Alexandria Engineering Journal (2022) 61, 12187–12210

H O S T E D BY
Alexandria University

Alexandria Engineering Journal

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www.sciencedirect.com

Frequency regulation of hybrid multi-area power

system using wild horse optimizer based new
combined Fuzzy Fractional-Order PI and TID
controllers
Moetasem Ali, Hossam Kotb *, M. Kareem AboRas, H. Nabil Abbasy

Department of Electrical Engineering, Faculty of Engineering, Alexandria University, Alexandria, Egypt

Received 2 March 2022; revised 6 April 2022; accepted 6 June 2022

KEYWORDS Abstract The increasing penetration of renewable energy sources (RES) into modern power sys-
Fuzzy control; tems may reflect the problem of frequency stabilization. Therefore, this paper proposes a new com-
Frequency stability; bined Fuzzy Fractional-Order Proportional-Integral (FOPI) and Tilt-Integral-Derivative (TID)
Renewable energy; controller to improve the frequency response of a hybrid power system. The proposed controller
TID controller; combines the advantages of intelligent Fuzzy FOPI and conventional TID controllers, resulting
Wild horse optimizer in more effective and robust load frequency control. In this study, the parameters of the proposed
Fuzzy FOPI + TID combination are optimized using a novel metaheuristic algorithm, namely
Wild Horse Optimizer (WHO). The case study system is a two-area conventional power system inte-
grated with different RES including photovoltaic (PV) and wind generation as well as distributed
electric vehicles (EVs) between the two areas. The effectiveness of the proposed controller is tested
under various scenarios such as step load perturbation, random load variation, wind speed fluctu-
ation, solar irradiance change and sensitivity analysis. In addition, the disturbance of wave energy
oscillation is applied in Area 2 to evaluate the robustness of the proposed controller. For each sce-
nario, the proposed Fuzzy FOPI + TID controller is compared with the conventional PID, single
TID, and individual Fuzzy FOPI controllers using the proposed WHO algorithm and other opti-
mization algorithms presented in the previous literature. The results show that the proposed
FOPI + TID controller is superior to other controllers in terms of integral square error, peak

* Corresponding author.
E-mail addresses: moetasem.ali@alexu.edu.eg (M. Ali), hossam.kotb@alexu.edu.eg (H. Kotb), kareem.aboras@alexu.edu.eg (M. Kareem
AboRas), nabil.abbasi@alexu.edu.eg (H. Nabil Abbasy).
Peer review under responsibility of Faculty of Engineering, Alexandria University.
https://doi.org/10.1016/j.aej.2022.06.008
1110-0168 Ó 2022 THE AUTHORS. Published by Elsevier BV on behalf of Faculty of Engineering, Alexandria University
This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
12188 M. Ali et al.

Nomenclature

A Adaptive mechanism PI Proportional-integral

ACE Area control error PID Proportional-integral-derivative
AGC Automatic generation control PR,max Maximum value of power system limiter
ANFIS Adaptive neuro fuzzy inference system PR,min Minimum value of power system limiter
ANN Artificial neural network PS Positive small
B Big PSO Particle swarm optimization
B1, B2 Frequency bias coefficients PV Photovoltaic
dACE Derivative of area control error Q Population size
DE Differential evolution R Random variable
EV Electric vehicle R1, R2 Speed droops of power system
FF Fitness function S Small
FIS Fuzzy inference Sj Stallion position
FLC Fuzzy logic control SLP Step load perturbation
FO Fractional-order SR Number of stallions in the population
FOPI Fractional-order proportional-integral TD Tilt-derivative
FOPID Fractional-order proportional integral derivative TI Tilt-integral
Fuzzy FOPI Fuzzy Fractional-order proportional integer TID Tilt-integral-derivative
GA Genetic algorithm Ts Settling time
GWO Grey wolf optimizer Tsim Simulation time
H Total number of horses groups VB Very big
ISE Integral square error VVB Very very big
K1, K2, K3 Scaling factors WHO Wild horse optimizer
Kd Derivative gain WP Waterhole position
KEV Electric vehicle gain Z Zero
Ki Integral gain DF1 Frequency deviation in area 1
Kline Synchronizing coefficient DF2 Frequency deviation in area 2
Kp Proportional gain DPtie Tie-line power deviation
Ks Solar PV gain k Integral order of FOPI controller
Kt Tilt gain sEV Time constant of electric vehicle
Kw Wind turbine gain sg1 Time constant of steam governor
LFC Load frequency control sg2 Time constant of hydropower governor
M Medium sH1 Reset time of hydropower
MO Maximum overshoot sH2 Transient droop of hydropower
MPC Model predictive control sH3 Starting time of water for the hydropower
MU Maximum undershoot sR Steam turbine time constant
n Fractional order of tilt integral gain ss Solar PV time constant
NB Negative big sw Wind turbine generator time constant
PB Positive big

overshoot, maximum undershoot and settling time for all scenarios. Furthermore, the presence of
EVs helps in improving the frequency and tie-line power deviations. Finally, the time domain sim-
ulations are implemented using Matlab/Simulink.
Ó 2022 THE AUTHORS. Published by Elsevier BV on behalf of Faculty of Engineering, Alexandria
University This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/
licenses/by-nc-nd/4.0/).

1. Introduction (LFC) has been proposed to maintain the frequency stability

During the last decade, power systems have suffered from the
problem of frequency instability when the balance between the
generated power and the demand load is missing [1]. This issue
has become dominant due to the presence of renewable energy
sources such as wind and solar in power systems, where fluctu-
ations in wind speed and solar irradiance exhibit severe distur-
bances in the system [2,3]. Currently, load frequency control
of the system and has provided good results in different sys-
tems with various disturbances [4,5]. Generally, the LFC is
divided into primary, secondary, and tertiary control where
the problem of frequency instability belongs to the secondary
control and is usually referred to as the automatic generation
control (AGC) [6]. In addition, the LFC is responsible for min-
imizing the frequency and tie-line power deviations when the
system is subjected to severe disturbances [7].
Frequency regulation of hybrid multi-area power system using wild horse optimizer
Different control structures have been presented in the pre-
vious literature for load frequency control of power systems.
First, the conventional integral order controllers such as PI
and PID controllers have been introduced as load frequency
controllers due to their simplicity [8]. As a result, soft comput-
ing methods have been implemented for tuning different con-
trollers. The design of LFC has been further studied using
multiple optimization techniques such as particle swarm opti-
mization [9], whale optimization algorithm [10], cuckoo search
algorithm [11], and marine predators algorithm [12]. Several
LFC approaches have been proposed for multi-area intercon-
nected power systems using PID controllers. These approaches
contributed to the initial stage of the deregulated LFC opera-
tion. However, it has been observed that the majority of
researchers have focused on LFC concerns that are limited
to the conventional power system. Moreover, the high penetra-
tion of RES may lead to some challenges such as voltage insta-
bility, frequency deviation, poor power quality and reliability
issues.
Unfortunately, classical PID controllers have some limita-
tions in dealing with system uncertainties such as RES fluctu-
ation [13]. Hence, some modifications have been introduced to
improve the performance of traditional PID controllers such
as the tilt-integral derivative (TID) and the fractional-order
PID (FOPID) controllers. These controllers are based on frac-
tional calculus [14]. The TID compensator has been used to
design the LFC for a multi-area power system using various
optimization techniques such as the differential evolution algo-
rithm [15] and the performance index method [16]. Moreover,
the TID controller has the advantages of having better distur-
bance rejection ratio, simpler tuning, and smaller effects of sys-
tem parameters variation on the system response compared to
the PID controller. Furthermore, the FOPID controller
increases the efficiency of the conventional PID controller
because it offers greater degrees of freedom [17]. The LFC-
based FOPID controller has been tuned using a genetic algo-
rithm [18], particle swarm optimization [19], hybrid moth
flame optimization [20], generalized Hopfield neural network
[20], and pollination algorithm [21]. The FOPID has provided
better dynamic specifications and good results compared to the
PID controller.
Recently, intelligent controllers have been introduced for
LFC design, such as model predictive control (MPC), adaptive
neuro-fuzzy inference system (ANFIS), artificial neural net-
work (ANN), and fuzzy logic control. The MPC has been used
for stabilizing the system integrated with wind turbines as dis-
cussed in [22] and [23]. In addition, the ANFIS has been used
as LFC for a system that includes multiple RES optimized by
the ant lion optimizer [24]. Moreover, an integrated system
with a solar power plant has been controlled using ANN in
[25]. Currently, there is a lot of research on the use of the fuzzy
logic controller, especially when it is combined with a conven-
tional PID controller or a fractional-order controller. The
fuzzy logic controller provides more accuracy for better
results. Hence, the overall performance of the system can be
improved by selecting the optimum membership functions
for both the inputs and the outputs [26,27]. The fuzzy logic
controller has been integrated with the PID controller and
optimized using several approaches such as the marine preda-
tors algorithm [28] and the sine-cosine algorithm [29]. Further-
more, a fuzzy-FOPID controller has been designed in [30,31]
using a differential evolution algorithm. Moreover, various
12189
cascaded controllers have been implemented for the LFC
design such as PI-PD controller [32], TD-TI controller [33],
PI-FOPID controller [34], and FOPI-FOPD controller [35].
Nowadays, electric vehicles (EVs) are utilized as battery
energy storage systems. When the main supply is out of service,
they can improve the LFC performance when their stored
energy is discharged [36]. The effect of conventional grid-
connected electric vehicles has been studied in [37] using FOPID
tuned by a salp swarm optimizer. Moreover, the authors in [38]
tested the effect of electric vehicles in a four-area power system.
Also, EVs have been used to increase the stability of the system
when exposed to fluctuations in wind speed as discussed in [39].
In addition, the power system in [40] has been integrated with
EVs which enhanced the system stability.
In the literature surveyed above, although conventional and
fractional-order combined controllers have been extensively
investigated, no attempt has been made to investigate the com-
bination of smart controllers and fractional-order controllers
for the LFC problem. Here comes the role of this paper.
Meanwhile, there are some drawbacks in the mentioned opti-
mizers such as low convergence speed, low accuracy, complex
parameter setting and lack of robustness, which are found in
the genetic algorithm [41], particle swarm optimization [9], dif-
ferential evolution [31], and grey wolf optimization [42].
Hence, a new hybrid Fuzzy FOPI + TID tuned by Wild Horse
Optimizer (WHO) is proposed in this paper as a load fre-
quency controller for a two-area interconnected power system.
The WHO is a novel metaheuristic algorithm studied by Nar-
uei et al. to overcome the demerits of the mentioned algo-
rithms, which is based on the social life of wild horses [43].
The WHO algorithm has been effectively used to obtain the
best parameters of the double diode PV model [44] and the
optimal sizing of PV, wind, and battery systems in [45]. More-
over, this paper provides a new controller based on a novel
algorithm that has not been used in the design of LFC yet.
Hence, the major contributions of this paper can be outlined
as follows:

Proposing a new robust Fuzzy FOPI + TID controller to
maintain stability and improve the frequency response of
a hybrid interconnected power system.

Using the WHO algorithm to find the optimal parameters
of the proposed controller which is a novel application in
this regard.

Studying the effect of EVs on the frequency response of the
system.

Using real wind speed and actual solar irradiance data in
system modeling.

Testing the effectiveness of the proposed controller under
different perturbations.

Application of wave energy disturbance to show the robust-
ness of the proposed controller.

Comparing the WHO algorithm with other optimizers pre-
sented in the previous literature such as GA, PSO, DE and
GWO algorithms.

Proving the superiority of the proposed Fuzzy
FOPI + TID controller using extensive comparisons of
the Fuzzy FOPI + TID controller against conventional
PID, single TID, and single Fuzzy FOPI controllers.
This paper is organized as follows: Section 2 highlights the
mathematical modeling of the components of the case study
12190 M. Ali et al.

Fig. 1 Schematic diagram of the case study system.

system. Section 3 introduces the WHO algorithm steps. Expla-

nation of the problem formulation and proposed controller Table 1 Values of the system model parameters.
structure are given in Section 4. Simulation results for different System Model Parameter Value
scenarios are discussed in Section 5. Finally, the conclusions of Non-reheat thermal power plant PR;min ¼ 0:5
this paper are provided in Section 6. PR;max ¼ 0:5
sg1 ¼ 0:08
2. Case study system modeling sR ¼ 0:3
Hydraulic power plant PR;min ¼ 0:5
PR;max ¼ 0:5
The hybrid system for the case study in this work consists of
sg2 ¼ 41:6
two areas connected by an AC tie-line as shown in Fig. 1. Area sH1 ¼ 5
1 contains a non-reheat thermal power plant, a wind turbine sH2 ¼ 0:513
system, electric vehicles (EVs), and a load. Area 2 contains a sH3 ¼ 1
hydropower plant, a PV system, EVs, wave energy distur- Wind turbine Kw ¼ 1
bance, and a load. For the case study system, wind and solar sw ¼ 1:5
power plants can supply about 20% and 25% of the total sys- Solar PV Ks ¼ 1
tem capacity, respectively. In addition, thermal and hydroelec- ss ¼ 1:3
tric power plants can provide approximately 30% and 25% of Electric vehicle KEV ¼ 1
the total system capacity, respectively. The battery capacity of sEV ¼ 1
Area swing H1 ¼ H2 ¼ 0:0833
the electric vehicle in each area is the same as the capacity of
D1 ¼ D2 ¼ 0:00833
the renewable energy sources connected to the area. The Tie-line Kline ¼ 0:5434
hybrid power system is subjected to various disturbances such Frequency bias coefficients B1 ¼ B2 ¼ 0:4249
as variation of solar irradiance, wind speed fluctuation, wave Speed droops R1 ¼ R2 ¼ 2:4
energy disturbance and sudden step load perturbation. Then,
the stability of the system may be affected causing frequency
deviations in each area (DF1 and DF2) as well as the tie-line
power deviation (DPtie). As a result, load frequency control functions, as they can be represented using Equations (1)
based on a new hybrid Fuzzy FOPI + TID controller is pro- and (2) as follows [47–50]:
posed in each area to improve the frequency response under
1
these conditions. The controller parameters are optimized Ggovernor ¼ ð1Þ
using Wild Horse Optimizer (WHO). The efficiency and sg1 s þ 1
robustness of the proposed controller are tested in different
1
scenarios, where the system is subjected to various distur- Gturbine ¼ ð2Þ
bances, as will be discussed in Section 5. To simplify, the trans- sR s þ 1
fer functions of different models in this system are assumed to where sg1 and sR are the time constants of the governor and
be linear showing high accuracy as presented in [28], [34] and steam turbine, respectively.
[46]. Parameter values of system models are given in Table 1
[36,40]. In addition, a mathematical representation of the sys- 2.2. Hydropower plant model
tem models is presented in the following subsections:
The hydropower plant contains a governor and a hydro tur-
2.1. Non-reheat thermal power plant model bine. The governor is responsible for controlling the output
power of the turbine, where there is a compensator in the
In this work, the thermal power plant consists of a governor, a turbine to make the governor stable [51]. The linear transfer
limiter and a prime mover or turbine stage. Both the governor function of the hydraulic plant can be described using
and the turbine can be simply modeled using linear transfer Equation (3) [52]:
Frequency regulation of hybrid multi-area power system using wild horse optimizer 12191

1 sH1 s þ 1 sH3 s þ 1
Ghydro ¼ ð Þð Þð Þ ð3Þ
sg2 s þ 1 sH2 s þ 1 0:5sH3 s þ 1

where sg2 , sH1 , sH2 , and sH3 represent the governor time con-
stant, the reset time of the governor, the transient droop,
and the starting time of the hydro turbine, respectively.

2.3. Wind turbine model

In this work, the wind turbine generator is implemented as a

linear transfer function, which describes the relationship
between the wind power variation as input and the extracted
power from the turbine as output. In addition, Equation (4)
can represent the transfer function of the wind turbine model
[53,54]: Fig. 3 Wind turbine power fluctuation.

kw
GW ¼ ð4Þ
sw s þ 1
where Kw and sw are the gain and time constant of the wind
turbine model, respectively. The wind speed data has been col-
lected in April 2020 from a real wind power plant in Zafarana,
Egypt (with 32.59E longitude and 29.23° N latitude) [28,34].
Fig. 2 shows the wind speed variation which fluctuates between
6.0 and 14.0 m/sec. In addition, Fig. 3 shows the output power
of the wind turbine which varies between 0.03 and 0.2 p.u.

2.4. Solar PV model

Similarly, the PV power plant can be modeled using a linear

transfer function as in Equation (5), where the input is the
solar irradiance variation and the PV power is the output Fig. 4 Variation of solar radiation.
[55,56]:
Ks
GPV ¼ ð5Þ
ss s þ 1
where Ks and ss represent the gain and time constant of the PV
model, respectively. The solar irradiance data has been col-
lected from a PV power plant in Aswan, Egypt (with a longi-
tude of 32.89° E and a latitude of 24.08° N) in July 2020
[28,34]. Fig. 4 shows the normal distribution of solar irradi-
ance with a maximum of 1000 W/m2. In addition, the solar
PV power is shown in Fig. 5 with a maximum power of 0.25
p.u.

Fig. 5 PV output power variation.

2.5. Wave energy disturbance model

In this work, a wave energy disturbance is applied in Area 2 to

test the robustness of the proposed controller. The wave
energy oscillation is shown in Fig. 6 and can be represented
using Equation (6) as follows [57]:

  pt 
2pt
Pwave ¼ 0:1Sin þ 0:05Sin ð6Þ
Fig. 2 Variation of wind speed. 12 12
12192
Fig. 6 Fluctuations of wave energy disturbance.
The wave energy oscillation is considered a severe distur-
bance and it can be used to prove the efficiency of the proposed
controller in damping the frequency oscillation.
2.6. Electric vehicles (EVs) model
Nowadays, electric vehicles are widely used in load frequency
control as they are utilized as battery energy storage to main-
tain the stability of the system [38]. EVs are used as a backup
source of power when the main supply is suddenly out of ser-
vice [58]. The EV is modeled as a linear transfer function in the
proposed system, where the transfer function of the EV can be
represented using Equation (7) [59,60]:
KEV
GEV ¼ ð7Þ
sEV s þ 1
where KEV and sEV are the gain and time constant of EV
model, respectively. The EVs can be utilized in improving
the frequency response by two modes of control. The first
mode is called (V1G), where the EVs are controlled to switch
on or off during the charging process. However, the second
mode, namely, V2G is used to control the charging and the dis-
charging process of EVs to/from the grid. Moreover, the two
modes can be summarized as follows:
(1) V1G mode: In this mode, the state of charge (SOC) of
EV battery can be controlled as shown in Equations
(8) and (9):
V1G
SOCmax ¼ SOCnormal
max þ kDf ð8Þ
SOCmin  SOCmax
V1G
1 ð9Þ
where SOCmax V1G
is the maximum modified SOC under V1G
normal
mode, SOCmax represents the maximum normal SOC of the
EV battery, SOCmin is the minimum required SOC for the
EV battery, and k is the participation factor. When the loading
on the system decreases, the system frequency will increase
(Df > 0), so there is an excess power in the system to charge
the EV. On the other hand, the EV battery will discharge its
stored energy when the loading increases (Df < 0Þ, so the EV
battery will be converted to the V2G mode.
(2) V2G mode: In this mode, the state of charge (SOC) of
EV battery can be controlled as shown in Equations
(10) and (11):
M. Ali et al.
V2G
SOCmax ¼ 1 þ kDf þ ðSOCnormal
max  SOCmin Þ ð10Þ
SOCmin  SOCmax
V2G
1 ð11Þ
V2G
where SOCmax is the maximum modified SOC under V2G
mode. The EV battery discharges its power to the system when
the system frequency decreases.
The block diagram of the case study model is shown in
Fig. 7. The active and reactive powers of the load can be
described as follows:
PL ¼ PPQZIP ð1 þ kpf DfÞ ð12Þ
QL ¼ QPQZIP ð1 þ kqf DfÞ ð13Þ
where PPQZIP and QPQZIP represent the active and reactive
power for the ZIP model at the nominal frequency, respec-
tively. kpf and kqf are constants for the relationship between
the change in frequency and parameters of load.
Furthermore, the generated power in each area can be
described in Equation (14):
PG ¼ Pset
G þ DPG þ DPG
p s
ð14Þ
where Pset
G is the setting value of the generated power. How-
ever, DPpG and DPsG represent the change in the active power
due to the primary and secondary frequency controllers,
respectively. They can be calculated as follows:
PR
DPpG ¼  Df ð15Þ
R
DPsG ¼ k  ACE ð16Þ
where PR and R represent the inertial and droop characteristics
of the generator, respectively. In addition, k and ACE are a
participation factor and the area control error, respectively.
The ACE will be discussed in detail in Section 4.
In Table 1, PR;min and PR;max represent the minimum and
maximum limits of the limiter for the governor gate of the
thermal and hydraulic power plants, respectively. In the next
section, the explanation of the Wild Horse Optimizer (WHO)
will be presented in detail.
3. Wild Horse optimizer algorithm
Wild horse optimizer (WHO) is a recent metaheuristic algorithm
proposed by Naruei et al. [43] based on the social life of wild
horses. In this algorithm, different behaviors can be represented
by wild horses such as grazing, mating, hunting, leading, and
chasing. Horses are classified into two social groups: non-
territorial and territorial. However, the WHO algorithm focuses
on the non-territorial groups which consist of the group leader,
called the stallion, multiple mares, and their offspring. The role
of the stallion is to lead the group and communicate with the
mares, as the foals begin their lives with grazing behavior. More-
over, when foals exceed the age of puberty, they leave their
groups and join another group. The procedure of the WHO
algorithm can be summarized in the following steps [43,44]:
3.1. Population initialization
In this step, the parameters required for the WHO algorithm
are initialized to evaluate the initial solutions, and then
Frequency regulation of hybrid multi-area power system using wild horse optimizer
Fig. 7 The hybrid two-area system model with the proposed controller.
updated according to the algorithm procedure. Horses are
divided into several groups and each group has one stallion.
This division can be evaluated using Eq. (17) as follows [43,44]:
H ¼ Q  SR ð17Þ
where H represents the total number of groups, Q is the pop-
ulation size, and SR indicates the number of stallions in the
population.
3.2. Grazing behavior
This step presents the grazing behavior of foals before they
reach puberty. The stallion is assumed to be at the centre of
the grazing area, where the remaining group members sur-
rounding the centre of the area. This behavior can be repre-
sented using Eq. (18) [43,44]:
 
Xjiþ1;H ¼ 2A  cosð2pRAÞ  Sj  Xji;H þ Sj ð18Þ
12193
where i is the number of the group member, j represents the
number of stallions, Xjiþ1;H , Xji;H represent the position of the
group member in the next and current iteration, respectively,
A is randomly selected adaptive mechanism, R is a random
number from [-2,2], and Sj is the stallion position.
3.3. Horse mating behavior
This phase presents the behavior of foals after reaching pub-
erty age. As mentioned earlier, foals leave their groups and join
another group in order to mate and to prevent fathers from
marrying their daughters and sisters. Furthermore, this behav-
ior can be represented using Eq. (19) [43,44]:
XtH;l ¼ MeanðXuH;i ; XwH;j Þ and i–j–l ð19Þ
where XtH;l represents the position of the horse t of group l ,
XuH;i indicates the position of the foal u of group i, and XwH;j
12194 M. Ali et al.

Fig. 8 The WHO algorithm flowchart.

Frequency regulation of hybrid multi-area power system using wild horse optimizer 12195

is the position of the foal w of group j, where the foal u mates
with foal w in the group l. Hence, the necessary condition for
mating is achieved.
3.4. Group leadership
In this phase, the group stallion leads the members of the
group to a waterhole for feeding. Also, the stallion fights with
other stallions to dominate the waterhole. This behavior can
be represented using Eq. (20) [43,44]:
 with a population size of 30. Table 2 also provides the WHO
2A  cosð2pRAÞ  ðWP  Si;G Þ þ WP if r1 > 0:5
Siþ1;G ¼
2A  cosð2pRAÞ  ðWP  Si;G Þ  WP if r1  0:5
ð20Þ
where Siþ1;G , Si;G represent the next and current position of the
leader, respectively, WP is the position of the waterhole and r1
is random vector between [0,1].
leader is taken among the whole leaders in the iterations at
the end of the algorithm procedure. This step can be repre-
sented by Eq. (21) as follows [43,44]:

Xi;G if cos tðXi;G Þ < cos tðSi;G Þ
Si;G ¼ ð21Þ
Si;G if cos tðXi;G Þ > cos tðSi;G Þ
The WHO algorithm flowchart is shown in Fig. 8. In this
work, the stopping criterion is to perform the optimization
process up to the maximum number of iterations (Max. It).
The optimization technique is evaluated using 100 iterations,
algorithm parameters’ setting values for this study for the best
fitness value at the end of the optimization process.
In the next section, the problem formulation and the struc-
ture of the proposed controller will be discussed.
4. Proposed controller structure and problem formulation

3.5. Leaders exchange and selection Since classical controllers have some limitations in dealing
with system uncertainties based on previous literature, this sec-
Finally, the group leader is selected to get the best fitness value. tion presents the design of a hybrid FOPI + TID controller to
In each iteration, the group leader is chosen, where the best solve the LFC problem. The proposed controller combines the
advantages of intelligent Fuzzy FOPI and conventional TID
controllers, resulting in more effective and robust load fre-
quency control. The structure of the TID controller is similar
Table 2 Setting values of the WHO parameters. to that of the PID controller, with the exception that the pro-
portional component is replaced with a tilted component that
WHO Value
has a transfer function of sð1=nÞ . Equation (22) represents the
Parameter
transfer function of the TID controller as follows [14,61]:
SR 0.2
H Kt Ki
6 C1 ðsÞ ¼ 1 þ þ Kd s ð22Þ
Q 30 sðnÞ s
Number of 24
where Kt is the tilt gain, Ki is the integral gain, Kd is the deriva-
foals
tive gain, and n represents the fractional order of the tilted
R 0.2372
WP [ 2, 1.83, 0, 2, 2, 2, 0, 0, 0, 1, 0, 0, 0, 4.7, 20, 20, 3.19, component. The structure of the TID controller is shown in
20, 20, 12.7] Fig. 9 [61], where the frequency deviation of the area (DFi ) is
the input signal to the TID controller.
Moreover, compared with the traditional PID controller,
the resulting transfer function of the TID controller has the
advantages of having better disturbance rejection ratio, sim-
pler tuning, and smaller effects of system parameters variation
on the dynamic response. In addition, the FOPI controller is
another type of fractional-order controller which provides bet-
ter system performance and flexibility [62]. The FOPI con-
troller is almost similar to the PI controller, except that it
has a fractional integral which gives it a supplementary advan-
tage over the PI controller. Equation (23) represents the trans-
fer function of the FOPI controller as follows [63]:
Ki
C2 ðsÞ ¼ Kp þ ð23Þ
Fig. 9 Structure of the single TID controller. sk

Fig. 10 Structure of the single Fuzzy FOPI controller.

12196 M. Ali et al.

Fig. 11 Schematic diagram of the proposed Fuzzy FOPI + TID controller.

where Kp , Ki , and k represent the proportional gain, integral the system frequency response can be significantly improved
gain, and non-integer order of integrator, respectively. Fur- by using the hybrid Fuzzy FOPI + TID controller compared
thermore, a Fuzzy logic controller (FLC) can be added to to each individual controller.
the FOPI controller to enhance its performance and increase
its efficiency [64]. Fig. 10 shows the structure of the Fuzzy
FOPI controller where the inputs to the fuzzy controller are
the area control error (ACEi) and its derivative (dACEi).
The gains K1, K2, and K3 are represented as scaling factors.
The area control error for each area can be given as follows
[46]:
ACE1 ¼ B1 DF1 þ DPtie ð24Þ

ACE2 ¼ B2 DF2 þ DPtie ð25Þ

A combination between the TID controller and the Fuzzy
FOPI controller is proposed in this paper to further improve
the frequency response of the case study power system. The
structure of the hybrid Fuzzy FOPI + TID controller is shown
in Fig. 11. The proposed controller has two different inputs
including DFi and ACEi for each area. The use of the two feed-
back signals in the proposed controller is useful for damping Fig. 13 Triangular membership functions for the input dACE.
low-frequency and high-frequency oscillations. As a result,

Fig. 12 Triangular membership functions for the input ACE. Fig. 14 Triangular membership functions for the output Kp.
Frequency regulation of hybrid multi-area power system using wild horse optimizer 12197

Fig. 16 shows the control surface which describes the input-

output relationship of the FLC. This mainly reflects the non-
linear mapping between the outputs and the inputs. As the
range of both input and output changes, the shape of the con-
trol surface changes. Therefore, the frequency and tie line
power deviations will change, and the system may be unstable
in some cases. It is a complicated process to choose the most
optimum values and shape of inputs and outputs for FLC.
The main goal of the proposed load frequency controller is
to minimize the frequency deviations (DF1, DF2) as well as
reduce the tie-line power deviation (DPtie) upon system uncer-
tainties. This can be achieved optimizing the parameters of the
Fuzzy FOPI + TID controller. In this work, the integral
square error (ISE) is considered as the objective function that
Fig. 15 Triangular membership functions for the output Ki. is used to evaluate the performance of the controller. The ISE
is one of the most commonly used fitness functions (FF) in the
LFC problem statement and can be presented as follows [68]:
Z Tsim
Table 3 Rule base of the FLC. FF ¼ ISE ¼ ððDF1 Þ2 þ ðDF2 Þ2 þ ðDPtie Þ2 Þdt ð26Þ
0
ACE dACE
NB NS Z PS PB where Tsim represents the simulation time. Hence, the prob-
lem formulation can be defined as:
NB S S M M B Minimize FF
NS S M M B VB
Subject to the following constraints:
Z M M B VB VB
PS M B VB VB VVB 8
>
> K1;min  K1  K1;max
PB B VB VB VVB VVB >
>
>
> K2;min  K2  K2;max
>
>
>
>
>
> K3;min  K3  K3;max
>
>
>
> Kp;min  Kp  Kp;max
>
>
The main steps for the Fuzzy logic controller (FLC) imple- >
< Ki1;min  Ki1  Ki1;max
mentation are summarized as follows [41,65],: ð27Þ
>
> kmin  k  kmax
>
>
>
>
(1) Fuzzification: The FLC converts both ACE and its >
> K t;min  Kt  Kt;max
>
>
derivative (dACE) into five linguistic variables in the >
> nmin  n  nmax
>
>
fuzzification step. In this work, five triangular member- >
>
>
> Ki2;min  Ki2  Ki2;max
ship functions are used for both FLC inputs and outputs >
:
for simplicity [28] as shown in Figs. 12-15. They are Kd;min  Kd  Kd;max
called negative big (NB), negative small (NS), zero (Z),
positive small (PS), and positive big (PB). It can be seen where the boundaries of K1, K2, and K3 are specified in the
that the membership functions of the input ACE lie in range [0, 2]. In addition, the limits of Kp1, Ki1, Kt1, Ki2, and
the range [-1, 1] and that of the input dACE are in the Kd1 are selected in the range [0, 20]. Moreover, the lower
range [-0.01, 0.01]. and upper bounds of k and n are specified in the range [0, 1]
(2) Rule base formation: The FLC takes the linguistic vari- and [0, 10], respectively. The mentioned values of the
ables from the fuzzification process and applies fuzzy controller parameters range are shown in [28,46], and [67]. In
rules based on these values as shown in Table 3, where
the type of fuzzy inference (FIS) used is Mamdani [28].
The rule base of the FLC depends on the experience of
the designer. For examples, the output of the FLC is
small when both ACE and dACE are negative big
according to Table 3. The output of the FLC is also
small when ACE is negative big and dACE is negative
small and so on. Each system has its own rule base to
get the most optimum response.
(3) Defuzzification. The outputs from the FIS system are
also linguistic variables which are inputs to the defuzzi-
fication process. They are called small (S), medium (M),
big (B), very big (VB), very very big (VVB). In addition,
the defuzzification process converts these variables into
crisp variables where the type of defuzzification used is
bisector [66]. The two outputs of the FLC are taken as
inputs to the FOPI controller. Fig. 16 Control surface of the FLC.
12198 M. Ali et al.

the next section, simulation results for different scenarios will
be discussed.
5. Simulation results and discussion
In this section, the performance of the two-area hybrid system
is discussed upon various uncertainties such as step load
perturbation, random load variation, wind speed fluctuation,
solar irradiance change, and wave energy fluctuation.
In addition, the impact of the electric vehicle in each area is
studied as well as a sensitivity analysis to system parameters
change is presented to show the robustness of the proposed
controller under different scenarios. For each scenario, the pro-
posed Fuzzy FOPI + TID controller is compared with the con-
ventional PID, single TID, and single Fuzzy FOPI controllers
using the proposed WHO algorithm and other optimization
algorithms. This comparison includes the value of the ISE
objective function as well as the time response and dynamic
specifications of the frequency and tie-line power deviations.

Table 6 Best ISE values using different controllers for 10%

SLP.
Controller ISE  105
GA-TID [69] 9.62
PSO-TID [70] 8.92
DE-TID [71] 10
GWO-TID [69] 8.9
WHO-TID 8.84
GA-Fuzzy FOPI [41] 1.42
PSO-Fuzzy FOPI [72] 1.02
DE-Fuzzy FOPI [31] 1.04
GWO-Fuzzy FOPI [73] 1.008
WHO-Fuzzy FOPI 1.005
WHO-Fuzzy FOPI + TID 0.000097
Fig. 17 Convergence characteristics of all studied algorithms.

Table 4 Optimal gains of different controllers in Area 1 for 10% SLP.

Controller Area 1
K1 K2 K3 KP Ki1 k Kt n Ki2 Kd
GA-TID [69] – – – – – – 0.73 1.13 12.39 19.5
PSO-TID [70] – – – – – – 11.07 3.74 6.39 14.6
DE-TID [71] – – – – – – 5.16 9.64 5.27 5.6
GWO-TID [69] – – – – – – 11.48 2.63 4.99 6.92
WHO-TID – – – – – – 7.51 1 0 5.2
GA-Fuzzy FOPI [41] 0.32 1.27 0.001 1.63 2 0.23 – – – –
PSO-Fuzzy FOPI [72] 0.4 1.8 0.001 1.08 0.54 0.68 – – – –
DE-Fuzzy FOPI [31] 1.04 0.46 0.002 0.075 0.34 0.29 – – – –
GWO-Fuzzy FOPI [73] 0.03 0.27 0.34 0.95 0.45 0.5 – – – –
WHO-Fuzzy FOPI 0.11 0.42 0.001 0.1 2 0.16 – – – –
WHO-Fuzzy FOPI + TID 0.9 0.2 1.91 6.19 6.05 0.79 0.03 6.67 12.58 16.95

Table 5 Optimal gains of different controllers in Area 2 for 10% SLP.

Controller Area 2
K1 K2 K3 KP Ki1 k Kt n Ki2 Kd
GA-TID [69] – – – – – – 20 4.56 19.18 19.72
PSO-TID [70] – – – – – – 20 9.81 18.5 18.7
DE-TID [71] – – – – – – 20 9.26 18.25 18.21
GWO-TID [69] – – – – – – 20 10 19.97 20
WHO-TID – – – – – – 20 10 20 20
GA-Fuzzy FOPI [41] 0.74 2 0.37 0.002 1.16 0.52 – – – –
PSO-Fuzzy FOPI [72] 0.96 1.4 0.3 1.14 0.73 1 – – – –
DE-Fuzzy FOPI [31] 0.99 1.35 0.13 1.92 1.59 0.29 – – – –
GWO-Fuzzy FOPI [73] 1.2 1.57 0.57 0.69 0.24 0.99 – – – –
WHO-Fuzzy FOPI 0.47 1.98 2 0.59 0.13 0.99 – – – –
WHO-Fuzzy FOPI + TID 1.9 1.95 1.97 11.1 19.69 0.06 20 8.02 19.95 18.96
Frequency regulation of hybrid multi-area power system using wild horse optimizer 12199

5.1. Scenario (1): Effect of step load perturbation Fuzzy FOPI + TID controller tuned by the WHO algorithm.
Furthermore, different optimization algorithms such as GA,
This scenario examines the effect of applying 10% step load PSO, DE, and GWO are compared with the proposed WHO
disturbance in Area 2 to show the efficiency of the proposed optimizer. All algorithms are evaluated using 100 iterations

Fig. 18 Area control error for 10% SLP in: (a) Area 1 and (b) Area 2.

Fig. 19 Control signal in: (a) Area 1 and (b) Area 2.

Fig. 20 Generation profile under 10% SLP in area 2 for (a) non-reheat thermal power plant and (b) hydropower plant.
12200 M. Ali et al.

with a population size of 30. Fig. 17 shows the convergence the Fuzzy FOPI + TID controller achieves the lowest fitness
curve for the studied algorithms. It can be seen that the value followed by the single Fuzzy FOPI and the single TID
WHO algorithm has better convergence and lower fitness value controller. On the other hand, the conventional PID controller
compared to other algorithms. Moreover, Tables 4 and 5 show has the highest fitness value compared to the others. This con-
the optimal gains of the proposed WHO- Fuzzy FOPI + TID firms the superiority of the proposed controller.
controller as well as other controllers in Area 1 and Area 2, To further prove the efficiency of the proposed Fuzzy
respectively. FOPI + TID controller, the dynamic responses of DF1, DF2
In addition, Table 6 summarizes the best ISE fitness values and DPtie are shown in Fig. 22 (a-c) based on different con-
using different optimized controllers. It can be observed that trollers tuned by the WHO algorithm. The Fuzzy
the proposed WHO-Fuzzy FOPI + TID controller provides FOPI + TID controller exhibits the best responses followed
the lowest fitness function of 0:000097  105 followed by by the single Fuzzy FOPI controller. However, the classical
the single Fuzzy FOPI controller. In contrast, the single TID
controller has the worst (or the highest) fitness function espe-
cially using the DE algorithm. Therefore, the proposed combi-
nation between Fuzzy FOPI and TID controllers achieves
lower fitness value and better response compared to each indi-
vidual controller especially when tuned by the proposed WHO
algorithm. Finally, the fitness function value can be improved
by approximately 99% using the proposed WHO-Fuzzy
FOPI + TID controller compared to other controllers that
proves the superiority of the proposed controller.
The area control error in both areas for 10% SLP are
shown in Fig. 18. However, Fig. 19 represents the control sig-
nal from the controllers in each area. In addition, the output
power responses of both non-reheat thermal power plant and
hydropower plant are shown in Fig. 20 (a) and (b) under
10% SLP in Area 2. It can be seen that conventional sources
increase their generation to cover the sudden load increase.
Fig. 21 (a-c) shows the dynamic response of the frequency
deviations in Areas 1 and 2 (DF1 and DF2) as well as the tie-
line power deviation (DPtie) using different optimized con-
trollers when the system is subjected to 10% SLP. Since the
time responses using the proposed controller is very small com-
pared to others, a certain zoom has been done to illustrate the
transient response oscillations which are still lower than other
controllers. Therefore, it can be said that the Fuzzy
FOPI + TID controller is more superior than other con-
trollers in maintaining the stability of the power system. In
contrast, the DE-based single TID controller has the worst
response in terms of maximum overshoot and maximum
undershoot as shown in Fig. 21.
Table 7 summarizes the system dynamic results for 10%
SLP which are represented by the maximum overshoot
(MO), maximum undershoot (MU) and settling time (Ts) for
DF1, DF2 and DPtie, respectively. It can be seen that the lowest
values of MU, MO and Ts are achieved in the case of the pro-
posed WHO-Fuzzy FOPI + TID controller followed by the
individual Fuzzy FOPI controller especially when optimized
by the WHO algorithm. In contrary, the highest values of
MU, MO and Ts are achieved in the case of the individual
TID controller especially when tuned by the DE algorithm.
Generally, the MU, MO and Ts values of the system responses
have been improved using the proposed Fuzzy FOPI-TID con-
troller by approximately 99%, 100% and 80%, respectively,
when compared with the DE-TID controller.
Extensive comparisons have been carried out in this study
to compare the performance of the proposed Fuzzy
FOPI + TID controller with different controllers presented
in the literature such as PID, TID and Fuzzy FOPI controllers.
The best ISE values for different controllers are presented in Fig. 21 Transient response under 10% SLP: (a) DF1, (b) DF2
Table 8 based on the WHO algorithm. It can be observed that and (c) DPtie.
Frequency regulation of hybrid multi-area power system using wild horse optimizer 12201

Table 7 Dynamic specifications of the proposed system using different controllers for 10% SLP.
Controller DF1 DF2 DPtie
MU MO Ts MU MO Ts MU MO Ts
(Hz) (Hz) (s) (Hz) (Hz) (s) (pu) (pu) (s)
103 103 103 103 103 103
GA-TID [69] 4.6 0.85 75 17.4 1.5 70 0.37 2 70
PSO-TID [70] 4.4 0.74 70 17.1 1.2 68 0.33 1.9 76
DE-TID [71] 5.2 2.1 90 18 4.5 80 0.95 2.25 110
GWO-TID [69] 4.3 0.72 40 17 1.15 65 0.34 1.88 65
WHO-TID 4.25 0.70 34 16.9 1.12 60 0.32 1.78 60
GA-Fuzzy FOPI [41] 1.7 0.69 29 2.6 1.15 25 0 0.8 60
PSO-Fuzzy FOPI [72] 1.6 0.75 28 2.5 1.1 23 0.3 0.78 59
DE-Fuzzy FOPI [31] 1.6 0.7 30 2.6 1.05 27 0 0.77 60
GWO-Fuzzy FOPI [73] 1.6 0.75 27 2.5 1 22 0 0.76 56
WHO-Fuzzy FOPI 1.5 0.69 25 2.4 0.98 21 0 0.71 55
WHO-Fuzzy FOPI + TID 0.0075 0 18 0.01 0.0025 15 0 0.0069 50

and Fuzzy FOPI controllers. As a result, the proposed Fuzzy

Table 8 ISE results using different controllers based on the
WHO algorithm for 10% SLP.
Controller ISE  105
WHO-PID 39
WHO-TID 8.84
WHO-Fuzzy FOPI 1.005
WHO-Fuzzy FOPI + TID 0.000097
PID and TID controllers have the highest undershoot and
overshoot oscillation with higher settling time. As a result,
the system dynamic responses are significantly improved using
the proposed intelligent controller.
5.2. Scenario (1): Effect of random load variation
In this scenario, the interconnected power system is subjected
to a random load variation as shown in Fig. 23. The load alter-
nates randomly each 20 s with a range of 0 and 0.2 p.u. The
aim of this scenario is to verify the robustness of the proposed
Fuzzy FOPI + TID combination based on the WHO algo-
rithm which is compared by the classical PID and the individ-
ual Fuzzy FOPI and TID controllers.
By applying the same optimal gains obtained in Scenario 1
for the studied controllers, the best ISE values are presented in
Table 9 for the case of random load change. One can notice
that the FF is significantly improved with Fuzzy
FOPI + TID combination by a ratio of 99% compared to
the traditional PID controller. In addition, the single Fuzzy
FOPI controller provides a lower FF than the TID and PID
controllers.
Moreover, Fig. 24 (a-c) shows the dynamic responses of
DF1, DF2 and DPtie using different WHO-based controllers
for the random load variation case. Compared with other stud-
ied control techniques, the proposed Fuzzy FOPI + TID com-
bination has more stable performance and faster recovery of
system frequency and tie-line power responses. On the other
hand, the conventional PID controller exhibits higher over-
shoot and undershoot oscillations than the individual TID
FOPI + TID combination succeeded in maintaining the sta-
bility of the system under random load variation.
5.3. Scenario (3): Effect of solar irradiance variation
This scenario aims to evaluate the efficiency of the proposed
Fuzzy FOPI + TID combination when the PV system in Area
2 is exposed to variable solar irradiance during the day. A
comparison of the best fitness value among the studied con-
trollers is presented in Table 10 based on the WHO algorithm.
Similar to the previous scenarios, the proposed Fuzzy
FOPI + TID controller achieves the lowest fitness function
followed by the single intelligent Fuzzy FOPI controller.
Moreover, the PID controller has the highest FF followed
by the TID controller. In this case, the ISE using the Fuzzy
FOPI + TID combination is nearly 99% improved compared
to the traditional PID controller.
Furthermore, the transient responses of DF1, DF2 and DPtie
are shown in Fig. 25 (a-c) under the influence of solar irradi-
ance variation in Area 2. It can be observed that the Fuzzy
FOPI + TID combination outperforms the other controllers
in allowing very small frequency deviations and tie-line power
fluctuation. On the other hand, the PID controller exhibits
higher frequency fluctuation and tie-line power deviation than
the single TID and Fuzzy FOPI controllers. Thus, the pro-
posed combination of the single Fuzzy FOPI and TID con-
trollers provides excellent results compared to each
individual controller.
5.4. Scenario (4): Effect of wind speed fluctuation
In this scenario, the effectiveness of the proposed combination
is tested when the wind turbine system is connected to Area 1.
The oscillation of wind speed represents a strict perturbation
of the entire system. For this case study, Table 11 presents
the best ISE values using different intelligent and conventional
controllers. Similarly, the proposed Fuzzy FOPI + TID con-
troller succeeds in maintaining the stability of the system with
lower frequency and tie-line power oscillations compared to
other controllers as shown in Fig. 26 (a-c).
12202
Fig. 22 Comparison of PID, TID, Fuzzy FOPI and Fuzzy
FOPI + TID tuned by WHO algorithm for 10% SLP: (a) DF1, (b)
DF2 and (c) DPtie.
5.5. Scenario (5): Effect of wave energy fluctuation
This scenario presents the analysis of the proposed system
when it is exposed to wave energy fluctuation in Area 2. Sim-
ilar to the previous scenarios, the efficiency of the proposed
Fuzzy FOPI + TID combination tuned by the WHO algo-
rithm is tested to reduce the frequency deviations and maintain
the system stability under this condition. Table 12 summarizes
the FF values based on different controllers under the effect of
wave energy fluctuation. The lowest FF value is achieved by
M. Ali et al.
Fig. 23 Random load profile.
Table 9 ISE results using different controllers based on the
WHO algorithm under random load variation.
Controller ISE  108
WHO-PID 21.9
WHO-TID 5.22
WHO-Fuzzy FOPI 0.59
WHO-Fuzzy FOPI + TID 0.000042
using the proposed FOPI + TID combination, however the
PID controller has the highest FF value.
In addition, Fig. 27 (a-c) presents the time responses of
DF1, DF2 and DPtie under this condition. One can observe that
the proposed FOPI + TID combination achieves better oscil-
lation damping than the individual Fuzzy FOPI and TID con-
trollers. In contrast, the PID controller does not show any
significant damping under the influence of wave energy fluctu-
ation. This proves the success of the proposed combination for
dealing with severe disturbances and fluctuations.
5.6. Scenario (6): Effect of hybrid renewable energy sources
This scenario discusses the effect of hybrid renewable energy
sources (RES) on the efficiency of the proposed controller
combination. In this case, the power system is subjected to
solar irradiance change and wave energy fluctuation in Area
2, while Area 1 is affected by the change in wind speed. This
aims to prove the superiority of the proposed FOPI + TID
controller optimized by WHO algorithm compared to other
controllers in keeping the system stable under the influence
of hybrid RES fluctuation. The best ISE value is achieved in
the case of the proposed controller which can be improved
by about 99% compared to the conventional PID controller
as shown in Table 13. The behaviour of the load in the pro-
posed system is shown in Fig. 28, where the system is subjected
to 60% SLP to show how the conventional and renewable
energy sources will supply the load in this case clearly. In addi-
tion, the dynamic responses of DF1, DF2 and DPtie under
hybrid RES effect are greatly enhanced using the proposed
FOPI + TID combination as shown in Fig. 29 (a-c).
5.7. Scenario (7): Effect of electric vehicles
This scenario investigates the effect of distributed electric vehi-
cles (EVs) in the two areas of the case study system using the
Frequency regulation of hybrid multi-area power system using wild horse optimizer 12203

Fig. 24 Transient response under random load variation: (a)

DF1, (b) DF2 and (c) DPtie.

Fig. 25 Transient response under solar irradiance variation: (a)

DF1, (b) DF2 and (c) DPtie.

Table 10 ISE results using different Table 11 ISE results using different controllers based on the
controllers based on the WHO algorithm WHO algorithm for wind speed variation.
for solar irradiance variation.
Controller ISE  109
Controller ISE  105
WHO-PID 2.51
WHO-PID 9.6 WHO-TID 0.57
WHO-TID 2.93 WHO-Fuzzy FOPI 0.29
WHO-Fuzzy FOPI 0.13 WHO-Fuzzy FOPI + TID 0.0000047
WHO-Fuzzy FOPI + TID 0.000023
12204 M. Ali et al.

Fig. 26 Transient response under wind speed fluctuation: (a)

DF1, (b) DF2 and (c) DPtie. Fig. 27 Transient response under wave energy fluctuation: (a)
DF1, (b) DF2 and (c) DPtie.

proposed FOPI + TID combination. Electric vehicle battery

storage is used to decouple load demands and system genera- can be achieved when EVs are connected to the system. More-
tions, especially when there is a shortage in the generated over, the dynamic responses of DF1, DF2 and DPtie using the
power in each area. Table 14 presents the ISE value with proposed WHO-based FOPI + TID combination are better
and without EVs. It can be observed that the lowest FF value enhanced with the presence of EVs as shown in Fig. 30 (a-c).

Table 12 ISE results using different controllers based on the Table 13 ISE results using different controllers based on the
WHO algorithm for wave energy fluctuation. WHO algorithm the effect of hybrid renewable energy sources.
Controller ISE  107 Controller ISE  103
WHO-PID 8.92 WHO-PID 2.1
WHO-TID 0.96 WHO-TID 0.31
WHO-Fuzzy FOPI 0.032 WHO-Fuzzy FOPI 0.019
WHO-Fuzzy FOPI + TID 0.000046 WHO-Fuzzy FOPI + TID 0.0000011
Frequency regulation of hybrid multi-area power system using wild horse optimizer 12205

Table 14 Comparison between ISE results with the proposed

controller under the effect of electric vehicle.
Existence of EV ISE  105
Without EV 3.08
With EV 0.000097

Fig. 28 Load Profile.

Fig. 29 Transient response under hybrid RES combination: (a) Fig. 30 Transient response under the effect of electric vehicle: (a)
DF1, (b) DF2 and (c) DPtie. DF1, (b) DF2 and (c) DPtie.
12206 M. Ali et al.

Table 15 Dynamic response specifications for system parameters change.

System Parameter Change Percentage DF1 DF2 DPtie
MU (Hz) 106 MO (Hz) MU (Hz) MO (Hz) 106 MU (pu) MO (pu) 106
TH1 +25% 7.12 0 0.0097 5.18 0 7.02
25% 7.79 0 0.0068 1.05 0 6.7
sg2 +25% 7.73 0 0.007 1.29 0 6.71
25% 6.94 0 0.0104 4.8 0 7.16
KEV2 +25% 6.23 0 0.0057 2.9 0 5.34
25% 9.37 0 0.0113 5 0 9.86
sEV2 +25% 7.74 0 0.0116 4.1 0 8.51
25% 7.27 0 0.0052 1.6 0 5.59
Kline +25% 8.11 0 0.008 4.86 0 8.3
25% 6.56 0 0.008 1.5 0 5.3
B1 +25% 6.84 0 0.008 2.73 0 6.83
25% 8.26 0 0.008 2.72 0 6.83
B2 +25% 6.63 0 0.0079 3.32 0 6.14
25% 8.4 0 0.0081 3.24 0 7.71

As a result, the existence of EVs helps in damping out the fre- of the system is zoomed to show the maximum overshoot,
quency and tie-line power deviations. maximum undershoot, and settling time of DF1, DF2 and DPtie.

5.8. Scenario (8): Sensitivity analysis 5.9.2. Case (2):

This scenario presents the sensitivity analysis for the change of
system parameters in order to test the robustness of the pro-
posed Fuzzy FOPI + TID controller. In this case, some system
parameters are changed by  25% such as TH1 , sg2 , KEV2 , sEV2 ,
Kline , B1 and B2 parameters. The results of sensitivity analysis to
the change of the mentioned system parameters are summa-
rized in Table 15. One can note that the dynamic responses of
DF1, DF2 and DPtie are slightly affected when these parameters
change. Moreover, the MU and MO values are still small as in
the normal operation while the settling time is not affected for
all cases. However, the change in the other system parameters
has no effect on the dynamic performance of the proposed sys-
tem. As a result, the proposed WHO-Fuzzy FOPI + TID con-
troller is robust and shows high efficiency in maintaining
system stability when system parameters are changed.
5.9. Scenario (9): Effect of microgrid topology changes on the
system performance
This scenario aims to discuss the stability and robustness of the
proposed controller based on the WHO when the system
topology changes. The test is performed using two cases as
follows:
5.9.1. Case (1):
In this case, the hydropower plant is connected to Area 1,
where the non-reheat thermal power plant is connected to
Area 2, thus interchanging the locations of conventional
sources. When the system is subjected to 10% SLP in Area
2, the dynamic frequency and tie-line power responses are
shown in Fig. 31 (a-c). The dynamic response of the system
in the case of the proposed controller is approximately zero
when it is compared to the PID, TID, and Fuzzy FOPI con-
trollers based on the WHO algorithm. The transient response
In this case, the RES locations are interchanged in the system
where the PV is connected to Area 1 and the wind turbine is
connected to Area 2. Fig. 32 (a-c) represents the transient
response of the system in this case, where the least fluctuations
of DF1, DF2 and DPtie can be provided using the proposed con-
troller. Finally, this scenario has proved that the proposed
controller is robust and efficient, and the dynamic performance
has not affected when the microgrid topology changes.
6. Conclusions
This paper has effectively proposed a novel combined Fuzzy
FOPI + TID controller to enhance the frequency response
of a two-area interconnected power system. The hybrid system
integrates renewable energy sources such as wind and solar PV
with conventional sources such as non-reheat thermal power
plant and hydroelectric power plant. In addition, electric vehi-
cles are distributed in the two areas. The optimal parameters of
the proposed controller have been extracted using Wild Horse
Optimizer (WHO) which is a recent metaheuristic optimization
algorithm. The WHO algorithm has the advantages of higher
convergence speed, higher accuracy and simpler parameter set-
ting compared to GA, PSO, DE and GWO algorithms. More-
over, different uncertainties have been applied to test the
robustness of the proposed controller such as 10% SLP, ran-
dom load variation, wind speed fluctuation, solar irradiance
change and wave energy fluctuation. The results show that
the fitness function based on the ISE value was significantly
improved with the Fuzzy FOPI + TID combination by 99%
compared to the traditional PID controller. Also, the Fuzzy
FOPI + TID controller has provided better frequency
response and lower tie-line power deviation compared to the
individual Fuzzy FOPI and TID controllers for all scenarios.
Furthermore, the presence of EVs helps in improving the sta-
bility of the system. Also, the WHO-based Fuzzy
Frequency regulation of hybrid multi-area power system using wild horse optimizer
Fig. 31 Transient Response under 10% SLP for microgrid
topology change in case 1: (a) DF1, (b) DF2 and (c) DPtie.
FOPI + TID controller has achieved high accuracy when
some system parameters have been changed by 25%. The
existing controllers depict different levels of efficiency when
are subject to such scenarios and study cases. No single con-
troller has proved to be the most efficient for all scenarios
and all controlled variables. For example, the PID controller
is more efficient than the TID controller for DF1, where the
TID controller is more robust than the PID controller in the
case of DF2 and DPtie in Scenario (1). For this reason, the pro-
posed controller had to be compared with different controllers
12207
Fig. 32 Transient Response under 10% SLP for microgrid
topology change in case 2: (a) DF1, (b) DF2 and (c) DPtie.
for different scenarios. For future work, the proposed con-
troller can be used with non-linear systems.
Declaration of Competing Interest
The authors declare that they have no known competing
financial interests or personal relationships that could have
appeared to influence the work reported in this paper.
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