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STATE ESTIMATION
Amit Jain, Member, IEEE and Shivakumar N. R.
VII. CONCLUSIONS
Real time monitoring and control of power systems is
Figure 2. Variation of predicted and filtered voltage magnitude estimate errors, extremely important for an efficient and reliable operation of
when weight of PMU is fixed at 100 a power system. Sate estimation forms the backbone for the
real time monitoring and control functions. Since a repeated
operation of state estimation functions with in short intervals
of time is computationally expensive, tracking estimation has
been conceived to update the state vector at instant of time. In
tracking estimation the changes in the system between two
successive instants of time is assumed to be extremely small
and hence the state vector is simply updated by an amount
proportional to the measurement residual at every instant.
Various techniques proposed in the literature to improve the
computability, accuracy and the ease of implementation have
been discussed. Certain techniques also help in better
detection of bad data, anomalies and perform well even under
the presence of ill conditioning.
Figure 3. Variation of predicted and filtered voltage angular estimate errors, Since power system changes continuously, the operator
when weight of PMU is fixed at 100
has to be extremely alert in taking decisions on real time,
Simulation studies with multiple PMUs have also been especially in cases of emergency. In such a scenario a
presented in [35]. An important observation in the study of technique which can predict the possible state of a power
multiple PMUs is that the reduction in error with increase in system in the immediate future is a boon. Though tracking
the number of PMUs seems to saturate after a particular monitors the power system continuously, it lacks any physical
point. Though a great reduction in estimation error can be modeling of the system and hence no realistic prediction of
obtained from a few PMUs, the optimal number of PMUs for the states can be obtained. Hence researchers have proposed
a given network should ideally be chosen from the point of dynamic state estimation techniques, which provide the
view of both state estimation accuracy and observability of predicted state vector at the next time instant to the operator,
the network. This helps to improve the ability of the estimator with which the operator will be able to take any suitable
to detect bad data in the measurement set, especially in control actions. Once the measurements at the next instant
critical SCADA measurements. arrive, the predicted state vector is filtered to obtain an
Since DSE can play a major role in monitoring and risk optimized estimate. Various DSE techniques proposed in the
prediction with their unique ability of predicting the state literature, their advantages, disadvantages and specialties if
vector one time stamp ahead, their association with phasor any, have been briefly described in this paper.
measurement units is a great advantage for real time Keeping in mind the importance of a review paper for
monitoring, detection and control of power systems. From this future research in the area, a comprehensive survey of the
point of view the PMU based DSE techniques are of extreme available literature on tracking and dynamic state estimation
importance for the modern day energy management systems. techniques has been presented. It is sincerely hoped that this
will help the community of power engineers to further
VI. ADVANTAGES OF DYNAMIC STATE ESTIMATION research on tracking and dynamic state estimation topics.
The ability of predicting the state vector one step ahead is a
very important advantage of DSE. Some of the advantages of VIII. REFERENCES
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IX. BIOGRAPHIES
System Harmonics Using Kalman Filter Methodology”, IEEE
Transactions on Power Delivery, Vol. 6, No. 4, October 1991.
[17]. K. R. Shih and S. J. Huang, “Application of a Robost Algorithm for Amit Jain graduated from KNIT, India in Electrical
Dynamic State estimation of a Power System”, IEEE Transactions on Engineering. He completed his masters and Ph.D.
Power Systems, Vol. 17, No. 1, February 2002. from Indian Institute of Technology, New Delhi,
[18]. Isabel. M. F and F. P. Macel Barbosa, “Square Root Filter Algorithm for India.
Dynamic State Estimation of Electric Power Systems”, Proceedings, He was working in Alstom on the power SCADA
Electro technical Conference, 7th Mediterranean, vol.3. Pages 877-880, systems. He was working in Korea in 2002 as a
April 1994. Post-doctoral researcher in the Brain Korea 21
[19]. S. K. Sinha and J. K. Mandal, “Dynamic State Estimator Using ANN project team of Chungbuk National University. He
based Bus load Prediction”, IEEE Transactions on Power Systems, Vol. was Post Doctoral Fellow of the Japan Society for
14, No. 4, November 1999. the Promotion of Science (JSPS) at Tohoku
[20]. Jeu-Min Lin, Shyh-Jier Huang, and Kuang-Rong Shih, “Application of University, Sendai, Japan. He also worked as a Post Doctoral Research
Sliding Surface Enhanced Fuzzy Control for Dynamic State Estimation of Associate at Tohoku University, Sendai, Japan. Currently he is an Assistant
a Power System”, IEEE Transactions On Power Systems, VOL. 18, NO. Professor in IIIT, Hyderabad, India. His fields of research interest are power
2, MAY 2003. system real time monitoring and control, artificial intelligence applications,
[21]. S. J. Huang and K. R. Shih, “Dynamic-state-estimation scheme including power system economics and electricity markets, renewable energy, reliability
nonlinear measurement-function considerations”, IEE PROC. Generation, analysis, GIS applications to power systems, parallel processing and
Transmission and Distribution, Vol 149, No. 6, November 2002. nanotechnology.
[22]. A. M .Leite da Silva, K. B. Do Ceutto Filho, J.M.C. Canterra, “An
Efficient Dynamic State Estimator Algorithm Including Bad data Shivakumar N R has obtained his Electrical
Processing”, IEEE transactions on Power Systems, Vol PWRS-2, No.4, Engineering Degree from RVCE Bangalore and his
and November 1987. masters in Power Systems, from IIIT, Hyderabad. He
[23]. A. M. Leite da Silva, M. B. Do Coutto Filho, J. F. de Queiroz, “State is currently working in ABB Corporate Research
forecasting in electric power systems”, IEE Proceedings, Vol. 130, Pt. C. Center, Bangalore, India. His areas of interest include
No. 5, September 1983. real time monitoring and control of power systems,
[24]. Methodology of Monthly Index of Services, “Annex B: Holt-Winter’s power system protection, AI applications to power
exponential Forecasting Method”, Available: systems and condition monitoring and diagnostics of
http://www.statistics.gov.uk/iosmethodology/downloads/Forecasting.pdf electrical equipment.
[25]. Greg Welch and Grey Bishop, “An Introduction to the Kalman Filter”,
Department of Computer Science, University of North Carolina at Chapel
Hill, Course 8, SIGGRAPH 2001.