e-Prime - Advances in Electrical Engineering, Electronics and Energy 7 (2024) 100409

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e-Prime - Advances in Electrical

Engineering, Electronics and Energy
journal homepage: www.elsevier.com/locate/prime

An adaptive wide-area neuro-fuzzy based controller for variable frequency

transformer in damping inter-area oscillations
Basit Mushtaq *, Mairaj ud-din Mufti
National Institute of Technology, Srinagar, India

A R T I C L E I N F O A B S T R A C T

Keywords: Due to the dynamic, non-linear, and complex character of large-scale power networks, prolonged inadequately
Variable Frequency Transformer damped low frequency oscillations may develop, leading to loss of synchronisation of generating units. Flexible
Adaptive neuro fuzzy inference system (ANFIS) AC transmission controller when equipped with an appropriate additional damping mechanism offers substantial
Low-frequency Oscillation (LFO) Damping
damping in mitigating these oscillations. In this context, a smart flexible transmission device namely variable
Participation Factor (PF)
Eigenvalue analysis
frequency transformer (VFT) is integrated into a multimachine power system network to effectively damp low-
frequency oscillations. An adaptive model free neuro-fuzzy inference system (ANFIS) based damping controller is
developed for VFT in order to damp inter-area oscillations. The ANFIS is a resilient and intelligent system that
combines fuzzy logic and neural network capabilities with attributes like robustness, adaptability, speed, and
flexibility. The proposed damping controller, which provides additional damping proportionate to the frequency
variation, was included into the VFT’s power loop. The controller input is determined as the center-of-inertia
difference of generator rotor speeds and is a remote signal delivered by a wide-area measuring system.
Depending on the observability of crucial modes, participation factor (PF) investigation is used to extract the
appropriate feedback signal, which provides details on the overall the system’s dynamics. The ANFIS-based
scheme for the VFT is designed to impart sufficient damping qualities to the critical modes of the examined
system under a variety of operating conditions. Using extensive non-linear time-domain simulations and
eigenvalue analysis, the effectiveness of the suggested technique was evaluated on a popular 2-area, 4-generator,
11-bus test system.

1. Introduction The use of synchronous-machine excitation control to improve the

The improvement of reliability and dynamic stability of large-scale
grid interconnected power systems is receiving considerable attention.
The scale and complexity of integrated electrical networks have evolved
dramatically, raising concerns about a variety of potential low-
frequency oscillations (LFOs) that cause a significant influence on
electrical network stability and security [1–3]. LFOs reduce the carrying
capabilities of connecting links, which causes less-than-ideal power
flows and can occasionally result in disastrous outages of the power grid
[4]. LFOs emerge when a set of machines oscillate against other set of
machines on the opposite side of the tie-line. The frequency of inter-area
oscillations that affect the stability of the power system ranges from 0.1
to 0.8 Hz [5]. Authors in [6] discuss many events that occurred across
the world because of LFOs; moreover, they suggested that if appropriate
control and monitoring strategies had been designed, these events could
have been prevented.
dynamic stability of power systems is a recognized and commonly uti­
lized technique in the power sector. This conventional approach in­
volves the installation of power system stabilizers (PSSs) at the machines
majorly contributing to the power system instability. The PSSs are
installed to superimpose the voltage-error signal of the automatic
voltage regulator (AVR) with an auxiliary signal [7,8]. Despite PSSs
significant ability to damp oscillations that are local in nature, its dif­
ficulty in monitoring global modes, such as inter-area modes via local
input signals limits its ability in observing and damping the inter-area
oscillating modes. Furthermore, as multiple generators are widely
distributed across an interlinked system, a good coordination method for
distinct PSSs deployed at different system machines is essential to
enhance the overall system damping [9]. Flexible alternating current
transmission system (FACTS)-based stabilisers provided a new method
for dampening low-frequency inter-area fluctuations. By modifying the
transmission line reactance, these devices may increase transmission

* Corresponding author.
E-mail address: basit_01phd18@nitsri.ac.in (B. Mushtaq).

https://doi.org/10.1016/j.prime.2023.100409
Received 13 April 2023; Received in revised form 21 November 2023; Accepted 25 November 2023
Available online 31 December 2023
2772-6711/© 2023 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).
B. Mushtaq and M. ud-din Mufti
capacity, controllability, and stability. Different FACTS devices, such as
unified power flow controller (UPFC) [10,11], thyristor controlled series
capacitor (TCSC) [12,13], static synchronous series compensator (SSSC)
[14], static var compensator (SVC) [15,16] and thyristor controlled
phase angle regulator (TCPAR) have been proposed to suppress oscil­
lations and enhance the damping of power systems [17]. Although these
devices are designed to support power flow and regulate voltage, their
effectiveness in damping Low Frequency Oscillations (LFOs) is the key
issue. It is important to evaluate whether the existing FACTS controllers
are able to effectively damp LFOs, rather than just determining the best
installation locations for these controllers. Therefore, a supplementary
control signal is added to one of the control loops of the installed FACTS
device in order to improve damping, as well as to meet device’s primary
requirements [18,19]. The insertion of current harmonics and their
sluggish response are further disadvantages of these FACTS controllers
[20]. In [21], with the utilization of a neural network-based controller,
voltage source converter (VSC)-based HVDC systems have been utilized
to damp LFOs and increase power system stability. However, the high
converter cost, reactive power requirement, harmonic generation, and
circuit-breaking problems restrict their applications [22]. To this end, a
recent flexible AC power transmission technology, namely variable
frequency transformer (VFT), can be incorporated to replace these
power electronic-based stabilizers. A VFT is a regulated bi-directional
AC power transmission device that allows active power to be trans­
ferred between neighbouring power networks which may or may not
operate at the same frequency. The concept and electromagnetic design
of a VFT have been introduced in [23]. Studies based on power transfer
and transient studies have been given specific attention for analysis of
potential projects involving asynchronous links using a VFT [24]. For
bidirectional and decoupled active and reactive power flows, a VFT
design with an advanced control method is described in [25]. Authors in
[26], utilized VFT to effectively suppress the power fluctuations of an
aggregated doubly-fed induction generation (DFIG)-based wind farm
connected to the power grid. In [27], a novel series compensation
converter (SCC)-based control strategy was implemented to protect a
VFT from dual-side asymmetrical grid faults. A VFT is essentially a
wound-rotor induction machine (WRIM) with a DC drive motor [28].
The active power transfer through a VFT is determined by the me­
chanical torque applied to the WRIMs rotor shaft [29]. Both the WRIM
and the VFT DC motor contribute inertia to the power system, improving
stability during system disturbances. By controlling the power trans­
mission in interconnecting tie-lines and independent of structural
changes in the power system, VFT becomes a better solution for
low-frequency oscillation damping.
Traditional proportional integral derivative (PID) controllers are
ideal for linear time variable processes, but they have drawbacks for
controlling plants with significant non-linearity or whose parameters
change over time. This necessitates the deployment of a more potent
controller and for this an adaptive neuro fuzzy inference system (ANFIS)
based controller is an excellent choice. ANFIS is a sophisticated soft
computing method that is a member of the ”neuro-fuzzy networks”.
Although fuzzy logic alone is incapable of learning from data, however,
it can transform human knowledge into a fuzzy system with decision-
making rules. Moreover, changing the membership function (MF) with
fuzzy logic requires a substantial amount of time. In contrast,a neural
network-based framework, can acquire knowledge from training, how­
ever it is unable to understand newly gained information and human
ideas in order to make decisions. The neuro-fuzzy method refers to the
combination of neural and fuzzy systems. FIS have shown to be an
effective tool for resolving a variety of nonlinear and complicated issues
when combined with neural networks’ learning abilities [30]. Authors
in [31] have proposed an ANFIS-based controller to regulate the reactive
power supplied by the static var compensator to reduce inter-area os­
cillations. The center-of-inertia variance measured in terms of the speeds
of the generator rotors is estimated as the input signal for the controller,
which is a global signal delivered by a wide-area measuring system.
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e-Prime - Advances in Electrical Engineering, Electronics and Energy 7 (2024) 100409
Given the foregoing description, following are the significant con­
tributions of this work:
1. This work presents a novel application of VFT as a resilient
damping device in an interconnected multi-machine power system
framework. To the best of the author’s knowledge, such an application
of VFT has not been considered in any of the earlier studies.
2. An ANFIS-based damping control method has been presented to
overcome the inherent shortcomings of the fixed value controllers and to
obtain improved damping control performance. The proposed controller
achieves noticeably higher damping performance as compared to fixed-
value controllers.
3. In order to select the appropriate stabilising signal for the
controller, a detailed analysis based on participation factor has been
carried out to select a signal rich in inter-area modal content.
4. Detailed investigation in the form of eigen value analysis and time-
domain simulations in MATLAB/Simulink environment reveals that the
proposed damping control scheme with the selected stabilising signal
achieves better LFO damping when contrasted to a conventional fixed-
value residue-based controller.
The remainder of this paper is organised as follows: Section 2 gives
the details of the system configuration. Mathematical modelling of the
studied test-system is discussed in Section 3. Modal analysis of the
proposed system is presented in Section 4. In Section 5, the proposed
control strategy is presented. Section 6 presents the time-domain
simulation results and a discussion on the present study. Finally, con­
clusions are delineated in Section 7.
2. System configuration
A popular test system that consists of two-areas, four-machines
interconnected by a weak tie-line was employed in the present study.
The single-line schematic of the test-bed is displayed in Fig. 1. As shown
in the figure, the employed system is symmetrical, with five buses and
two machines in each area, as well as an intermediate tie-line bus. Each
area supplies a constant-power load, with area 1 transferring 400 MW to
area 2 across the tie-line. This benchmark system has been extensively
used for power system damping studies. The system is characterised by
two lightly damped local modes and one inter-area mode, which will be
subsequently demonstrated using modal analysis. A VFT, which is
controlled by the proposed damping controller, is installed in one of the
lines between buses 7 and 8.
3. Mathematical description of the system
This section of this treatise delves into the necessary detailed
mathematical foundation of the employed test-system along with the
modelling of the VFT.
3.0.1. AC synchronous machine
The κth (κ = 1, 2..., Υ) machine dynamics are represented by the
following set-of equations
˙
e′qκ =
[ { ( )
1 ( ) x′dκ − x″dκ
− eqκ − ′ ′
xdκ − xdκ − idκ − (1)
τ′doκ (x′dκ − xlsκ )
2
( )} ]
ψ 1dκ −
( )
x′dκ − xlsκ idκ − e′qκ + efdκ
B. Mushtaq and M. ud-din Mufti e-Prime - Advances in Electrical Engineering, Electronics and Energy 7 (2024) 100409

Fig. 1. Single-line schematic diagram of the employed test-system.

˙
e′dκ = 3.0.2. DC excitation system
⎡ ⎧
( ) The generator terminal voltage is adjusted via the modulation of the
( )⎪
⎨ x′qκ − x″qκ
1 ⎢ generator field voltage. All of the generators are equipped with fast-
(2)
′ ′
− ′ ⎣ − edκ − xqκ − xqκ − iqκ − ( )2
τqoκ ⎪
⎩ x′qκ − xlsκ acting static excitation systems (IEEE ST1A). The κth exciter dynamics
( ( ) )}] are governed by the following equations:
− ψ 2qκ − x′qκ − xlsκ iqκ − e′dκ 1
vtrκ
˙ = [ − vtrκ + vtκ ] (9)
τrκ
1 [ ]
ψ 1dκ
˙ = − ψ 1dκ + eqκ′ + (xdκ′ − xlsi )idκ (3) ( )
τ″doκ efdκ = kaκ vref κ − vtrκ (10)

1 [ ( ) ] Traditional power system stabilisers have been installed on machines to

ψ 2dκ
˙ =− ψ 2qκ + edi′ − xqκ′ − xlsκ iqi (4)
τ″qo provide extra damping control (PSS). It is made up of a washout filter
and a sequence of cascading lead-lag blocks. The dynamics of the PSS are
dδκ expressed as:
= ωrκ − ωbase (5)
dt ( )( )
stΠ 1 + stξ1 κ 1 + stξ3 κ
[ ( ″ ) vpssκ = kpssκ ( )( ) (11)
ωbase xdκ − xlsκ ′ (1 + stΠ ) 1 + stξ2 κ 1 + stξ4 κ
ω˙rκ = Tmκ − D(ωrκ − ωs ) − e iqκ
2Hκ (xdκ − xlsκ ) qκ
′
( ′ ) 3.0.3. Prime movers
x − x″dκ
− ′dκ ψ 1dκ iqκ When the load-generation balance changes, synchronous machines
(xdκ − xlsκ )
( ) ( ) (6) employ governors to control the system frequency by altering the gen­
x″qκ − xlsκ xqκ − x″qκ erator’s input torque. A basic governor’s dynamics may be illustrated as:
′ ) ψ idκ
− ( )edκ idκ + ( ( )
x′ − xlsκ xqκ′ − xlsκ 2qκ ˙ = 1 Γmκ − Tmκ − wrκ − ωbase
qκ Tmκ (12)
( ) ] τgκ ρgκ
+ x″qκ − x″dκ iqκ idκ
Parameter ρgκ brings the system to an equilibrium state with a perma­
The aforementioned set of equations is reflective of a 2.2-type, sixth- nent frequency error, and an integral control action (automatic gener­
order model with a one d-axis field winding and three damper wind­ ation control) is often employed to set the load-generation reference Γmκ ,
ing’s, one on d-axis and two on q-axis, respectively. Since magnetic in order to offset the permanent frequency error and restore the fre­
saturation is not considered in the present study, the reactances of the quency back to the nominal.
machines are assumed to remain constant.
A reasonable assumption in power system studies assumes that the 3.0.4. Network power flow model
stator transients occur on a much lower time-scale than the dynamics of Buses to which the generators are connected have the following
interest and consequently the equations reduce to algebraic equations power balance equation:
instead of additional differential equations. Therefore, the bus quantities
vκ cos(δκ − θκ )iqκ − vκ sin(δκ − θκ )idκ − ζpκ = 0 (13)
and stator variables are linked through the following set of equations:
( ″ )
xdκ − xlsκ ′ − vκ sin(δκ − θκ )iqκ − vκ cos(δκ − θκ )idκ − ζqκ = 0 (14)
vκ cos(δκ − θκ ) − e
(x′dκ − xlsκ ) qi
( ′ ) (7) where,
xdκ − x″dκ ″
− ′ ψ 1dκ + rsκ Iqκ − xdκ idκ = 0 ∑
λ=n
(xdκ − xlsκ )
ζpκ = Vκ Vλ [Gκλ cos(θκ − θλ ) + Bκλ sin(θκ − θλ )] (15)
( ) λ=1

x″qκ − xlsκ
vκ sin(δκ − θκ ) + ( )e′dκ ∑
λ=n
x′qκ − xlsκ ζqκ = Vκ Vλ [Gκλ sin(θκ − θλ ) − Bκλ cos(θκ − θλ )] (16)
λ=1
( (8)
x′qκ − x″qκ)
− ( )ψ 2qκ − rsκ idκ − x″qκ iqκ = 0 for κ = 1,2,..., Υ
x′qκ − xlsκ Power balance equations for the rest of the buses (i.e other than
generator buses) are described as:

3
B. Mushtaq and M. ud-din Mufti
∑
λ=n
vκ vλ [Gκλ cos(θκ − θλ ) + Bκλ sin(θκ − θλ )]
(17)
λ=1
+Plκ (vκ ) = 0
∑
λ=n
vκ vλ [Gκλ sin(θκ − θλ ) − Bκλ cos(θκ − θλ )]
λ=1
(18)
+Qlκ (vκ ) = 0
for κ = Υ + 1, Υ + 2,... n where, n is the number of system buses, and Yκλ
= Gκλ + jBκλ is the bus admittance matrix element corresponding to the
κth row and λth column of the bus admittance matrix Y.
3.1. Modeling of VFT
VFT as a flexible AC interconnection device has emerged as a highly
desirable and reliable innovation for interconnecting power systems. It
comprises a doubly-fed induction machine and a DC drive system for
rotor control, as shown in Fig. 2 [32]. The core technology of a VFT is a
rotary transformer having three phase winding on both stator and rotor.
The DC drive system is used to provide frequency matching by adjusting
rotational position of the rotor relative to stator, thereby controlling the
capacity and direction of active power flow through the VFT. The rotor
adjusts its position automatically in response to the phase angle differ­
ence between the two systems. To achieve synchronization between
stator and rotor fluxes in the air-gap, the rotor steps to implement a
rotational speed proportionate to the frequency difference of the two
connected systems running at different frequencies. The VFT acts as a
phase-shifting transformer when the two networks are synchronized,
and the rotor speed becomes zero. The rotor of the VFT remains at a state
where the rotor and stator voltages are in phase with respective systems
and hence no power is transferred in synchronous mode. Under this
condition, it is required to supply an external torque to the rotor shaft in
order to transmit power between the two synchronous networks. The
torque causes the rotor to turn until the power flow demand is met, and
the torque direction determines the power flow direction. Even at
standstill, the dc drive system is designed to provide torque in order to
transmit power via the VFT.
In the steady state, the circuit resistance of a VFT is not considered,
and it is possible to simplify it as a series circuit consisting of an
equivalent reactance and an ideal phase shifter. During normal opera­
tion, VFT is subjected to frequency and voltage variations caused by
disturbances in the two power systems. The control system must work
continually to maintain the relative rotor position with regard to the
stator in order to sustain a steady power flow through the VFT during
frequency changes. A closed-loop controller works to maintain a set-
point for power transmission. The controller detects the power flow,
compares it to the set-point and changes the value and orientation of
torque given to the rotor based on the power deviation difference. The
Fig. 2. Schematic Diagram of VFT Structure.
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e-Prime - Advances in Electrical Engineering, Electronics and Energy 7 (2024) 100409
equations governing the power flow control through the VFT are given
by Chen et al. (2018). The phase angle between the magnetic fields of
the rotor and the stator can be expressed as:
θnet = θi − (θk + θrm ). (19)
As a result, the rotary transformer’s rotor motion equation is given as:
dθrm
= ωrm = 2πfrm (20)
dt
dωrm 1
= (Td + Tr − Ts ) (21)
dt TJr
Pd
Td = (22)
ωrm
where, TJr = rotor moment of inertia, Ts = stator winding electromag­
netic torque on rotor, Tr = rotor winding electromagnetic torque on
rotor, Td = mechanical torque experienced by rotor and ωrm = electrical
angular frequency of rotor speed. The complex power at the buses
interconnected by the VFT is
Vi Vk sin(θnet ) [Vi Vk cos(θnet )] − Vk2
Si = +j , (23)
X X
Vi Vk sin(θnet ) V 2 − [Vi Vk cos(θnet )]
Sk = +j k , (24)
X X
where Vi and Vk are the voltages of the buses at the stator and rotor sides
of the VFT, respectively; X is the VFT circuit reactance; θi is the bus
voltage angle (stator-side); θk is the bus voltage angle (rotor-side); θrm is
the rotor angular position relative to the stator.
Under steady-state working conditions, θi and θk are constant, and
the active power transfer through the VFT can be controlled by con­
trolling θrm . In case of system disturbances, the rotor and stator voltage
angles fluctuate eventually causing power swings between the two
interlinked systems. A specific control method that regulates the output
torque of DC-motor can therefore be used such that θnet is kept at a
steady value to prevent the power oscillations. It is similar to supplying a
damping torque that suppresses tie-line power oscillations, hence
enhancing power system stability. To test the adaptability of the VFT in
damping inter-area oscillations, a simulation model of the VFT-drive
unit control and mechanical motion of the DC motor and rotary trans­
former is utilized as shown in Fig. 3.
The above developed nonlinear equations that govern VFT operation
are first linearized and can be expressed in the state-space form as
ρX = AX + BU (25)
Y = CX + DU (26)
where X represents the state vector, U represents the input vector and Y
represents the output vector. A, B, C, and D represent constant matrices
of suitable dimensions. The output vector Y in eq. (26) represents the
relative angular position of rotor with respect to the stator.
4. Modal analysis
4.1. System linearization and eigenvalue analysis
Using MATLAB’s linear analysis toolbox, the test system is linearized
in order to assess the stability of the system under examination. The
matrices A, B, C, and D are computed after the linearization, and the
eigenvalues and eigenvectors are then evaluated. In Table 1, the low-
frequency electromechanical system modes with insufficient damping
are listed together with their frequency, nature (local or inter-area),
location, and damping ratio. It is evident from the findings that the
system shows an unstable inter-area oscillation mode in the absence of
B. Mushtaq and M. ud-din Mufti e-Prime - Advances in Electrical Engineering, Electronics and Energy 7 (2024) 100409

Fig. 3. Generalized schematic of the VFT-based damping control.

Table 1
Modal analysis without VFT.
Location Nature Freq. (Hz) (% Damping)

-0.56779+7.0682i Local 1.1249 8.0072

-0.58275+7.1239i Local 1.1338 8.1530
0.036238þ3.6547i Inter 0.5817 -0.9915

any in-situ damping control action. This work’s major objective is this
mode, which needs particular consideration.

4.2. Mode shape

When a certain mode is excited, the right eigenvector represents the

shape of the associated mode, which offers vital information on the
activity of a state variable relative to the other state variables [33]. The
magnitude of the elements of the right eigenvector reflects the contri­
bution of the corresponding state variable in the corresponding mode,
and the phase angles of the elements provides phase displacements of
the state variables with respect to the modes. Mode shape gives an
indication of whether a mode is a local mode or an inter-area mode.
Inter-area modes have eigenvector components spread more evenly
across areas of the system [34]. The phase displacement of delta and
omega of generators in different areas for inter-area mode will be close
to 180 degrees. Figs. 4-6 depicts the inter-area and local-mode shapes of
the studied system. The inter-area mode shape (Fig. 6) demonstrates that
machines 1 and 2, located in Area 1, swing in the opposite direction with
respect to generators 3 and 4, which are located in Area 2. Because the
magnitude of mode shapes is higher for generators in Area 2, they have a
greater effect on the inter-area mode than the generators in Area 2. In
contrast, the mode shapes of the local modes (Figs. 4, 5) indicate that the Fig. 4. Mode shape of local mode-1.
generators located in the same area swing against each other. The
deployment of PSSs to each generator can ameliorate these local modes.
technique is mainly utilised to analyse the states that participate in the
Mitigating the inter-area oscillations is a major concern, which neces­
critical system mode so that the appropriate states are targeted when
sitates further analysis of the system.
considering the damping controller design. The contributory portion of
mth state in the nth system mode is evaluated by employing the eigen­
4.3. System analysis using participation factor method vectors obtained after linearization as follows:
|vmn ||ωmn |
The participation factor method is utilised in several engineering pkn = ∑n , (27)
applications where system oscillations are of particular interest. This m=1 |vmn ||ωmn |

5
B. Mushtaq and M. ud-din Mufti e-Prime - Advances in Electrical Engineering, Electronics and Energy 7 (2024) 100409

where, wmn , and vmn are left and right eigenvectors of the system. Ac­
cording to the PF investigation, the generators III and IV participate
most actively in the inter-area oscilattions. Due to the paucity of space
the numerical results of participation factors with corresponding state
names are not shown here but are well documented in [40].

5. Damping control design

5.1. Preliminaries

A traditional power oscillation damping (POD) controller consists of

lead-lag blocks with the proper time constants to provide the necessary
phase correction, a washout unit to eliminate extraneous measures from
the incoming signal, and a gain unit to modulate the damping. Either
root-locus-based approaches or the use of an optimization algorithm to
look for the optimal control parameters are used to find the correct POD
controller settings. Although reasonably good results have been ach­
ieved using conventional POD controllers, However, the parameters of
the conventional POD controllers are fixed by nature, and the design
procedure undertaken to obtain these values considers only a single
operating point. Because power systems are highly complex and
nonlinear in nature, with constantly changing operating conditions,
conventional POD controllers are not guaranteed to provide adequate
performance. As such, an intelligent control approach that could easily
adapt to the highly varying operating regimes, given the complex and
nonlinear nature of the system, could allay these drawbacks. One such
method is the ANFIS-based POD controller design which has been used
in this work.

Fig. 5. Mode shape of local mode-2.

5.2. ANFIS based damping control scheme

Adaptive networks often employ a fuzzy inference system employing

Takagi-Sugeno(TS)-type model and also incorporating supervised
learning approach with multiple layer feedforward neural networks. The
following example, which uses two inputs (r1 and r2 ), one output (z),
four fuzzy sets (α1 , α2 , and β1 , β2 ), and one output (z), are utilized to
demonstrate the construction of an ANFIS as presented in Fig. 7. Two IF-
THEN principles could well be developed for the TS fuzzy model with
first-order dynamics as shown below:
Procedure 1: if r1 is α1 and r2 is β1 then z1 = l1 r1 + m1 r2 + c1
Peocedure 2: if r1 is α2 and r2 is β2 then z2 = l2 r1 + m2 r2 + c2
Where, α1 , α2 , β1 , β2 define the membership functions of inputs r1
and r2 . The variables of the Takagi-Sugeno fuzzy inference framework
are indicated by l1 , m1 , c1 and l2 , m2 , c2 .
The ANFIS model consists of five layers. Adjustable nodes are found
in the first and fourth layers, whereas permanent non-adjustable nodes
are found in the remaining levels. The following is a succinct description
of these stages.
Layer 1 (Fuzzification layer) At this layer, the quantitative inputs
enter the control regime and are subsequently fuzzified using a mem­
bership function. The O1,j node labels in the layer indicate that they are
adaptable to the parameters of the functions. The membership function
might be a generic Bell function (21), any form of Gaussian function
(22), or another type of membership function.
1
μαj (r) = ⃒ ⃒ (28)
⃒(r− wi )⃒2v
1 + ⃒⃒ uj ⃒⃒

( ( )2 )
r − wj
μαj (r) = exp − (29)
2uj
Fig. 6. Mode shape of inter-area mode.

O1,j = μαj (r1 ) for j = 1,2

O1,j = μβj − 2 (r2 ) for j = 1,2 where μαj and μαj stand for the membership
extent for the corresponding fuzzy sets αj and βj , and uj , vj , and wj are the

6
B. Mushtaq and M. ud-din Mufti e-Prime - Advances in Electrical Engineering, Electronics and Energy 7 (2024) 100409

Fig. 7. Schematic of the ANFIS with two-inputs.

adaptive membership function shape-adjusting premise parameters. input to the neural network module for training using the hybrid
Variable r in set α can be assigned any number within the range [0 1] for learning approach. The nonfixed parameters in the first and fourth
its degree of membership. This is, layers are updated once the data have been trained. The neural network
⎧ then generates and fires the appropriate rules to produce the best lan­
⎨ μαj (r) = 1, if r ∈ α (full membership)
guage node output. For evaluating the actual values at each node and in
μαj (r) = 0, ∈ α (nonmembership)
if r ∕ (30)
⎩ order to apply the control signal to the real plant a defuzzification layer
0 < μαj (r) < 1, partial membership.
is taken. The various outputs from each node in the preceding layer are
Layer 2(membership layer): The O2,j designation is applied to the combined to create a single output. The end result is then transmitted
firm nodes in this layer. Inside this layer, the output may be produced by over to the controller’s input and contrasted with the reference signal’s
applying the function ”AND” as a combination of the receiving inputs. predetermined value. The calculated error signal enters the controller as
an input and is sent to the top layer.
O2,j = Gj = μαj (r) ∗ μβj (r) for j = 1, 2 (31)
5.2.1. ANFIS design
Gj denotes the node’s output and the jth strength of firing for each fuzzy MATLAB Fuzzy Logic Toolbox and the GUI editor were used to create
rule. the ANFIS controller for the VFT damping control scheme. The total
Layer 3 (Rule layer): This layer’s nodes are fixed nodes and are number of membership functions is determined empirically via evalu­
identified as O3,j . Every node within this layer calculates the normalised ating the controller input and output as well as through trial and error.
firing strength (Gj ), which is determined as the proportion of the ANFIS optimised control rules are developed using the hybrid learning
strength of firing the jth rule to the total of all the individual jth firing approach, as opposed to the traditional fuzzy-based design, where the
intensities, and is stated as follows: governing control rules are generated by the designer. The learning data
Gj for programming the proposed controller came from simulations of
O3,j = Gj = ∑ (32) power systems with various disturbances on both the generation and
j Gj
network sides. Simulink’s control tools are used to optimise the
Layer 4(Defuzzification layer): The nodes in this layer, which is com­ controller settings for each disturbance, and the input/output data are
parable to the initial layer, are adaptable and serve the following pur­ saved. The ANFIS-based schemes architecture has the following pa­
poses: rameters for the generator-side disturbance scenario: inputs = 1,
( ) membership functions = 11, nonlinear parameters = 11, linear param­
O4,j = Gj zj = Gj lj r1 + mj r2 + cj (33) eters = 11, nodes = 48, training and testing data sets = 415, number of
epochs = 100, membership function type: Gaussian, outputs = 1, fuzzy
where lj , mj , and cj represent the rule-j appropriate parameters. Layer 5 rules = 11. 20 epochs are the smallest amount of epochs (iterations)
(Output layer): This layer’s node, designated O5,j is a single firm node needed to train the data with a minimal error of 0.00125 (1.5%). Testing
that determines the system’s total output. and training data sets have been incorporated which reflects the FIS’s
∑
∑ anticipated output and test results. Moreover, 11 fuzzy rules are pro­
j Gj zj
O5,j = Gj zj = ∑ (34) duced using the Gaussian membership functions (Fig. 8) in response to
j j Gj the learning process. The foundation fuzzy rules for the VFT supple­
mental controller are then based on these rules. The following eleven
ANFIS systems typically employ a hybrid learning approach, which in­ statements are the rules used in fuzzy controller:
volves combining different learning algorithms to improve the learning
process. One such hybrid learning algorithm involves the use of the back • IF (input is in1mf1) THEN (output is out1mf1)
propagation (or gradient descent) technique and the recursive least • IF (input is in1mf2) THEN (output is out1mf2)
square estimator (RLSE) technique. In this approach, the RLSE technique • IF (input is in1mf3) THEN (output is out1mf3)
is used to fix the adaptive variables in the fourth layer and speed up the • IF (input is in1mf4) THEN (output is out1mf4)
learning process, while backpropagation is used to train the parameters • IF (input is in1mf5) THEN (output is out1mf5)
in the first and fourth layers. This hybrid learning approach is preferred • IF (input is in1mf6) THEN (output is out1mf6)
due to its higher convergence speed and improved performance in data • IF (input is in1mf7) THEN (output is out1mf7)
training. For the ANFIS controller discussed in this study, a hybrid • IF (input is in1mf8) THEN (output is out1mf8)
learning approach is employed using a Gaussian membership function. • IF (input is in1mf9) THEN (output is out1mf9)
The input to the controller is transformed into fuzzy input using the • IF (input is in1mf10) THEN (output is out1mf10)
membership function in the first layer, and the output is then sent as • IF (input is in1mf11) THEN (output is out1mf11)

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B. Mushtaq and M. ud-din Mufti
Fig. 8. Schematic of the 11 gaussian membership functions created by ANFIS.
5.3. Feedback-signal selection
For achieving robust damping control performance the selection of
appropraite feedback signal is very essential. In this section, a detailed
analysis on appropriate feedback signal selection is undertaken.
5.3.1. Conventional residue based damping control scheme
Residue is essentially the product of controllability and observ­
ability. Residue-based analysis is carried out between a particular set of
inputs and outputs, and the highest value indicates that the signal under
consideration considerably affects the output and is therefore employed
as the actuating signal for the POD controller. The transfer function of
the linearized system is given by:
∑n
Rk
G(s) = (35)
k=0
s − λk
where Rk is the matrix of residues linked to the eigenvalues λk and is
given by
Rk = Cvk wTk B (36)
where vk and wk are the right and left eigenvectors pertaining to the
eigenvalues λk . The eigenvalue λk matching residue for input ̃i and
output o is given by
Rok ĩ = Co vk wTk Bĩ (37)
The path of the pole migration in the s-plane connected with the
oscillatory mode is specified by the residue angle in eq. (37), which is of
critical importance [36]. By utilising the residue property, the controller
for additional oscillatory damping is formed. This controller provides
phase adjustment to alter the trajectory of pole progression towards the
left-hand side (LHS) of the s-plane and additional gain is offered to force
the pole to further move away to the LHS of the s-plane. The feed-back
signal for the POD controller is chosen based on the power transfer
across Bus 9 and Bus 10, which has the largest residue value.
5.3.2. Proposed signal selection method
A controller’s effectiveness relies heavily on the kind and suitability
of the feedback signal it receives. Rotor angles and angular velocities are
important indications of the stress on a power system in a dynamic
stability study [37,39]. The LFOs may be effectively subdued by using
actuating signals depending on the rotor speed differential between
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e-Prime - Advances in Electrical Engineering, Electronics and Energy 7 (2024) 100409
machines, as shown in [35]. And as was also discussed in the preceding
section, the PF technique shows that rotor speed variations play a
particularly important role in the inter-area mode. Thus, the controller
input is the centre of inertia (COI) variance of machine rotor speed
variations (Fig. 3). This signal is mathematically calculated as:
∑4 ∑2
ΔwCOI =
1
Mi Δwi −
1
Mi Δwi , (38)
M3 + M4 i=3 M1 + M2 i=1
where
Mi = (2Hi / ws ). (39)
6. Discussion and time domain simulations
To evaluate the effectiveness of the suggested ANFIS-based adaptive
POD controller for VFT, a MATLAB/Simulink model of the modified
two-area test system with VFT integrated into one of the tie-lines was
built. On the basis of eigenvalue analysis and time-domain simulations,
the efficacy of a system to dampen inter-area oscillations is evaluated.
6.1. Eigenvalue analysis
Linearization of the studied system is performed around an operating
point so that the performance of the suggested control scheme can be
assessed. Eigenvalue analysis is then performed using the MATLAB
linear analysis toolbox after linearization. The damping of the inter-area
mode is the primary center of attention of the current work, so different
control strategies are used to track this mode’s movement. The inter-
area eigen value plot under different scenarios is shown in Fig. 9. It is
clear that when no damping control is present, the inter-area mode has
negative damping and the system response is unstable. However, the
application of a damping control scheme stabilises the mode, and the
mode moves to the left half of the s-plane. When comparing the two
damping control schemes, the figure clearly reveals that the critical
mode is shifted more to the left, leading to better damping and improved
system response using the ANFIS-based control scheme.
6.2. Time-domain simulations
For investigations and analyses including dynamic simulation, the
following scenarios are taken into account:
B. Mushtaq and M. ud-din Mufti e-Prime - Advances in Electrical Engineering, Electronics and Energy 7 (2024) 100409

Fig. 9. Shifting of inter-area mode under different control scenarios.

6.2.1. Case 1: power order change
Various power order commands were given to the VFT at different
instances to provide insight into its operation as a flexible power flow
controller. At t = 1 sec, the power setting of VFT is first increased by 1 p.
u. and then decreased by 1 p.u. at t = 12 sec, as shown in Fig. 10(a). The
step responses of all variables of VFT are depicted in Fig. 10(ac). It is
evident from Fig. 10(a) that the power response of VFT is fast and that it
tries to regulate the transmission power to the desired steady-state
value. In order to maintain the new steady-state power flow, the rotor
of the VFT attains a new position (Fig. 10b) in accordance with the VFT
transmission power, which is proportional to the DC motor driving
torque. Moreover, from Fig. 10(c), it is evident that the VFT rotor speed
changes only during the system disturbances and comes back to a
standstill once the new steady-state power flow is maintained. It is worth
mentioning that the concept of VFT should not be mistaken with a
typical rotating machine, as unlike other rotating machines, the VFT
nearly operates at zero speed, and hence the rotational losses incurred
are negligible. Furthermore, with the suggested damping scheme in

Fig. 10. VFT performance under different power order commands.

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B. Mushtaq and M. ud-din Mufti
place, the fluctuations in the steady-state power flow are kept to a bare
minimum.
6.2.2. Case 2: network side disturbance:
In this scenario, a three-phase five-cycle fault that affects bus 8 is
imposed, and the system response is examined. Without any damping
control and with power system stabilizers (PSSs) inactivated from
generator excitation systems, the system response is unstable as the
oscillations grow with time which is observed from generator rotor
speed deviations as shown in Fig. 11. A comprehensive comparison of
the proposed ANFIS-based controller with the residue-based control is
carried based on damping of inter-area modes. As can be observed from
COI rotor speed deviation (Figure(11 a)) and rotor speed deviations of
generator 3 and 4 with respect to generator 1 (Figs.(11 b, 11 c)), when
the proposed adaptive controller is applied, both the overshoot and the
settling time of the oscillations is reduced considerably making the
system highly stable. The results, as shown in Fig. 12, further evince that
the suggested adaptive controller yields better control effort as the VFT
rotor swings more to regulate the tie-power in line with system exi­
gencies. More control over tie-power will lead to improved system
damping because VFT relies its power oscillation damping on active
power regulation. As seen in Fig. 12a, VFT accomplishes this goal by
further altering the position of its rotor. Fig. 12b shows that after the
disturbance is addressed, the VFT rotor speed falls to zero, preventing
rotational losses. Furthermore, for practical considerations, PSS is
deployed on every system generator to mimic coordination with VFT.
The outcomes of the simulation, as shown in Fig. 13, reveal that the
initial swing decrease is also significant with the addition of PSSs,
further enhancing system attenuation and improving system operational
stability.
6.2.3. Case 3: generator side disturbance
In this case, the robustness of the proposed ANFIS based controller
devised for VFT is analysed against a generator side disturbance which
inlcudes 5% increment in mechanical powers of all generators applied at
t=1 sec and lasts for 100ms. Fig. 14 displays the COI rotor speed
Fig. 11. VFT performance for network fault without PSS.
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e-Prime - Advances in Electrical Engineering, Electronics and Energy 7 (2024) 100409
deviation (Figure (14 a)) as well as the rotor speed deviations of
generator 3 and 4 w.r.t generator 1 (Figs.(14 b,14 c)) following the
disturbance. The inter-area oscillations continue to develop over time in
the absence of any damping control mechanism, rendering the system
unstable. However with the residue-based control, the system becomes
stable although the oscillations take longer to stabilise. Notably, the
proposed ANFIS based controller intelligently recognises the non-linear
dynamics of the system and adjusts its parameters which has resulted in
better attenuation of rotor speed oscillations and improved system re­
sponses. To obtain satisfactory damping of all modes, PSS is employed in
conjunction with VFT. The system response after PSS installation is
depicted in Fig. 15 which illustrate that coordinated operation results in
enhanced system damping.
6.2.4. Case 4: performance comparison with wide-area-based PSS:
To further establish the efficacy of the proposed wide-area-based
control of VFT, a comparative analysis with a standard wide-area-
based PSS is carried out [38]. It is worth mentioning that
WADC-based PSS was installed on that generator, which has the highest
contribution in the inter-area mode, as revealed through participation
factor analysis (section 4.3). The simulation results for a three-phase,
five-cycle fault are shown in Fig. 16. As seen from the figure, it is
quite evident that the WADC-based VFT achieves superior damping
performance in comparison to the WADC-based PSS.
7. Conclusions
In this paper, an ANFIS-based damping control scheme for variable
frequency transformer (VFT) has been proposed for damping inter-area
oscillations via active power control by regulating the tie-power flowing
in the interconnecting lines. A detailed framework for appropriate sta­
bilising signal selection has been undertaken via participation factor
analysis. The proposed signal is rich in the information of inter-area
mode which can be easily obtained through WAMS-based measure­
ment units, leading to better LFO damping control. Detailed aspects of
control and modelling exercises are undertaken in MATLAB/Simulink
B. Mushtaq and M. ud-din Mufti e-Prime - Advances in Electrical Engineering, Electronics and Energy 7 (2024) 100409

Fig. 12. VFT rotor angular position and rotor speed.

Fig. 13. VFT performance for network fault with PSS.

environment on a complex two-area multi-machine test system using
several realistic case studies. Eigen value analysis and time-domain
simulations reveal that the suggested control mechanism achieves
much better performance against LFO events and outperforms the con­
ventional residue-based damping control scheme.
Conflict of Interest and Authorship Conformation Form
All authors have participated in (a) conception and design, or anal­
ysis and interpretation of the data; (b) drafting the article or revising it
critically for important intellectual content; and (c) approval of the final
version.
This manuscript has not been submitted to, nor is under review at,

11
B. Mushtaq and M. ud-din Mufti e-Prime - Advances in Electrical Engineering, Electronics and Energy 7 (2024) 100409

Fig. 14. VFT performance for generator side disturbance without PSS.

Fig. 15. VFT performance for generator side disturbance with PSS.

another journal or other publishing venue. Declaration of Competing Interest

CRediT authorship contribution statement The authors declare that they have no known competing financial
interests or personal relationships that could have appeared to influence
Basit Mushtaq: Conceptualization, Methodology, Writing – original the work reported in this paper.
draft. Mairaj ud-din Mufti: Supervision, Writing – review & editing.

12
B. Mushtaq and M. ud-din Mufti
Fig. 16. Performance comparison of WADC-based VFT with WADC-based PSS.
Data availability
Data will be made available on request.
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[33] B. Pal, B. Chaudhuri, Robust control in power systems, Springer Science & Business Basit Mushtaq received his B.Tech in Electrical Engineering
Media, 2006. from National Institute of Technology (NIT), Srinagar in 2017.
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area-based solar plant considering adaptive time-delay compensation, Energy Syst. interest includes power system dynamics and control, appli­
12 (2) (2021) 459–489. cation of FACTS in power system stability application, variable
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M.D. Mufti is a Professor at the Department of Electrical En­
[40] B. Mushtaq, M. Mufti, Coordinated operation of fuzzybased TCSC and SMES for
gineering, National Institute of Technology (NIT), Srinagar. He
lowfrequency oscillation damping in interconnected power systems, Int. J. Circuit
has held important positions like Dean-Research and Devel­
Theory Appl. (2023).
opment, Dean-Academic Affairs and Head-Department of
Electrical Engineering. His research interests include intelli­
gent and advanced control, renewable energy, application of
energy storage devices and power system stability, dynamics
and control.

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