2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control

Mexico City, Mexico. September 26-28, 2012

Inverse Optimal Neural Control with Speed

Gradient for a Power Electric System with
Changes in Loads
Enrique A. Lastire1 , Alma Y. Alanis2 and Edgar N. Sanchez1
1
CINVESTAV, Unidad Guadalajara, Apartado Postal 31-438, Plaza La Luna,
Guadalajara, Jalisco C.P. 45091. México, e-mail:
elastire@gdl.cinvestav.mx
2
CUCEI, Universidad de Guadalajara, Apartado Postal 51-71, Col. Las
Águilas, C.P 45080, Zapopan, Jalisco, México, email:
almayalanis@gmail.com

Abstract— In this paper an inverse optimal neural
controller with speed gradient (SG) for discrete-time
unknown nonlinear systems, in presence of external
disturbances and parameter uncertainties is presented.
It is based on a discrete-time recurrent high order
neural network (RHONN) trained with an extended
Kalman filter (EKF)-based algorithm. A reduced
neural model for synchronous machine is proposed for
the stabilization of nine bus system in the presence of
a fault in a line of transmission with some variations
in loads.
Keywords: High-order neural network, Extended
Kalman filter, Optimal control, Synchronous generators
I. Introduction
The recurrent high order neural networks (RHONN)
allow the identification of a no linear system, which in
this case is the study of the multimachine power system in
presence of a fault, this is why in this work the advantages
of the RHONN are used for the controller design. There
are some works about synchronous generators in which re-
duced models have been proposed ([1], [2]), whose purpose
is the production and distribution of a reliable and robust
electric energy. On the other hand a model in discrete
time has been proposed [3], in which a recurrent high
order neural network has been incorporated to implement
a control law, this reduced model allows the stabilization
through the inverse optimal control law with speed gra-
dient (SG). In this work, the before mentioned has been
taken as previous experience, thus a neural model of the
multimachine system has been proposed, which results
useful because it is focused in the state variables that are
more relevant for this paper: position, velocity and rotor
voltage [3], further the control law is implemented for the
system that consists of three interconnected synchronous
generators.
In this paper a solution is proposed for the destabilization
problem, which the multimachine system power presents
in the presence of a fault that occurs at 10 seconds in a
transmission line. A system identification of the complete
multimachine power system model is presented through a
neural reduced model, this allows the design of a neural
inverse optimal SG control law. Finally the results ob-
tained are shown, in which can be seen that the control
law stabilizes the system in presence of the fault mentioned
before and even works when the loads are augmented.
II. Mathematical Preliminaries
Discrete-time High Order Neural Networks
The use of multilayer neural networks is well known for
pattern recognition and for static systems modelling.The
NN is trained to learn an input-output map. Theoretical
works have proven that, even with just one hidden layer,
a NN can uniformly approximate any continuos function
over a compact domain, provided that the NN has a suf-
ficient number of synaptic connections [4]. To implement
the neural network (NN) design, a RHONN is used [3],
this model turns out very flexible because it allows to
incorporate a priori information to the model.
The EKF Training Algorithm
The best well-known training approach for recurrent
neural networks (RNN) is the back propagation through
time learning [5]. However, it is a first order gradient
descent method and hence its learning speed could be very
slow [6]. Recently, Extended Kalman Filter (EKF) based
algorithms have been introduced to train neural networks
[7], [8]. With the EKF based algorithm, the learning con-
vergence is improved [8]. The EKF training of neural net-
works, both feedforward and recurrent ones, have proven
to be reliable and practical for many applications over the
past ten years [8]. It is known that Kalman filtering (KF)
estimates the state of a linear system with additive state
and output white noises [9], [10]. For KF-based neural
network training, the network weights become the states
to be estimated. In this case, the error between the neural
network output and the measured plant output can be
considered as additive white noise. Due to the fact that
the neural network mapping is nonlinear, an EKF-type

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 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control
Mexico City, Mexico. September 26-28, 2012

is required (see [11] and references therein). The training optimal control law directly without solving the associated
goal is to find the optimal weight values which minimize HJB equation [18]. We focus on inverse optimality because
the prediction error. The EKF-based training algorithm is it avoids to solve the HJB partial diferential equations and
described by [9]: still allows to obtain Kalman-type stability margins [15].
In this paper, a quadratic candidate CLF is used to
synthesize the inverse optimal control law. We establish
Ki (k) = ρi (k)Hi (k)Mi−1 (k)
the following assumptions and definitions which allow the
ωi (k + 1) = ωi (k) + ηi Ki (k)ei (k) inverse optimal control solution via the CLF approach.
ρi (k + 1) = ρi (k) − Ki (k)HiT (k)ρi (k) + φi (k) Assumption 1: The full state of system:
(1) x(k + 1) = f (x(k)) + g(x(k))u(k) (4)
with is measurable.
Mi (k) = [τi (k) + HiT (k)ρi (k)Hi (k)]−1 Definition 1: (Inverse Optimal Control Law)
Let define the control law [17]
ei (k) = xi (k) − x̂i (k)
(2) 1 ∂V (x(k + 1))
u(k) = − R−1 (x(k))g T (x(k)) (5)
Li ×Li
2 ∂x(k + 1)
where ρi ∈ R is the prediction error associated
covariance matrix, ωi ∈ RL i is the weight (state) vector,
to be inverse optimal (globally) stabilizing if:
xi ∈ R is the i-th plant state component,, x̂i ∈ R is the 1) It achieves (global) asymptotic stability of x = 0 for
i-th neural state component, ηi is a design parameter, system (4)
Ki ∈ RLi ×m Kalman gain matrix, φi ∈ RLi ×Li is the 2) V (x(k)) is (radially unbounded) positive definite
state noise associated covariance matrix, τi ∈ Rm×m is function such that inequality
the measurement noise associated covariance matrix, Hi
∈ RLi ×m is a matrix, for which each entry (Hij ) is the V := V (x(k + 1)) − V (x(k)) (6)
derivative of one of the neural network output, (x̂ij ), with +u(k)T R(x(k))u(k) ≤ 0
respect to one neural network weight, (ωij ), as follows:
  is satisfied.
∂ x̂i (k) When we select l(x(k)) := V ≥ 0; then V (x(k)) is a
Hij (k) = (3)
∂ωij (k) ωi (k)=ω̂i(k+1) solution for the HJB equation
i = 1, . . . , n and j = 1, . . . , Li
l(x(k) + V (x(k + 1)) − V (x(k))
Usually ρi , φi , τi , are initialized as diagonal matrices, with 1 T ∗ −1
+ V R (x(k))g T (x(k))V ∗ = 0 (7)
entries ρi (0), φi (0), τi (0), respectively. 4
III. Controller Design where
∂V T (x(k + 1)) ∂V (x(k + 1))
V T∗ = y V∗ =
Optimal control is related to finding a control law ∂x(k + 1) ∂x(k + 1)
for a given system such that a performance criterion is We can establish the main conceptual differences be-
minimized. This criterion is usually formulated as a cost tween optimal control and inverse optimal control as
functional, which is a function of the state and control follows:
variables. The optimal control problem can be solved using As established in Definition (1), the inverse optimal
Pontryagin’s maximum principle (a necessary condition) control problem is based on the knowledge of V (x(k)).
[12], and the method of dynamic programming developed Thus, we propose a CLF V (x(k)), such that (1) and (2)
by Bellman [13], [14], which can leads to a nonlinear partial are guaranteed. That is, instead of solving (7) for V (x(k))
diferential equation called the Hamilton-Jacobi-Bellman , we propose a control Lyapunov function V (x(k)) with
(HJB) equation (a sufficient condition); nevertheless, solv- the form:
ing the HJB equation is not a feasible task [15], [16]. 1
V (x(k)) = xT (k)P x(k) (8)
2
Inverse Optimal Control via CLF for control law (5) , in order to ensure stability of the
We establish the inverse optimal control and its solu- equilibrium point x(k) = 0 of system (4), which will be
tion by proposing a quadratic CLF (Candidate Lyapunov achieved by defining an appropriate matrix P . Moreover,
Function) [17], the CLF depends on a fixed parameter it will be established that control law (5) with (8), which
in order to satisfy stability and optimality condition. A is referred to as the inverse optimal control law, optimizes
posteriori, the speed gradient algorithm is established to a meaningful cost functional of the form:
compute this CLF parameter and it is used to solve the ∞
inverse optimal control problem. In the inverse optimal
X
J(x(k)) = (l(x(k)) + uT (k)R(x(k))u(k)) (9)
control problem, a candidate CLF is used to construct an 0

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 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control
Mexico City, Mexico. September 26-28, 2012

Consequently, by considering V (x(k)) as in (8), the system (4) with (13) is defined as finding p(k) so that the
control law takes the following form: SG goal function Q(k(p)) [17], as in (14), fulfills:
α(x(k)) := u(k) Q(k(p)) ≤ △(x(k)) , f or k ≥ k∗ (15)
1
= − (R(x(k)) + P2 (x(k)))−1 P1 (x(k)) (10) where
2
1 T
where P1 (x(k)) = g T (x(k))P f (x(k)) y P2 (x(k)) = △(x(k)) = VSG (x(k)) − u (k)R(x(k))u(k) (16)
p(k)
1 T
g (x(k))P g(x(k)). It is worth to point out that P and 1
2 with VSG (x(k)) = − xT (k)P ′ x(k) and u(k) as defined in
R(x(k)) are positive definite and symmetric matrices; 2
thus, the existence of the inverse in (10) is ensured. (13); k ∗ ∈ Z+ is the time at which the SG control goal is
achieved.
Speed-Gradient SG Algorithm Observation 1: Solution p(k) must guarantee that
Given (10) we redefine P as P (k). This will allow us 1 T
VSG (x(k)) > u (k)R(x(k))u(k) in order to obtain a
compute a time variant value in time for P (k), which p(k)
ensures stability to the system (4) by means the algorithm positive definite function △(x(k)).
SG. To conclude, the SG algorithm is used to calculate p(k) in
In [19] a discrete-time application of the SG algorithm order to achieve the SG control goal defined above.
is formulated to find a control law u(k) which ensures the Proposition 1: Consider a discrete-time nonlinear
control goal: system of the form (4) with (13) as input [17]. Let Q
be a SG goal function as defined in (2), and denoted by
Q(x(k + 1)) ≤ △ , f or k ≥ k∗ (11) Q(k(p)). Let p , p∗ ∈ P be positive constant values and
△(x(k)) be a positive definite function with △(0) = 0
where Q is a control goal function, a constant △ > 0 and and ǫ∗ be a sufficiently small positive constant. Assume
k ∗ ∈ Z+ is the time at which the control goal is achieved. that:
Q ensures stability if it is a positive definite function.
Based on the SG application proposed in [19], we con- • There exist p∗ and ǫ∗ such that
sider the control law given by (10) , with △ in (11) a state
dependent function △(x(k)).
Considering the control law redefined for the speed gradi- Q(k(p∗ )) ≤ ǫ∗ ≪ △(x(k))
ent algorithm wich at every time depends on the matrix and
P (k). Let define the matrix P (k) at every time k as:
′
1 − ǫ∗ / △ (x(k)) ≈ 1 (17)
P (k) = p(k)P (12)
• For all p(k) ∈ P:
where P ′ = P ′T > 0 is a given constant matrix and p(k)is
a scalar parameter to be adjusted by the SG algorithm. (p∗ − P (k))T ▽ (p)Q(k(p)) ≤ ǫ∗ − △(x(k)) < 0 (18)
Then the control law is transformed as follows: where ▽(p)Q(k(p)) denotes the gradient of Q(k(p) with
p(k) p(k) ∗ −1 ∗ respect to p(k).
u(k) = − (R(x(k)) + P ) P2 (13)
2 2 1 Then, for any initial condition p(0) > 0, there exists a
where k ∗ ∈ Z+ such that the SG Control Goal (11) is achieved
by means of the following dynamic variation of parameter
P1∗ = g T (x(k))P ′ g(x(k)) , P2∗ = g T (x(k))P ′ f (x(k)) p(k):
The SG algorithm is now reformulated for the inverse p(k + 1) = p(k) − γd(k) ▽ (p)Q(k(p)) (19)
optimal control problem. with
Definition 2: (SG Goal Function) γd(k) = γc δ(k)| ▽ (p)Q(k(p))|−2
Consider a time-varying parameter p(k) ∈ P ⊂ R+ with
p(k) > 0 for all k, and P is the set of admissible values 0 < γc ≤ 2 △ (x(k))
for p(k) [17]. A nonnegative function Q : Rn × R −→ R of and
the form

1 for Q(p(k)) > △(x(k))
δ(k) = (20)
Q(x(k), p(k)) = VSG (x(k + 1)) (14) 0 otherwise
1 Finally, for k ≥ k ∗ , p(k) becomes a constant value denoted
where VSG (x(k+1)) = − xT (k+1)P ′ x(k+1) with x(k+1)
2 by p and the SG algorithm is completed.
as defined in (4), is referred to as SG goal function for
Observation 2: With Q(x(k), p(k)) as defined in (14),
system (4). We define Q(k(p)) := Q(x(k), p(k)).
the dynamic variation of parameter p(k) in (19) results in
Definition 3: (SG Control Goal)
Consider a constant p∗ ∈ P. The SG control goal for p(k + 1) = p(k) + P ∗ (21)

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 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control
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where are parameters for each synchronous generator. The differ-

T ′ 2 T
f (x(k))P g(x(k))R(x(k)) g (x(k))f (x(k)) ential and algebraic equations which represent the ith gen-
P ∗ = 8γd(k) (22) erator dynamics and power flow constraints respectively
(2R(x(k)) + p(k)g T (x(k))P ′ g(x(k)))3 are given by
which is positive for all time k if p(0) > 0. Therefore xi - power angle of the ith generator in rad
positiveness for p(k) is ensured and requirement P (k) = xi - rotating speed of the ith generator in rad/s
1 xi - q-axis internal voltage of the ith generator in p.u.
P T (k) > 0 para V (x(k)) = xT (k)P (k)x(k) with P (k) =
2 xi - d-axis internal voltage of the ith generator in p.u.
P T (k) > 0 is guaranteed. When SG Control Goal (15) is xi - d-axis flux linkage of the ith generator in p.u.
achieved, then p(k) = p for k ≥ k ∗ . Thus, matrix P (k) xi - qd-axis flux linkage of the ith generator in p.u.
in (13) is considered constant and P (k) = P where P is
computed as P = pP ′ , with P ′ a design positive definite
X′′di − X′′lsi X′di − X′′di
matrix. Under these constraints, we obtain: ψdi = −X′′di Idi + xi + xi
X′di − Xlsi X′di − Xlsi
α(x(k)) :=
u(k) X′′ − X′′lsi X′qi − X′′qi
ψqi = −X′′qi Iqi − di xi + xi
1 X′qi − Xlsi X′qi − Xlsi
= − (R(x(k)) + P2 (x(k)))−1 P1 (x(k)) (23)
2 (26)
where P1 (x(k)) = g T (x(k))P f (x(k)) y P2 (x(k)) =
1 T
g (x(k))P g(x(k)). n
2
X
0 = P i − Vi Vj Yij cos(θi − θj − φij )
Tracking reference j=
n
In the case of tracking reference, we modify the control 0 = Qi − Vi
X
Vj Yij sen(θi − θj − φij )
law as follows [17]: j=

1 (27)
u(k) = − (R(x(k)) + P2 (x(k)))−1 P1 (x(k)) (24)
2
where ψdi and ψqi are the d−axis flux linkage and q-axis
where P1 (x(k)) = g T (x(k))P f (x(k) − xref (k + 1)) and flux linkage of the ith generator in p.u. respectively. Pi and
1 Qi are the injected active and reactive power at bus i in
P2 (x(k)) = g T (x(k))P g(x(k)).
2 p.u. Vi ∠θi is the voltage at bus i, Yi ∠φij is the admittance
IV. Multimachine Power System Control between bus i and j.
Multimachine Power System Complete Model
Reduced Neural Model of Multimachine Power System
In this work, the proposed decentralized identification
and control scheme is tested with the Western System The model mentioned above [2], is in continuos time,
Coordinating Council (WSCC) 3-machine, 9-bus system due to this fact, we proceed to discretize the states using a
[20], [21]. The differential and algebraic equations which zero-order holder, with the discretized states we implement
represent the ith generator dynamics and power flow the reduced neural model [3] as follows:
constraints respectively [2], [20] are given by: x̂1 (k + 1) = f1 (k)
ẋ1i = x2i − ωs x̂2 (k + 1) = f2 (k)
ωs
ẋ2i = ( )(Tmi − (ψdi Iqi − ψqi Idi )) x̂3 (k + 1) = f3 (k) + w34 u(k)
2Hi
1 ∗
(28)
ẋ3i = ( ′ )(−x3i − Xdd )[Idi − Xdi (x5i + Xdls )] + Ef di )]
Td0i
1 ∗
x˙4i = ( ′ )(−x4i − Xqq )[Iqi − Xqi (x6i + Xqls )] + E′di ) f1 (k) = w11 (k)S(x̂1 (k)) + w12 (k)S(x̂2 (k))
Tq0i
1 f2 (k) = w21 (k)S(x̂1 (k))6 + w22 (k)S(x̂2 (k))
ẋ5i = ( ′′ )(−x5i + x3i − (X′di − Xlsi )Idi )
Td0i +w23 (k)S(x̂3 (k))
1 f3 (k) = w31 (k)S(x̂1 (k)) + w32 (k)S(x̂2 (k))
ẋ6i = ( ′′ )(−x6i − x4i − (X′qi − Xlsi )Iqi )
Tq0i +w33 (k)S(x̂3 (k))
(25) (29)
where
where x̂i estimates xi (i = 1, 2, 3).
∗ X′di − X′′di ∗ X′qi − X′′qi Given the neural reduced model, we apply the inverse
Xdi = , Xqi =
(X′di − Xlsi )2 (X′qi − Xlsi )2 optimal SG control law to the reduced neural model to
each synchronous generator, that is, in a decentralized
Xdd = Xdi − X′di , Xqq = Xqi − X′qi way. Thus, the control law is established from (24) where
the matrix P is given as follows: 100 × P̂ , 10 × P̂ , 20 × P̂
for generators 1,2,3 respectively, where P̂ is an identity
Xdls = (X′di − Xlsi )Idi , Xqls = (X′qi − Xlsi )Iqi matrix of 3 × 3.

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 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control
Mexico City, Mexico. September 26-28, 2012

From (28) g(x(k)) , f (x(k)) the control law for the TABLE II: Initial conditions
neural network is defined as: Initial Conditions Generator 1 Generator 2 Generator 3
  x01 0.0396 0.3444 0.23
0 x02 377 377 377
g(x(k)) =  0  x03 1.056 1.0502 1.0170
ω34 x04 0 0.622 0.624
x05 1.0478 0.7007 0.7078
x06 -0.0425 -0.7568 -0.7328
 
f1 (k)
f (x(k)) =  f2 (k) 
f3 (k)
The references given for each state variable of the neural
reduced model for the multimachine system are proposed
as follows:
V. Simulations

The power electric system used in this paper is presented

TABLE III: References
in Fig.1. It corresponds to the nine bus system, Fig.1
References Generator 1 Generator 2 Generator 3
also includes the connection between them and the related x1ref 0.0396 0.3444 0.23
x2ref 377 377 377
parameters in the transmission lines. Data for simulation is x3ref .5 1.0502 1.0170
given by [20] where the modeling of the system is explained
and the related parameters for each synchronous generator
are described.
In this paper the 18 state variables related to 3 syn-
chronous generators are stabilized using the neural re- In Fig.2, 3 and 4, the obtained results of the stabilization
duced model, reaching stabilization for the system, for the of each state variables of multimachine power system are
simulation the sample time was fitted to 0.005 ms. show. For each generator, x1 corresponds to the position,
x2 the velocity, x3 the voltage in the quadrature axis q , all
of this resulting of the stabilization of the neural models
in a decentralized way.

1
x (rad)

0.5
1

−0.5
0 5 10 15 20 25 30
450
x2 (rad/s)

400

350

300
0 5 10 15 20 25 30
1.5

Fig. 1: Nine bus system

x3 (p.u)

0.5
0 5 10 15 20 25 30
time (s)

The system simulation consists in the introduction of

a triphasic fault to the system with duration of 0.005 (a) Nominal load
seconds, that occurs near bus 7 at the end of the line 5- 1
7, this happens at 10 seconds of simulation, we can see
x (rad)

0.5
that the system has a prefault state (before 10 seconds),
1

0
a fault state (at 10 seconds) and a posfault state (after 10 −0.5
0 5 10 15 20 25 30
seconds). The admittances for the loads are given in pu 450
as:
x2 (rad/s)

400

350

300
TABLE I: Load admittances 1.5
0 5 10 15 20 25 30

Load Admittance
x3 (p.u)

A ȳL5 =1.2610 - j0.5044 1

B ȳL6 =0.8777 - j0.2926
C ȳL8 =0.9690 - j0.3391 0.5
0 5 10 15 20 25 30
time (s)

(b) Augmented load 100 %

The initial conditions for the system are given as fol-
lows: Fig. 2: Generator 1

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 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control
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2 VII. Acknowledgment
x1 (rad) 1

0
The authors thank the support of CINVESTAV and
−1
0 5 10 15 20 25 30
CONACYT Mexico, through Projects 103191Y and
500 131678Y.
x (rad/s)

400

300 References
2

200
0 5 10 15 20 25 30
1.5
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J. Alvarez-Ramirez. Validity testing of third-order nonlinear
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Research., 79:953–958, 2009.
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[5] R. J. Williams and D. Zipser. A learning algorithm for contin-
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that the proposed controller allows stabilize the state in
an efficient way, allowing the system stabilization after the
fault occurs.

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