenario damps effectively all the local and inter-
P( s) = P0   area oscillations. Consequently, in this case study, only the
 V0  1 + Tp s
(34)
proposed scheme is capable of restoring the system’s stability,
nq
V  1 outperforming the other two scenarios.
Q( s) = Q0  
 V0  1 + Tq s
(35) 3) Case Study 3: DFIG and Dynamic Loads
The objective of the third test is mainly to study the impact
where V, P and Q are the positive sequence voltage, the active of considering two dynamic loads and a DFIG wind turbine
power and the reactive power of the load respectively, while (in addition to the fully converted RES) in the test system,
V0, P0 and Q0 are their initial values. np and nq represent the when a symmetric fault takes place at bus 2. The dynamic
exponents which control the nature of the load. Lastly, Tp and loads are placed once again on buses 6 and 8, but in this case
Tq are the recovery time constants for the active and reactive study [np nq]=[1.01 1.04] and [Tp Tq]=[0.1s 0.2s]. The DFIG
power, respectively. For this case study, [np nq]=[0.39 1.72] wind turbine has substituted the fully converted renewable of
and [Tp Tq]=[363s 0.1s] in order to achieve an intense dynamic bus 12. The methodology, as it is presented in Section IV.B,
behavior of the two loads. As illustrated by Fig. 4b and Table can be applied directly to the GSC of the DFIG wind turbine
I, the No WAC and the WAC only scenarios lead the system regarding the reactive power coordination (dQ). The active
to instability when the fault occurs. On the contrary, the power coordination (dP) cannot be used directly in this type of
wind turbine due to the strong coupling between the active and

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2018.2822315, IEEE
Transactions on Power Systems
reactive power of the induction generator that does not
straightforwardly allow the decoupled coordination of the
DFIG. More specifically, by sending the dP signal to the GSC
will have as a result to also affect the rotor side converter
which in turn will change the active power of the rotor. As a
consequence, the active power of the stator of the induction
machine will change as well. Due to the coupling nature of the
induction machine, the reactive power of the DFIG will also
be affected. Therefore, only the dQ signal is sent to the GSC
which allows the decoupled coordination of the reactive power
without affecting the active power. Nevertheless, the Prony
results of Table I illustrate once again that the transient
performance of the system is improved with the proposed
WAC-RES scheme. More specifically, in Fig. 4c one can note
that the WAC-RES compensation of local oscillations excels
all the other scenarios.
C. IEEE 39-Bus Test System
This test system consists of ten machines and nineteen
loads. The initial total load of the system is 6097 MW and
1409 MVAr [26]. To apply a high penetration of renewables,
five 250 MVA RESs are considered to be installed on buses 8,
14, 24, 25 and 27 through step-up transformers. Table II
presents the Prony analysis results for the dominant local and
inter-area modes of all the case studies and scenarios.
1) Case Study 1: Load Change
To evaluate the performance of the proposed scheme in this
system as well, firstly a total load increase of 640 MW and
200 MVAr (11% increase of the initial load) occurs on the
loads of buses 3 and 16 at t=3 s. As shown in Table II and Fig.
5a, the proposed method surpasses the other two scenarios
regarding the effective damping of both local and inter-area
oscillations.
2) Case Study 2: Symmetric Fault
Next, a 5-cycle three-phase grounded fault has been applied
on the line connecting bus 3 and bus 4, at t=3 s. Table II
presents the Prony results of this case study, where it can be
seen that the WAC-RES scenario provides (once again) better
damping of the system’s oscillations (Fig. 5b). An interesting
point here is that although the No WAC scenario has a local
mode damping that is approximately half of the proposed
method’s performance, it has a comparable damping ratio to
the latter regarding the compensation of the inter-area modes.
3) Case Study 3: Asymmetric Fault
Finally, the application of an asymmetric fault has been
investigated. More specifically, a two-phase ungrounded fault
takes place on the line connecting bus 3 and bus 4, at t=3 s.
Table II illustrates clearly that in the case of an asymmetric
fault, the proposed scheme still has a better damping of both,
local and inter-area oscillations, compared to the WAC only
and No WAC scenarios. An example of the local oscillation
damping is illustrated in Fig. 5c, which presents the frequency
response of G10.
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8
VI. CONCLUSION
A hierarchical WAC scheme that coordinates the generator
and renewable local controllers is proposed to improve the
power system dynamic stability under a high penetration of
renewable energy sources. It utilizes wide area measurements
from the grid to provide suitable control actions to all the local
controllers for maximizing their performance. This control
scheme became feasible by making the generators “aware” of
the oscillations of the renewable sources and vice versa,
through the WAC signals. In addition, adjustments of the
derived RES WAC signals are presented, so that minor
modifications will be required on the existing RES local
controllers. Various case studies under different contingencies
based on the IEEE 9-bus and 39-bus dynamic test systems, are
used to evaluate the performance of the proposed control
scheme. In all cases, the simulation results indicate that the
proposed WAC coordination of generators and RESs improves
the damping performance of the entire system under a high
penetration of renewables. The results are obtained in
comparison to the normal operation scenario where no WAC
exists in the system and the scenario where WAC exists in the
system, but it does not consider the RESs in its design. To
verify the results, the Prony analysis has been utilized.
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Transactions on Power Systems
9

stability of power systems," in IEEE Trans. on Power Systems, vol. 24, VIII. BIOGRAPHIES
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"Reserve requirement impacts of large-scale integration of wind, solar, University of Athens, Greece, in 2013. In 2014, he
and ocean wave power generation," in IEEE Trans. on Sustainable obtained the MSc in Sustainable Energy Futures with
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currently a Ph.D. student in the Department of Electrical
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and Computer Engineering at the University of Cyprus
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