Real-Time Electromechanical Mode Identification
from Synchrophasors using Matrix Pencil Method
Rahul Rane*, Abhishek Pandey, Faruk Kazi**
of Excellence (CoE) in Complex and Nonlinear Dynamical Systems (CNDS),
Electrical Engineering Department, VJTI, Mumbai, India
Email : *rmrane b17@ee.vjti.ac.in, **fskazi@el.vjti.ac.in
Abstract—Large areas of modern power systems are intercon-
nected for improved power pooling, resulting in higher system
inertia. On the other hand, it provides capability of long distance
transmission of power. Thus, increasing the potential of tie-lines
to run at near-maximum capacity. The probability of inter-
area oscillations between two areas increases as tie lines are
operated closer to full capacity, and this is particularly prevalent
near high load density areas. Inter-area stability analysis is
becoming more difficult as the current power system becomes
more interconnected. This paper provides a real-time simulation
and online estimation of Low-Frequency Electromechanical Os-
cillations (LFEOs) present in power system that is complex and
highly interconnected by implementing the energy sorted Matrix
Pencil Method (MPM) used in conjunction with an oscillation
detection method on Phasor Measurement Units (PMUs) data.
The approach used ensures that the MPM is correctly applied
to the ringdown data. As a result, the estimation of modal
parameters can be utilized further with confidence and promptly.
The proposed process is evaluated on a Klein-Rogers-Kundur test
case, and the outcome of the simulation is presented.
Index Terms—Energy sorting, Inter-area oscillations, Online
parameter estimation, Power system measurements, Phasor Mea-
surement Unit (PMU), Ringdown detection, Singular Value De-
composition (SVD), Smart grid, Synchrophasor data, WAMS
I. I NTRODUCTION
With the advancement in renewable technology, electric
grids are becoming more complex day by day. While renew-
able energy helps us in decreasing our carbon footprint, due to
the integration of solar energy, use of FACTS-based devices,
the inertia of the grid decreases making it more prone to
instability due to oscillations [1], [2]. For all synchronous
machines, system stability is based on the presence of both
synchronizing and damping torque components. One of the
most significant challenges to grid reliability and stability is
small signal stability issues. Large-amplitude oscillations can
be caused by an unstable oscillatory mode, which can lead
to system failures and large-scale blackouts [3]. Several cases
of system-wide oscillations have occurred around the world.
In India in 2012, a blackout occurred due to the failure of
generators and lines in a cascading fashion. This incident was
investigated using Prony analysis, and it was determined that
inter-area oscillations were the cause [4]–[7]. It also describes
how a large load disturbance in one part can cause instability
in the entire system, as well as how real-time synchrophasors
analysis is a crucial component of the power system.
The power system is concerned with small signal stability
issues such as LFEOs [8]–[10]. LFEOs are categorized into
inter-area modes, torsional modes, local modes, and control
modes [11]. 0.1 to 0.7 Hz frequency range is typically regarded
as highly dangerous and hazardous, as it can cause widespread
blackouts [12], [13]. As a consequence, it’s important to detect
and dampen these oscillations [14], [15].
For better visualization and situational awareness, efforts
are underway all over the world to use networks to integrate
PMU synchronized phasor measurements [16] from various
areas of a large and complex power system to its control
centre. The term ”Wide Area Measurement Systems (WAMS)”
[17] refers to these networks. Synchrophasor networks are
typically comprised of PMUs distributed across the grid, as
well as Phasor Data Concentrators (PDC) [18], which are
mainly located in control centres. These PDCs can obtain the
real-time synchrophasor data from various PMUs situated in
different areas, and the dynamic information about the system
can be derived such as presence of oscillations.
In power system studies, various methods including both
model and measurement-based methods can be used to observe
the presence of LFEOs. The model-based technique neces-
sitates linearization of nonlinear differential equations in the
system around an operating point, as well as the acquisition of
modes through eigenvalue analysis, which is a computationally
time-consuming method that cannot be used to track LFEOs in
real-time [11]. Measurement-based techniques include some of
the recent and widely used techniques which are Fast Fourier
Transform (FFT) [19], [20], Kalman filters [21], [22], Wavelet
Transform (WT) [23], [24], least-square estimation [25], and
sub-space algorithm [26], Prony analysis [27]–[31], and MPM.
Furthermore, as discussed in [32]–[35], real-time monitoring
of LFEOs can be accomplished using measurement-based
methods.
In MPM, signal poles are represented by a matrix pencil.
The eigenvalues of this matrix pencil are the signal poles. The
parameters for the signal, such as the signal frequency, damp-
ing, amplitude, and phase of the systems’ modes are evaluated
from these calculated eigenvalues or signal poles [36]. MPM
has been demonstrated to perform efficiently even when the
signal contains noise and has very few limitations. Even with a
sub-cycle sample window width, MPM will perform admirably
[37]. Unlike FFT and WT, MPM does not depend on a broad
sampling window size. The only downside of this technique
is that it needs a lot of computational resources. However, the
recent computation strength and optimization are sufficient to
perform such kind of an analysis in real-time. The number Matrix pencil (X) is defined as X = Y2 − λY1 , where Y1
of modes present in the system are estimated more than the and Y2 are matrices and λ is a scalar value / quantity. Here,
actual number of modes. These extra modes are called as Y1 and Y2 are matrices as given in equation (4) and (5).
trivial modes, while the rest are referred to as dominant modes
 
[38]. These methods, on the other hand, do not distinguish yj (0) yj (1) ··· yj (L − 1)
between dominant and trivial modes. This often results in false  yj (1) yj (2) ··· yj (L) 
Y1 = 
 
mode detection in the system. An approach based on energy .. .. .. 
sorting called energy sorted MPM [38] is used to decrease the
 . . . 
number of false detections. The modes are classified according yj (N − L − 1) yj (N − L) · · · yj (N − 2) (N −L)×L
to their energy content using the method described in [38]. (4)
To summarize, the modes with the most energy are known  
as dominant modes, while the rest are referred to as trivial yj (1) yj (2) ··· yj (L)
modes.  yj (2) yj (3) ··· yj (L + 1) 
Y2 = 
 
This paper presents an real-time implementation of energy .. .. .. 
 . . . 
sorted MPM with using a ringdown detection method to ensure yj (N − L) yj (N − L + 1) ··· yj (N − 1) (N −L)×L
that MPM is be applied to the relevant data type. A real- (5)
time digital simulator and PMUs are used to conduct the where L = matrix pencil parameter [39]–[41]. It has been
simulations. The paper is structured as follows: Section II found that the presence of noise doesnot have much affect
reviews the traditional and energy sorted MPM. In Section on the MPM method when values of L, and integer, are set
III, a method to detect ringdown data is discussed. Section between N/3 and 2N/3.
IV details the test-bed used to implement the approach. In For filtering the noise from the measured signal, a technique
Section V, presents the findings from a case study. Section VI known as Singular Value Decomposition (SVD) is applied [36]
concludes and defines the future scope. on a matrix Y as shown in equation (6). The SVD estimates
II. M ATHEMATICS BEHIND MPM the order of the system k.
A basic overview of the mathematics behind MPM is given  
ŷj (0) ŷj (1) ··· ŷj (L)
in this section. [36]–[38] contains a comprehensive description  ŷj (1) ŷj (2) ··· ŷj (L + 1) 
of the method. Yj = 

.. .. ..


In general, any signal can be mathematically expressed as,  . . . 
ŷj (N − L − 1) ŷj (N − L) · · · ŷj (N − 1) (N −L)×L+1
ŷj (t) = yj (t) + n̂j (t) (1)
(6)
where, Further, the SVD is computed as in equation (7).
ŷj (t) = measured signal from the system of jth window,
yj (t) = actual noiseless signal of jth window, Yj = Uj Sj Vj∗ (7)
nˆj (t) = noise in the signal of jth window. where,
This can be further written as, Uj = unitary matrix whose individual columns are called as
M
X left-eigenvalue vectors,
ŷj (t) = Ai eσi t cos (2πfi t + φi ) (2) Sj = diagonal matrix whose elements are the singular values
i=1 of the matrix Y ,
where, Vj = unitary matrix whose individual columns are called as
Ai = amplitude, right-eigenvalue vectors,
σi = damping factor, Vj∗ = conjugate transpose of V .
fi = frequency in Hz, If k ≤ L ≤ N − k, the signal’s order k is determined from
φi = phase angle. the rank of matrix Y [36]. Furthermore, when the singular
On simplifying equation (2) into a summation of k different values in S are arranged in descending order, the last L−k +1
complex exponential signals, we get, values are anticipated to be close to zero [42].
After determining the order of the system k, a ratio of
each singular value, αi , and the largest singular value αmax
k
X is compared to a tolerance level tol as given in equation (8).
ŷj (t) = Ri eZi t (3)
i=1
tol < αi /αmax (8)
where,
Zi = σi + jωi , where ωi = angular frequency, The values which satisfy the the equation (8), their cor-
Ri = A2i ejφi , responding right-eigenvalue vector is used to construct the
matrix Vf iltered .
k = number of distinct eigenvalues of the signal (also called
order of the system). Vf ilteredj = [V1 V2 ... Vk ] (9)
where Vi ’s with i = 1, 2, ... k are column vectors of Vj .
Results accurate upto three significant digits were obtained in
[36] when tol was set to 10−3 . Further, matrices B1 can be
constructed by eliminating the last column of matrix Vj and
B2 by eliminating the first column of matrix Vj .
The eigenvalues Zi of the matrix pencil Y2 − λY1 can be
calculated using the B1+1 B2 eigenvalues, where B1+1 is the
Moore-Penrose pseudo-inverse of B1 . From Zi ’s, damping
factors, σi ’s, and angular frequencies, ωi ’s, can now be calcu-
lated. A least square problem, as shown in the equation (10),
can be formulated to calculate the amplitudes Ri and phase
angles φi .

···
    
yj (0) 1 1 1 R0
 yj (1)   Z1 Z2 ··· Zk   R1 

 .. =
 
.. .. ..
 
  ..  Fig. 1: Flow diagram for ringdown detection algorithm
 .   . . .  . 
(N −1) (N −1) (N −1)
yj (N − 1) Z1 Z2 ··· Zk Rk
(10) data, measurement energy and relative noise level detection
After the modes have been calculated, the modal energy is algorithms can be used.
calculated, and the modes are sorted by energy content. The Ringdown data holds more data than ambient data. This can
dominant mode, which has the most energy, is separated and be seen by looking at the signal’s measurement energy. The
can be used for a variety of purposes. measurement energy is computed as in equation (11) [45].
v
III. D ETECTION OF R INGDOWN DATA uN −1
uX
To ensure proper mode detection by using proper algo- M easurement Energy = t |ŷj (h)|2 (11)
rithms, the measurement data needs to be grouped into sep- h=0

arate categories. This helps in minimizing the false / missed
alarms. They are categorized as typical and non-typical data.
A vey rich valuable information about the system modes is
present in typical data and it can be by a modal structure
for analysis algorithms. Non-typical data, on the other hand,
contains no information about system modes and is thus not
used for analysis.
Probing data, ringdown data, and ambient data are three
types of PMU data that can be categorized based on the various
types of disturbances. To obtain probing data from the system,
noise must be introduced into the system, which then returns
a response [26]. Ringdown data is retrieved in the event of a
fault situation or HVDC blocking [27], and ambient data is
retrieved in standard operating situations with the only load
and generating power variations [43]. Since normal operating
conditions and faults occur frequently in most power system
situations, ringdown data and ambient data are preferred for
modal analysis. Only ringdown data is suitable for MPM.
The flow of the approach implemented in this paper is
presented in Fig. 1. PMU data is firstly, classified into typical
and non-typical [44]. The data is then tested by ringdown
detection algorithms for the existence of any ringdown wa-
vering. If ringdown data is found, the MPM computes the
modes present in the system. After comparing the values of
ringdown detectors, the mode data is displayed.
The use of modal analysis techniques can yield proper
results if and only if they are used on the right signal forms.
As a result, ringdown data must be identified for the MPM to
be implemented automatically. To reliably identify ringdown
This value rises during a disturbance, and the signal’s energy
rises, signaling the arrival of a ringdown disturbance. The ratio
of noise to measurement energy is the relative noise level. It
is computed as in equation (12) [45].
qP
N −1 2
h=0 |n̂j (h)|
Relative N oise = qP (12)
N −1 2
h=0 |ŷ j (h)|
A lower relative noise level indicates that the model and the
data are well-fitted, implying that the data is ringdown, while
the data is unsuitable for analysis if the relative noise level is
higher.
IV. R EAL - TIME S IMULATION WITH H ARDWARE S ETUP
To conduct the implementation, devices including real time
simulator, PMUs and others were used. The system architec-
ture of the testbed used in the work is shown in Fig. 2. The
actual testbed as in the CoE-CNDS Lab, VJTI is shown in
Fig. 3. The testbed is briefly described in this section.
A. Real Time Digital Simulator (RTDS)
Using RTDS, large interconnected power systems’ real-time
simulation can be conducted with required voltage, frequency
and power constraints. The signals generated by a real-time
simulator are analogous to those in the power system in-
dustry. The approach was implemented using OpalRT Inc.’s
eMEGAsim real-time digital simulator [46].
 Fig. 2: System Architecture

B. Phasor Measurement Unit (PMU)

PMU is used in power system monitoring, security, and
control, and it enables access to time-synchronized data from
Fig. 3: Hardware Setup at CoE-CNDS Lab, VJTI.
a remote location. Current and voltage synchrophasors, direct
sequences, frequency, and ROCOF can all be calculated and
are sent to other systems, such as defense systems, PDCs or
WAMS and Energy Management System (EMS) monitoring approximately 140 MW [11], [28], [47]. As a consequence,
systems, using the IEEE C37.118 protocol. SIEMENS SIPRO- power flow of the tie-line can be used to determine inter-area
TEC series PMUs and VIZIMAX PMUs are available in the modes of the system. Since changes in it directly affect the
CoE-CNDS Lab, VJTI. frequency, it is used for identification of LFEOs.

C. Hardware to Analyse Data

With the aid of a C37.118 data parser, the NVIDIA Jetson
TX2 parses the C37.118 data frames into a human-readable
format, which is then used to compute the dominant mode
of LFEOs and its various parameters, including amplitude,
frequency, phase, damping ratio, and energy, from the data
sent by the PMU.

V. R ESULTS FROM C ASE S TUDY
Simulation experiments were performed using the Klein-
Rogers-Kundur’s two-area, four-machine system, and the pro-
posed MPM and detection algorithms were put to the test.
Researchers have used this power system model for a variety
of purposes, including mode recognition techniques, since it
closely resembles the behavior of traditional systems in service
[11]. With a gain of 200, a fast static exciter is present on
all generators. It is divided into two areas, each of which is
linked by two tie-lines carrying 413 MW of power from area
1 to area 2. Even in steady-state, the device is stressed due to
the Surge Impedance Loading (SIL) of a single line, which is
Fig. 4: Kundur’s Two Area Test System
To begin, a disturbance is inserted into the system on
machine 1 in area 1 for 0.2 seconds (12 cycles) which
generates an oscillation in the model. The machine in area
one oscillates as a result of this disturbance. To dampen these
oscillations, the eigenvalues of the system must be computed.
White Gaussian noise with a Signal-to-Noise Ratio (SNR) of
20 dB was applied to the electrical active power transmitting
from area 1 to area 2 and then passed through energy sorted
MPM, which decomposes the oscillatory signal into different
modes.

Fig. 5: Ringdown oscillation encountered
The MPM mode recognition parameters were set to N =
90, which represents 90 data points in a window, L = N2 , and
tol = 10−3 . The modal energy is measured after the modes
are calculated, and they are sorted by energy content. The
dominant mode, which has the most energy, is extracted and
can be used for a number of purposes, including damping
oscillations. 60 samples per second are collected with a 1.5
second window duration, yielding 90 data points per window.
The overall size of the data used in the study is about 10
seconds. The signal data obtained is shown in Fig. 5.
Fig. 6: Measurement energy
Fig. 7: Relative noise levels
When the measurement energy level exceeds a 5 × 106
and relative noise level is lower than 0.48 , the ringdown
detector is triggered . The measurement energy and relative
noise level for each of the 600 data sets was determined to
assess the efficiency of the detection system to detect ringdown
data. The relative noise levels, as shown in Fig. 7, for the
ambient part of the data are higher than for the ringdown part
of the data. Similarly, as shown in Fig. 6, the measurement
energy is higher for ringdown data and lower for ambient
data. As a result of these two metrics, data can be classified
as ambient or ringdown, and additional data can be used as
needed. It’s worth noting that relying solely on measurement
energy for ringdown detection can lead to false positives and
large amplitude disturbances. The threshold values may vary
for different signals.
Fig. 8: Modes estimated from detected ringdown data
Within a period of 4ms (1/4 interval of 60Hz), the study
is completed successfully. In Fig. 8, the effects of applying
energy sorted MPM on a 1.5 second time window are shown.
The results are filtered, and only those in the 0.1Hz to 2Hz
range are displayed in the output.
The results of the real-time simulation with PMUs show
that the system used can effectively detect ringdown data
and can be used in combination with the available hardware
PMUs. When the energy sorted MPM is applied to the detected
ringdown data, the systems’ dominant mode can be computed
in a timeframe that is close to real-time utilizing smaller
window sizes.
VI. C ONCLUSION
For online detection of LFEOs and estimation of corre-
sponding modes based on PMU measurement, this paper has
used a recursive energy sorted MPM algorithm in conjunction
with ringdown detection algorithms. From the simulations
performed on Kundur’s Two Area System on OPAL-RT system
and using PMU data, it can be concluded that the energy sorted
MPM can be used for real-time detection of LFEO modes
automatically and effectively. In near future, an application
for the mentioned approach can be developed and can also be
tested in real environment. Oscillation detection of ringdown
data can also be done using machine learning techniques.
Further research into the analysis of ambient data is needed.
ACKNOWLEDGEMENT
Authors acknowledge the support Centre of Excellence
(CoE) in Complex and Nonlinear Dynamical Systems
(CNDS), VJTI, Mumbai through TEQIP-III funding.
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