Journal of Electrical Engineering & Technology

https://doi.org/10.1007/s42835-020-00386-w

ORIGINAL ARTICLE

Swarm Intelligence Approach for Angle Stability Improvement of PSS

and SVC‑Based SMIB
Nor Azwan Mohamed Kamari1 · Ismail Musirin2 · Ahmad Asrul Ibrahim1

Received: 22 October 2019 / Revised: 21 January 2020 / Accepted: 18 February 2020

© The Korean Institute of Electrical Engineers 2020

Abstract
This paper discusses the effect of multi-objective function in angle stability improvement for a single machine connected to
an infinite bus system (SMIB). Minimum damping ratio, ξmin and maximum damping factor, σmax which are commonly used
to indicate oscillatory stability condition in power system are merge in certain ratio to produce a multi-objective function,
FMO. This new index brings the advantages of the two indices without compromising the weakness of the index involved.
In this study, FMO is applied to tune parameters of static var compensator with proportional-integral-derivative controller
(SVC-PID) to improve damping efficiency in SMIB. The result is compared with a system connected to power system stabi-
lizer attached with lead lag controller (PSS-LL). The parameters of SVC-PID and PSS-LL are optimized by particle swarm
optimization method. Validation based on speed response, phase plane and determination of eigenvalues confirms that the
proposed FMO is more effective for solving angle stability problems compared to single objective function.

Keywords Angle stability · Damping ratio · Power system stabilizer · Static var compensator · Particle swarm optimization

1 Introduction multi-objective function, FMO is required to address the

Due to the rising fuel and manpower costs, the manage-
ment of power generation has always been a priority over
the world. With high restrictions on spending, the power
system needs to be well managed so that system stability can
be maintained and not lethal due to any disruption [1–20].
Indicator of the power system is often used as a determi-
nant in justifying the stability of the system. However, only
single indicators are often used during the determination
process for power system stability tuning. This causes the
system does not succeed in improving the overall quality
[5–8]. Therefore, a combination of some indicators to create
* Nor Azwan Mohamed Kamari
azwank@ukm.edu.my
Ismail Musirin
ismailbm@salam.uitm.edu.my
Ahmad Asrul Ibrahim
ahmadasrul@ukm.edu.my
1
Department of Electrical, Electronic and Systems
Engineering, Faculty of Engineering and Built Environment,
Universiti Kebangsaan Malaysia, Bangi, Malaysia
2
Faculty of Electrical Engineering, Universiti Teknologi
Mara, Shah Alam, Malaysia
holistic improvement in the system. Among the well-known
indicators in determining angle stability are the damping
ratio and damping factor. Using minimum damping ratio
ξmin as an index, the optimization of this indicator can move
the coordinates of each eigenvalue in the complex s-plane
approaching the real (σ) axis lines [3–6]. While the maxi-
mum damping factor σmax can give better results in moving
the eigenvalue coordinates far to the left of the imaginary
(jω) axis [7]. The combination of these two indices may able
to bring the advantage without compromising the justifica-
tion of one of the indexes.
Improvements in angle stability is often a major focus
in the management of the power system stability. Imple-
mentation of the damping devices to the system are nec-
essary so that the stability of the system can be restored
or improved. Power system stabilizer (PSS) is usually the
preferred choice to be used to increase the capacity of the
power system damping [9–12]. Apart from PSS, flexible cur-
rent transmission (FACTS) devices are also widely used,
namely static var compensator (SVC) [13–16], compensa-
tion series control thyristor (TCSC) [17–19], static synchro-
nous compensator (STATCOM) [20–22], static synchronous
series compensator (SSSC) [23–25] and unified power
flow controller (UPFC) [26–28]. SVC is a combination of

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thyristor-controlled regulator (TCR) and fixed capacitor
(FC). On the other hand, TCSC can provide sufficient load
compensation by controlling the reactance of a transmission
line effectively. Meanwhile, STATCOM can be described
as a second generation of shunt connected FACTS device
based upon voltage source converter (VSC). STATCOM
supply required reactive power to maintain bus voltage and
improves damping capability of the system. In spite of both
SVC and STATCOM have the significant capability, the
installation cost of STATCOM is higher compared to SVC.
SSSC is a combination of voltage source converter (VSC)
in solid state and transformer. Both are connected in series
with the transmission line and contribute sinusoidal voltage
with variable magnitude to the line. In this paper, two damp-
ing controllers, power system stabilizer (PSS) and static var
compensator (SVC) are compared. PSS and FACTS devices
are often installed together with controllers such as lead-
lag (LL) [29–31], proportional-integral-derivative (PID)
[32–34] and fuzzy [35–37] to strengthen the damping effi-
ciency of the system. In this study, SVC will be attached to
PID controller, while PSS is combined with LL controller.
In recent years, the use of artificial intelligence (AI) tech-
nology has become the preferred choice in solving power
system problems. Unstable power systems require equipment
such as power system stabilizers, flexible AC transmission
systems (FACTS), PID controllers and LL controllers to
increase stability. This device, especially the PID and LL
controllers has various parameters that need to be tuned.
Here, the use of AI is introduced to adjust the parameters
involved. The AI approach is applied to solve optimum
values in a system or condition, particularly in the field of
economic dispatch, capacitor placement and sizing, and
assessment and improvement of voltage and angle stability.
Among the AI approaches commonly used in power sys-
tems are evolutionary computation (EC) and artificial neu-
ral networks (ANN) [38–40]. EC field include evolutionary
programming (EP) [41–43], particle swarm optimization
(PSO) [44–46], artificial immune systems (AIS) [47–49],
whale optimization algorithm (WOA) [15, 50, 51] and ant
colony optimization (ACO) [52–54]. EP algorithm is mod-
eled on the biological evolution process in solving a complex
problem. The main features of the EP are process of muta-
tion of the next generation and selection of more powerful
genes. AIS algorithm can be said to use a concept similar
to and EP. While both concepts are biologically based on
living things, EP focuses on the evolution of living things,
while AIS adopts the concept of living immune system. The
difference between AIS and EP algorithms is that AIS has
an additional process of cloning called the clonal selection
algorithm (CSA). On the other hand, the ACO approach is
inspired by the true behavior of ants while searching for food
and interacting with fellow ants. In ACO, artificial ants (the
search agent) will communicate using pheromone. It guides
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the searcher ants to solve the calculation problem in track-
ing the best route. Meanwhile, PSO concept can be said to
mimic the movement of a herd, such as the behavior of fish
schooling and insects swarming. This technique was origi-
nally founded based on the population of random particles
in which every particle is a potential solution. The PSO is
able to make adjustments so that there is a balance between
global and local exploration during the search process. This
feature makes the PSO more confident in overcoming the
problems caused by initial convergence. it also improves
the ability to search.
This paper discussed the effectiveness of multi objec-
tive function, FMO in angle stability improvement for a sin-
gle machine connected to an infinite bus system (SMIB).
Based on the efficiency of FMO, the performance of static
var compensator with PID controller (SVC-PID) to improve
damping efficiency in SMIB is compared to power system
stabilizer that attached with lead lag controller (PSS-LL).
The achievement of FMO, minimum damping ratio ξmin and
maximum damping factor, σmax in tuning damping control-
lers are also been analyzed. Fixed-gains of both SVC-PID
and PSS-LL are justified using Particle Swarm Optimization
(PSO) method. For optimization technique comparisons,
SVC-PID optimized with PSO method is compared to SVC-
PID optimized with EP and AIS techniques. The goal of this
study is to produce a stable SMIB system in minimum time.
2 SMIB System
The power system model tested in this study is based on a
single machine connected to an infinite bus system (SMIB),
as shown in Fig. 1. This concept can be symbolized as a
synchronous machine connected by a transmission line with
a large bus that has an infinite load [4, 10]. Re and Xe, are the
real and imaginary parts of the transmission line impedance,
respectively.
For a deeper analysis, a Philips-Heffron model has been
developed based on the SMIB system model in Fig. 1. A
block diagram comprising the Phillips–Heffron model for
SMIB system shown in Fig. 2.
H is the constant of inertia. KR is the exciter system’s
circuit constant. Kd is the coefficient of damping torque. TR
Fig. 1  A single machine connected to an infinite bus system (SMIB)
model
Journal of Electrical Engineering & Technology

Fig. 3  Philips–Heffron block diagram model for PSS-LL

obtained from the gain block. Meanwhile, two phase-com-

Fig. 2  Phillips–Heffron block diagram model for SMIB
is the exciter system’s time constant. ω0 = 2πf0. K1–K6 and
T3 are constants associated with electric torque, rotor speed,
rotor angle, ratio of the impedance, load and level of excita-
tion. Referring to Fig. 2, the equations representing SMIB
Phillips–Heffron system model can be derived as follow:
Δ𝜔 ΔTm − K1 Δ𝛿 − Kd Δ𝜔r − K2 ΔEq
= (1)
Δt 2H
pensation blocks contribute two level of relevant phase-lead
characteristic [9, 12, 23].
T1 and T2 are the time constants for the first phase com-
pensation. T3 and T4 are the time constants for the second
phase compensation. Tw is the washout time constant. Kst is
the stabilizer gain for PSS. In this study, both phase compen-
sation blocks were determined to have the same phase, then
T1 = T3 and T2 = T4. So that, the simulation test for SMIB
system with PSS-LL, three parameters: T1, T2 and Tw which
need to be optimized. All parameter values for PSS-LL used
in this study are based on the parameters recorded in [9].

Δ𝛿
= 𝜔0 Δ𝜔r (2)
2.2 SVC‑PID
Δt
In this paper, static var compensator with PID controller
ΔEq K3 K4 Δ𝛿 + ΔEq − K3 Δ𝜈f (SVC-PID) is proposed as a new design in improving stabil-
=− (3) ity in SMIB. The SVC-PID can be separated into two blocks:
Δt TK
block of PID controller and block of SVC. The Philips–Hef-
fron block diagram model for SVC-PID is shown in Fig. 4
Δ𝜈f KR K5 Δ𝛿 + KR K6 ΔEq + Δ𝜈f + KR Δ𝜎
=− (4) [15, 26].
Δt TR KV is the SVC circuit constant. T V is the SVC time con-
stant. KP, KI and KD are the proportional, integral and deriv-
where Tm is a mechanical torque. Equations (1)–(4) can be
ative gain of the PID controller, respectively. For SMIB sys-
encompassed into a matrix form as followed:
tem with SVC-PID, these three parameters are considered to
Ẋ = A ⋅ X + B ⋅ U (5) be optimized. All parameter values for SVC-PID used in this
study are based on the parameters recorded in [34].
[ ]T
X= Δ𝜔r Δ𝛿 ΔEq Δvf Δ𝜎 Δ𝛽 (6)

Comprehensive calculation of the system in Fig. 2 can be 3 Optimization Techniques

found in [21]. All parameter values for generators, transmis-
sion lines and exciters used in this study are based on the
parameters recorded in [34].
2.1 PSS‑LL
In this study, three optimization techniques namely, particle
swarm optimization (PSO), evolutionary programming (EP)
and artificial immune system (AIS) methods are applied to
search the optimal value of parameters of SVC-PID and
PSS-LL that attached to SMIB.

In this study, the SMIB model shown in Fig. 2 will be con-

nected to the PSS with the lead lag controller (PSS-LL). The
PSS-LL can be portrayed as three types of blocks that con-
nected in series; ie a washout block, a gain block, and two
phase-compensation blocks. Figure 3 shows the Philips–Hef-
fron block diagram model for PSS-LL. The gain block gain
regulates the damping signal received from the PSS input,
while the washout block serves as a high pass filter for input Fig. 4  Philips–Heffron block diagram model for SVC-PID

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3.1 PSO
Particle swarm optimization (PSO) was introduced in 1995
by Kennedy and Eberhart. PSO is one of the evolution-
based optimization techniques. The PSO concept can be
said to mimic the movement of a herd, such as the behavior
of birds flocking and insects swarming. This technique was
originally founded based on the population of random par-
ticles in which every particle is a potential solution. With
Fig. 5  Flowchart for the particle swarm optimization (PSO) algorithm
Fig. 6  Flowchart for the evolutionary programming (EP) algorithm
Fig. 7  Flowchart for the artificial immune system (AIS) algorithm
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certain velocity, the particles fly through space by follow-
ing optimum particles. Then, it seeks optimum solution by
updating the position and velocity of each particle. There
are several stages in PSO algorithm such as initialization,
velocity updates, position updates, fitness calculations and
best-ranked updates. Figure 5 represented the flowchart for
the PSO algorithm. Comprehensive explanations of PSO
algorithm process can be found in [26, 34].
3.2 EP
In the evolutionary programming (EP) algorithm, the pro-
cesses involved are initialization, statistical evaluation,
Fig. 8  The sector of eigenvalues on a complex s-plane (before and
after the optimization process of ξmin)
Fig. 9  The sector of eigenvalues on a complex s-plane (before and
after the optimization process of σmax)
Fig. 10  The sector of eigenvalues on a complex s-plane (before and
after the optimization process of FMO)
Table 1  Loading conditions for Case 1, Case 2 and Case 3
Loading condition Case 1 Case 2 Case 3
Active power, P (p.u.) 0.5 0.35 − 0.15
Reactive power, Q (p.u.) 0.15 − 0.15 0.3
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Fig. 11  Speed response and

eigenvalues for Case 1

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Table 2  Correlation of all seven approaches for Case 1 on the complex s-plane will move to the left of the imagi-
Type KP KI KD nary (jω) axis regularly. The optimization result of ξmin also
decreases the imaginary value of each eigenvalues. This
SVC-PID causes the sector of eigenvalues to move closer to the real
PID-MO 0.5236 − 0.0995 0.2532 (σ) axis. The effect of the optimization of ξmin will form a tri-
PI-MO 0.5468 0.6310 – angular-shaped sector of eigenvalues in the complex s-plane.
PI-Zt 0.4612 0.2405 – Figure 8 shows the sector of eigenvalues that mapped on a
PI-Sg 0.3215 0.1905 – complex s-plane. White and black square are the eigenvalues
Type T1(= T3) T2(= T4) TW location before and after the optimization process of ξmin,
respectively.
PSS-LL
PSS-MO 0.0900 9.0139 3.9365
Whereas, the maximum damping factor σmax calculates
PSS-Zt 0.5603 1.3656 1.8641
the maximum value (or the minimum of the negative value)
PSS-Sg 1.7466 1.6337 1.0695
damping factor σ for each eigenvalue, as follows [7]:
( )
𝜎max = max 𝜎i (8)

From σmax optimization, the eigenvalue coordinates are

fitness computation, mutation, combination and selection.
Figure 6 illustrated the flowchart of EP algorithm process.
3.3 AIS
Artificial immune system (AIS) algorithm that involved
are almost the same with EP, except one extra component,
namely cloning. Figure 7 illustrated the flowchart of AIS
algorithm process.
4 Multi‑objective Function for Angle
Stability Improvement
This paper proposes a multi-objective function (FMO) to
reduce the deviation of the rotor speed and at the same time
enhances the damping ability in the power system. FMO
was obtained based on a combination of two conventional
indexes in angular stability ie damping factor and damping
ratio. Only the minimum value of the damping ratio, ξmin
and the maximum value of the damping factor, σmax used in
FMO according to a certain ratio. In this study, SVC-PID and
PSS-LL have been selected as damping controllers added to
the system. Only one damping controller will be used at a
time. The selected damping controller will be tuned, and ξmin
and σmax values will be calculated.
The calculation of ξmin is based on the real value σ and
the imaginary value ω of each eigenvalue in the system, as
follows [4]:
⎛ ⎞
⎜ 𝜎k ⎟
𝜁min = min⎜ � ⎟ (7)
⎜ 𝜎 2 + 𝜔2 ⎟
⎝ k k⎠
Here, k represents the number of eigenvalues. As a result
of ξmin optimization, the coordinates of each eigenvalues
moved far to the left from the jω axis. The sector of eigen-
values that mapped on a complex s-plane, before and after
the optimization process of σmax are shown in Fig. 9.
By implementing the FMO optimization, this will optimize
both ξmin and σmax at the same time, which are to move the
sector of eigenvalues to the left of the jω axis and at the
same time move closer to the σ axis. The sector of eigenval-
ues that mapped before and after the optimization process of
FMO on a complex s-plane are shown in Fig. 10. With FMO
optimization, the coordinates of eigenvalues can be repre-
sented as being within the boundary of the trapezium-shaped
sector in the complex s-plane.
In this study, the minimum damping ratio ξmin and maxi-
mum damping factor σmax are collaborated into a multi-
objective function FMO equation as follows:
FMO = 𝜌1 ⋅ 𝜁min + 𝜌2 ⋅ 𝜎max , 0 ≤ 𝜌1 , 𝜌2 ≤ 1.0 (9)
ρ1 and ρ2 are the constants attached to ξmin and σmax, respec-
tively. It is used to determine the percentage of both indica-
tors. ωi and σi are respectively the imaginary and real parts
of the ith eigenvalue. FMO can be formulated as:
Maximum(FMO ) (10)
FMO has been applied to tune parameters of SVC-PID as
reported in [8], with different loading conditions compared
to this study. The result gives the best ratio of minimum
damping ratio (ξmin) and maximum damping factor (σmax) to
tune parameters in SVC-PID.
Here, the limitation of washout time constant, T W, the first
phase-compensation time constant, T1 and the second phase-
compensation time constant, T3 values need to be considered
for systems injected by the PSS-LL:
max min
TW ≤ TW ≤ TW , T1max ≤ T1 ≤ T1min , T3max ≤ T3 ≤ T3min
(11)

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Fig. 12  Speed response and

eigenvalues for Case 2

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Table 3  Correlation of all seven approaches for Case 2 PSS-Sg, in which all the three systems have been damped
Type KP KI KD within 3 s. From the oscillation perspective, PID-MO also
gives the smallest oscillation rate compared to the other six
SVC-PID systems. All three systems tuned with SVC-PI controller are
PID-MO 0.5018 − 0.1205 0.1803 among the worst, with PI-Sg gives the biggest oscillation
PI-MO 0.5467 0.6528 – rate and takes the longest time to damp. From the result of
PI-Zt 0.5421 0.3724 – Case 1, it is clearly shown that PID-MO is the most capable
PI-Sg 0.2710 0.0299 – in enhancing the best damping performance of SMIB system
Type T1(=T3) T2(=T4) TW compared to other six approaches. It is also shown that among
the systems with same installed devices, the FMO approach is
PSS-LL
more capable to produce shorter damping time and smaller
PSS-MO 0.0716 3.9281 0.7441
oscillation rate compared to the systems with ξmin and σmax
PSS-Zt 1.4970 1.2500 0.7898
approaches.
PSS-Sg 0.4910 2.5497 4.8348
Figure 11b shows the phase plane response for Case 1.
From the result, PID-MO stopped in 2 cycles, the smallest
number of cycles compared to others. Meanwhile, all the three
For systems with SVC-PID, here are the limitations of PSS-LL systems stopped in the range of 5–7 cycles. On the
values for proportional gain, KP, integral gain, KI and deriva- other hand, PI-MO, PI-Zt and PI-Sg methods are among the
tive gain, KD: worst, which take more than eight cycles before the phase-
plan revolution finished. Based on the phase plan perspective,
KPmax ≤ KP ≤ KPmin , KImax ≤ KI ≤ KImin , KDmax ≤ KD ≤ KDmin the PID-MO approach is in the first position for improving
(12) the damping performance of SMIB system. The result also
indicates that under the same installed devices such as PSS-
LL or SVC-PI controller, the MO method can give far more
5 Results and Discussion accurate tuning of damping controller and give better enhance-
ment of stability performance compared to ξmin and σmax for
In this study, the performances of SMIB system that attached SMIB system.
with SVC-PID using multi-objective function FMO approach Figure 11c shown the region of eigenvalues in complex
(PID-MO) are compared to SMIB with SVC-PI using FMO s-plane for Case 1. All eigenvalues are scattered at the nega-
approach (PI-MO), SMIB with SVC-PI using ξmin approach tive side of the real axis which justified that all results are in
(PI-Zt), SMIB with SVC-PI using σmax approach (PI-Sg), stable condition. From all the seven techniques, the eigenval-
SMIB with PSS-LL using FMO approach (PSS-MO), SMIB ues of PID-MO are positioned at the most left of negative
with PSS-LL using ξmin approach (PSS-Zt) and SMIB with side, as well as at the nearest to the real axis of the complex
PSS-LL with σmax approach (PSS-Sg). Also, the performance s-plane. This result shows that PID-MO has more capability
of both PI-MO and PSS-MO are compared to SVC-PI sys- to enhance the stability level of SMIB system as compared to
tem with the ξmin approach (PI-Zt), SVC-PI system with the other methods. On the other hand, one of the eigenvalues of
σmax approach (PI-Sg), PSS-LL system with the ξmin approach PI-Zt is at the nearest location to the origin. This verified that
(PSS-Zt) and PSS-LL system with the σmax approach (PSS- PI-Zt approach is at the lowest level of stable condition among
Sg). To present the above comparison events, three cases with all seven techniques. Among other approaches, eigenvalues of
various loading conditions are simulated. Table 1 tabulated PSS-Sg are located at the furthest from imaginary axis of com-
the loading conditions for all three cases: Case 1, Case 2 and plex s-plane. This technique is unable to improve ξmin value
Case 3. that leads to shift the eigenvalues nearer to the real axis of
In this study, all cases are using PSO as the computational complex s-plane. The value of SVC-PID, SVC-PI and PSS-
intelligence technique. For system with the FMO approach, LL tuned by all seven techniques: PID-MO, PI-MO, PI-Zt,
both constant values attached to ξmin, ρ1 and σmax, ρ2 both are PI-Sg, PSS-MO, PSS-Zt and PSS-Sg for Case 1 are tabulated
set to 0.5, respectively. These values are randomly chosen in in Table 2.
the range [0,1]. The responses of speed deviation, phase plane and the
The responses of speed deviation, phase plane and the region of eigenvalues in complex s-plane comparing all
region of eigenvalues location in complex s-plane comparing the seven methods for Case 2 are shown in Fig. 12a–c,
PID-MO, PI-MO, PI-Zt, PI-Sg, PSS-MO, PSS-Zt and PSS-Sg respectively.
for Case 1 are shown in Fig. 11a–c, respectively. From the speed responses, the performances of all tech-
From Fig. 11a, the PID-MO system takes the shortest niques are improved drastically than the previous one. The
damping time, about 2 s; followed by PSS-MO, PSS-Zt and speed responses for all techniques were damped within

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Fig. 13  Speed response and

eigenvalues for Case 3

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Table 4  Correlation of all seven approaches for Case 3

Type KP KI KD

SVC-PID
PID-MO 0.6029 − 0.0903 0.3163
PI-MO 0.5503 0.5838 –
PI-Zt 0.6400 0.6470 –
PI-Sg 0.1507 0.3174 –
Type T1(=T3) T2(=T4) TW

PSS-LL
PSS-MO 0.0987 0.2592 1.2129
PSS-Zt 0.3347 1.8893 1.1430
PSS-Sg 0.7503 0.8919 0.8737

Table 5  Loading conditions for Case 4

tuned PID and LL parameters by all seven techniques for
Case 2.
Loading condition Case 1 Speed deviation, phase plane and complex s-plane
Active power, P (p.u.) 0.2 response for Case 3 are shown in Fig. 13a–c, respectively.
Reactive power, Q (p.u.) 0.5 Similar pattern of results as in Case 1 and Case 2 are also
obtained in Case 3, in which PID-MO successfully gives the
shortest damping time, as well as the smallest oscillation
rate compared to other techniques. From the phase plane
3.5 s. This proved that all seven techniques have improved
response perspective, PID-MO stopped rotating after the
the angle stability very well. Among those techniques, PID-
second cycle, while the rest finished their rotation in almost
MO is significantly prominent method by the fastest damp-
6 cycles. From the result of eigenvalues region, it indicates
ing time, 1.7 s and the smallest oscillation rate compared to
that the PID-MO manages to move the eigenvalues posi-
other methods. On the other hand, systems installed with
tion to the most left and nearest to the real axis of com-
PSS-LL is more reliable to give better damping capability
plex s-plane. This implies that PID-MO is the best solution
compared to SVC-PI installed systems. Among all the seven
in solving the SMIB damping problem. Also, among the
approaches, PI-Sg takes the longest damping time. From
same devices, the application of FMO as objective function
MO-Zt-Sg aspect, the damping achievement of system with
is more reliable to tune parameter of devices compared to
PI-MO is more ahead than PI-Zt and PI-Sg, as well as PSS-
ξmin and σmax. Table 4 tabulated the value of tuned PID and
MO which also give better result as compared to the PSS-Zt
LL parameters for Case 3.
and PSS-Sg approach.
To compare the capability of the proposed optimization
The same results are also received for the phase plane
technique, the performance of SMIB that is installed with
response of Case 2 in Fig. 12b. The phase plan rotations of
conventional SVC-PID system (C-SVC) is compared with
all techniques are between 3 and 6 cycles. PID-MO shows
EP based SVC-PID system (EP-SVC), AIS based SVC-PID
the smallest cycle size, while other six methods provide
system (AIS-SVC) and PSO based SVC-PID system (PSO-
almost the same size of cycles.
SVC). The above comparison event is simulated in Case 4.
Figure 12c shown the sector of eigenvalues in complex
The loading condition for Case 4 is tabulated in Table 5.
s-plane for Case 2. All techniques have successfully shifted
Simulation is conducted based on the SMIB and SVC
the eigenvalues coordinates to the left region of origin in
parameters which can be obtained from [34]. In Case 4,
the complex s-plane. This indicate that all systems have
all value of KP, KI and KD parameters for C-SVC are ran-
achieved stable conditions. For PID-MO, their eigenvalues
domly selected. FMO is selected as the objective function
are located at the nearest to the real axis and the furthest to
in searching for optimal KP, KI and KD using EP, AIS and
the left side of complex s-plane. This place PID-MO as the
PSO methods.
best technique compared to the others. On the other hand,
The response of speed deviation and region of eigen-
some eigenvalues of PI-MO and PI-Zt are located near to
values location in complex s-plane for Case 4 is shown in
origin, verify that these two methods are bringing the SMIB
Fig. 14a, b, respectively.
system near to instability. Table 3 tabulated the value of
In Case 4, the PSO-SVC system shows the fastest
damping and the lowest oscillation compared to other

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Fig. 14  Speed response and eigenvalues for Case 4

three techniques as shown in Fig. 14a. It stops damping in

1.5 s. EP-SVC system is second place followed by AIS- Table 6  Correlation of AIS-SVC, EP-SVC, PSO-SVC and C-SVC for
SVC and C-SVC system. Figure 14b shows the region of Case 4
eigenvalues location in complex s-plane for Case 4. The Type KP KI KD
eigenvalues of PSO-SVC are positioned at the most left of
negative side, as well as at the nearest to the real axis of AIS-SVC 2.1323 − 5.0012 0.0112
the complex s-plane, compared to other three techniques. EP-SVC 2.0483 − 4.8066 0.0195
On the other hand, C-SVC system gives the worst result PSO-SVC 1.7312 − 4.3328 0.0243
as three of six eigenvalues located very near to right-hand C-SVC 2.500 − 5.0000 0.0100
side of complex s-plane. In overall result, PSO technique

13

approach is capable to elevate the performance of SVC
system by optimizing the PID controllers.
The results of KP, KI and KD using EP, AIS and PSO
methods for Case 4 are tabulated in Table 6.
6 Conclusion
This paper discussed the effectiveness of multi objec-
tive function, FMO in tuning SVC-PID to improve angle
stability in SMIB system. From the result, the introduc-
tion of FMO manage to elevate the stability efficiency of
power system. The application of minimum damping ratio,
ξmin as objective function of an optimization process will
move the eigenvalues region farther to left side of complex
s-plane, while the usage of maximum damping factor, σmax
will bring eigenvalues position towards the real axis of
complex s-plane. Merger of ξmin and σmax index in certain
ratio as objective function will bring both advantages into
the selected optimization process. Based on three cases
that has been simulated, comparison of SVC-PID, SVC-PI
and PSS-LL using various objective function revealed the
capability of SVC-PID in enhancing the stability perfor-
mance, especially when collaborate with FMO as objective
function. From the optimization techniques point of view,
PSO based optimization method is manage to calculate the
optimal parameters in enhancing the capability of damping
controller compared to EP and AIS.
Acknowledgements This work was supported by Universiti Kebang-
saan Malaysia under code GGPM-2018-055.
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Publisher’s Note Springer Nature remains neutral with regard to
jurisdictional claims in published maps and institutional affiliations.
Dr. Nor Azwan Mohamed Kamari received Bachelor in Electrical
and Electronic Engineering from Meiji Univeristy, Japan, M.Sc. in
Electrical and Electronic Engineering from Ehime University, Japan
and Ph.D. in Electrical Engineering from Universiti Teknologi Mara,
Malaysia in 2000, 2004 and 2016, respectively. He has been an acade-
mician for over 10 years at several universities before joining Universiti
Kebangsaan Malaysia (UKM) in 2017. His areas of research interests
are power engineering, energy management and artificial intelligence.
He has been the project leader for several research projects with fund-
ing from the Ministry of Education Malaysia and UKM. He oversees
several postgraduate, local and international students in the field of
power engineering. He also is a reviewer for various local and inter-
national journals.
Prof. Ir. Dr. Ismail Musirin obtained Bachelor of Electrical Engi-
neering (Hons) in 1990 from Universiti Teknologi Malaysia, M.Sc.
Pulsed Power Technology in 1992 from University of Strathclyde,
United Kingdom and Ph.D. in Electrical Engineering from Univer-
siti Teknologi MARA (UiTM), Malaysia in 2005. He is currently a
Professor of Power System at the Faculty of Electrical Engineering,
UiTM and headed the Power System Operation (POSC) Computational
Intelligence Research Group. He has authored 2 books published, over
300 papers in international indexed journals and conferences. He is
also an international journal reviewer for IEEE Transactions, Elsevier
13

Science, WSEAS, John Wiley, IET and some other publishers. He has
chaired more than 20 international conference since 2007. To date,
he has delivered keynote speeches at Cambridge University, United
Kingdom, Dubai, Korea and Malaysia. He has also been given oppor-
tunity to evaluate research grants at the national and international lev-
els. His research interest includes artificial intelligence, optimization
techniques, power system analysis, renewable energy, distributed gen-
eration and power system stability. He is a professional engineer and
a senior member of International Association of Computer Science
and Information Technology (IACSIT), member of Artificial Immune
13
Journal of Electrical Engineering & Technology
System Society (ARTIST) and member of International Association of
Engineers (IAENG), Hong Kong.
Dr. Ahmad Asrul Ibrahim received B.Eng. and M.Sc. degrees from Uni-
versiti Kebangsaan Malaysia, Malaysia and Ph.D. degree from Durham
University, United Kingdom in 2008, 2012 and 2018, respectively. He
has authored and co-authored more than 30 technical papers published
in the international journals, national and international conferences.
His research interests include distribution system automation, artificial
intelligence and power quality assessment.