Professional Documents
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A Practical Approach
Edited by
Juan A. Martinez-Velasco
Retired Professor
Polytechnic University of Catalonia
Barcelona
Spain
This edition first published 2020
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Library of Congress Cataloging-in-Publication Data
Names: Martinez-Velasco, Juan A., editor.
Title: Transient analysis of power systems : a practical approach / edited
by Juan A. Martinez-Velasco, Retired Professor, Polytechnic University
of Catalonia, Barcelona, Spain.
Description: Hoboken, NJ : Wiley-IEEE Press, 2020. | Includes
bibliographical references and index.
Identifiers: LCCN 2019027811 (print) | LCCN 2019027812 (ebook) | ISBN
9781119480532 (hardback) | ISBN 9781119480303 (adobe pdf ) | ISBN
9781119480495 (epub)
Subjects: LCSH: Transients (Electricity)–Simulation methods.
Classification: LCC TK3226 .T76 2020 (print) | LCC TK3226 (ebook) | DDC
621.319/21–dc23
LC record available at https://lccn.loc.gov/2019027811
LC ebook record available at https://lccn.loc.gov/2019027812
Cover Design: Wiley
Cover Image: © kentoh/Shutterstock
Set in 10/12pt WarnockPro by SPi Global, Chennai, India
10 9 8 7 6 5 4 3 2 1
v
Contents
Index 581
xv
Juan A. Martinez-Velasco was born in Barcelona, Spain. He received the Ingeniero Industrial
and Doctor Ingeniero Industrial degrees from the Universitat Politècnica de Catalunya (UPC),
Spain. He is retired and working as private consultant.
He has authored and co-authored more than 200 journal and conference papers, most of
them on Transient Analysis of Power Systems. He has been involved in several EMTP (Electro-
Magnetic Transients Program) courses and worked as consultant for some Spanish companies.
His teaching and research areas cover Power Systems Analysis, Transmission and Distribution,
Power Quality and Electromagnetic Transients. He has been an active member of several IEEE
and CIGRE Working Groups.
He has been involved as editor or co-author in several books. He is also coeditor of the IEEE
publication ‘Modeling and Analysis of System Transients Using Digital Programs’ (1999). In
2010, he was the coordinator of the Tutorial Course ‘Transient Analysis of Power Systems. Solu-
tion Techniques, Tools, and Applications’, given at the 2010 IEEE PES General Meeting, July
2010 and held in Minneapolis.
In 1999, he was given the ‘1999 PES Working Group Award for Technical Report’, for his
participation in the tasks performed by the IEEE Task Force on Modeling and Analysis of Slow
Transients. In 2000, he was given the ‘2000 PES Working Group Award for Technical Report’,
for his participation in the edition of the special publication ‘Modeling and Analysis of Sys-
tem Transients using Digital Programs’. In 2009 he was also given the ‘Technical Committee
Working Group Award’ of the IEEE PES Transmission and Distribution Committee.
xvii
List of Contributors
Preface
The transient analysis is an important task for power system analysis and design. Several simu-
lation tools are currently available for this purpose. One of the most popular is the Alternative
Transients Program (ATP).
The ATP is a royalty-free package integrated by at least three tools: (i) ATPDraw, a graph-
ical user interface (GUI) for creating and/or editing input files; (ii) TPBIG, the main proces-
sor for transients and harmonics simulations; and (iii) one postprocessor for plotting simula-
tion results. Actually, ATP users can also take advantage of several other tools, and create a
custom-made environment with links to other packages.
The acronym ATP was originally used to name the tool for transients simulation. For many
users, ATP is still the simulation tool; in this book, ATP is used to name indistinctly the package
or the transients simulation tool, while TPBIG is used to name (when used) the simulation tool.
ATPDraw is an interactive Windows-based GUI that can act as a shell for the whole package;
that is, users can control the execution of all programs integrated in the package from ATPDraw.
Several royalty-free tools with different capabilities are currently available for postproccesing
simulation results.
ATP users can take advantage of several books for improving their knowledge on transient
analysis and the application of this tool. Although this new book covers topics already cov-
ered by formerly released books, the overlapping with all of them is rather small; the main
differences are in the organisation of the book and the case studies that illustrate potential ATP
applications.
Actually, some readers might miss some equations and mathematical artefacts needed to
detail and describe the performance of power components and systems. This aspect has been
sacrificed to give room to more practical aspects. Readers are referred to other books that sat-
isfactorily cover this part of the transient analysis.
It is important to emphasize that, although the contents of the book honour its title, the book
cannot be used as a Reference Manual or Rule Book. In other words, readers will not learn how
to use the package with this book; for that purpose, they should use the so-called ATP Rule
Book, and the manuals of the complementary tools (e.g. ATPDraw and the selected plotting
program).
The main goal of this book is to provide a clear scope of the studies that can be carried out
with the ATP package. Although some complex studies and sophisticated custom-made sim-
ulation environments (with ATP as a simulation tool) are presented, the average level of the
cases studied here is intermediate; a great majority of studies are related to small and medium
test systems. However, the book could also be useful for beginners; Chapter 5 has been written
with that purpose.
The chapters of this book can be classified into two groups; the first four chapters are dedi-
cated to introduce the transient analysis of power systems and detail ATP capabilities; the rest of
xx Preface
the book is dedicated to introduce some of the most common applications of the ATP package
with a large enough number of case studies.
A very important aspect is the complementary collection of data files available to ATP users
from the website of this book. For every case study presented in the book, readers will find one
or several data files. When ATPDraw capabilities can satisfactorily create and edit a data file,
this option has been used; however, there are a few cases for which those capabilities cannot be
used, then the file has been manually edited using a simple text editor and taking into account
the formats detailed in the Rule Book. This is a very important aspect about which ATP users
should be aware: sooner or later some knowledge of ATP formats will be required, mainly for
those interested in developing their own custom-made models.
In addition, it is worth mentioning that although this book uses the most important capabil-
ities implemented in the simulation tool (either named as ATP or TPBIG), there are dozens of
ATP options and requests that are not covered or applied here. The required length for illus-
trating those missed options could easily double or triple that of this book.
It is also worth mentioning that the tools of the package are continuously updated. This is
important because, during the preparation of this book, models and capabilities were either
added or modified. Not all of these models/capabilities have been covered in this book.
As for the applications, I am aware that some that are of concern for many ATP users have not
been included in this book. For instance, very little is said about distributed energy resources.
This is, without any doubt, a very important aspect; however, although more than one hundred
data files are provided with the book, a similar reasoning could be made even for applications
that are covered in the book: some topics could need more case studies for a better understand-
ing. At the end, some selection had to be made.
Although all the date files used in this book have been implemented by the contributors,
several case studies are based on models and parameters provided by other authors. In general,
a reference to the original source is made in the chapter or in the Acknowledgement. Some of
the case studies, even if they are now implemented in ATPDraw, were initially developed when
this GUI was not yet released. This means that those case studies are rather old. Since the trace
to the original source was neither clear nor available for all cases, I apologize if our gratitude to
some authors is not mentioned in any part of this book.
Finally, I want to thank Dr. W. Scott Meyer and all those who became involved in the devel-
opment of any of package tools for their work and effort, without which this book would have
not been published.
www.wiley.com/go/martinez/power_systems
1.1 Overview
Transient analysis has become a fundamental methodology for understanding the performance
of power systems, determining power component ratings, explaining equipment failures, or
testing protection devices. The study of transients is a mature field that can help to analyse
and design modern power systems.
A significant effort has been dedicated to the development of new techniques and software
tools adequate for transient analysis of power systems. Sophisticated models, complex solu-
tion techniques, and powerful simulation tools have been developed to perform studies that
are of paramount importance in the analysis and design of modern power systems. Current
tools for transient analysis can be applied into a myriad of studies (e.g. overvoltage calculation,
flexible AC transmission systems (FACTS) and Custom Power applications, protective relay
performance, power quality studies) for which detailed models and accurate solutions can be
crucial.
Transient phenomena in power systems are associated with disturbances caused by faults,
switching operations, lightning strikes, or load variations. These phenomena can stress
and damage power equipment. The importance of their study is basically due to the effects
they can have on the system performance or the failures they can cause to power equipment.
Therefore, protection against these stresses is necessary. This protection can be provided
by specialized equipment whose operation is aimed at either isolating the power system
section where the disturbance has been originated (e.g. a power component failure that causes
short-circuit) or limiting the stress across power equipment terminals (e.g. by installing a surge
arrester that will mitigate voltage stresses). In addition, a better performance against stresses
caused by transient phenomena can be also achieved with an adequate design of power equip-
ment (e.g. by shielding overhead transmission lines to limit flashovers caused by direct lightning
strokes). That is, although the power system operates most of the time under normal conditions,
it must be designed to cope with the consequences associated to transient phenomena.
A rigorous and accurate analysis of transients in power systems is difficult due to the size
of the system, the complexity of the interaction between power devices, and the physical
phenomena that need to be analysed. Aspects that contribute to this complexity are the variety
of causes, the nature of the physical phenomena, and the timescale of power system transients.
In order to select an adequate protection against any type of stress, it is fundamental to know
their origin, calculate their main characteristics, and estimate the most adverse conditions.
Disturbances can be external (lightning strokes) or internal (faults, switching operations, load
variations). Power system transients can be electromagnetic, when it is necessary to analyse
the interaction between the (electric) energy stored in capacitors and the (magnetic) energy
Transient Analysis of Power Systems: A Practical Approach, First Edition. Edited by Juan A. Martinez-Velasco.
© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.
Companion Website: www.wiley.com/go/martinez/power_systems
2 1 Introduction to Transients Analysis of Power Systems with ATP
stored in inductors, or electromechanical, when the analysis involves the interaction between
the energy supplied by sources, the electric energy stored in circuit elements, and the mechan-
ical energy stored in rotating machines. To accurately analyse physical phenomena associated
with transients, it is necessary to examine the power system for a time interval as short as a few
nanoseconds or as long as several minutes. This is a challenge since the behaviour of power
equipment is very dependent on the transient phenomena; namely, it depends on the range
of frequencies associated to transients. Despite the powerful numerical techniques, simulation
tools, and graphical user interfaces (GUIs) currently available, those involved in transients
studies, sooner or later, face limitations of those models available in transients packages,
the lack of reliable data and conversion procedures for parameter estimation, or insufficient
studies aimed at validating models.
Figure 1.1 depicts the steps of a typical procedure when simulating transients in power
systems [1].
1. The selection of the study zone and the most adequate representation of each component
involved in the transient. The system zone is selected taking into account the frequency range
of the transients to be simulated: the higher the frequencies, the smaller the zone modelled.
In general, it is advisable to minimize the study zone since a larger number of components
does not necessarily increase accuracy; instead it will increase the simulation time and there
will be a higher probability of insufficient or incorrect modelling. Although a high number
of works has been dedicated to provide guidelines on these aspects [2–4], some expertise is
necessary to choose the study zone and the models.
Power System
Collecting information
Determining power
and applying data
component parameters
conversion procedures
Input File
Simulation results
Data File
“Write”
file
SPY
$INSERT $INCLUDE
PL4. Data
External Program
file file
Postprocessor
Graphical Results
The applications that can be covered by the ATP can be classified as follows:
• Time-domain simulations. They are generally used for simulation of transients, such as
switching or lightning overvoltages; however, they can also be used for analysing harmonic
distortion created by power electronics devices.
• Frequency-domain simulations. ATP capabilities can also be used to obtain the driving point
impedance at a particular node versus frequency, detect resonance conditions, design filter
banks, or analyse harmonic propagation.
• Parametric studies. They are usually carried out to evaluate the relationship between vari-
ables and parameters. When one or more parameter cannot be accurately specified, this
analysis will determine the range of values which may be of concern.
• Statistical studies. Several ATP capabilities can be applied to perform these studies (e.g. stud-
ies based on the Monte Carlo method). Their results can be of paramount importance in some
insulation coordination and power quality studies.
ATP capabilities can also be used to expand the fields of applications; with this tool a data
case can be simulated several times before deactivating the program, parameters of the system
under simulation can be changed according to a given law, some components can be either
disconnected or activated, and some calculations can be carried out by external programs. In
addition, it is possible, if required, to modify the simulation time on line or the number of runs
in a parametric study.
1.3 ATP Documentation 5
The following concepts can be of paramount importance for expanding the applications of
ATP:
• Multiple run option. A data case can be simulated as many times as necessary, while changes
are introduced into the system model at every run. This option is known as POCKET
CALCULATOR VARIES PARAMETERS (PCVP); see the ATP Rule Book [19]. Such an
option can be used to perform statistical and parametric studies. However, it can also be
used in many other applications. For instance, once the target of the study has been set,
PCVP can be used to run the case as many times as required while one or several parameters
are gradually adjusted or the system topology is modified until the target is reached.
• Open system. A link to external tools can be established before, during and after a simula-
tion to take advantage of the capabilities of these tools and to add or test new capabilities.
This option can be used, for instance, to link the ATP to MATLAB and take advantage of
its features, or to run a custom-made program that can derive the parameters of a power
component using a data conversion procedure not yet implemented in the package.
• Data symbol replacement. $PARAMETER is a declaration that can be used to replace data
symbols of arbitrary length prior to a simulation [19]. Up to three replacement modes can
be used: simple character replacement (one string is replaced by another with the same
length), mathematical replacement (string is replaced by a number deduced from a mathe-
matical formula), integer serialization (used to encode strings within a DO loop). Conditional
branching (IF-THEN-ENDIF) is a built-in feature that can be used to select between two or
more choices.
• Data module. ATP-coded templates have been used in the past for the development of
data modules that could facilitate the use of the tool by beginners, or to simplify the use
of power components and extend modelling capabilities to more complex equipment [5].
Presently, custom-made models are represented by a module and its associated ATPDraw
icon. Although the development of new modules generally relies on the routine DATA BASE
MODULE, other ATP capabilities can be used to perform simple calculations with module
arguments, to decide what parts of a module can be activated at a given run, or what parts
should remain sleeping. The so-called Type 94 component could be the best solution for
developing some nonlinear components.
• Interactivity. Several simulation modules will usually be involved in a general procedure.
Interactivity between them is critical as calculations will be performed in several modules.
The connectivity between a power system and a control section to pass variables in both
senses has been a feature since the earliest development of control capabilities. However, it
has been the possibility of passing also parameters what has added flexibility to some of the
capabilities described above and increased the type of applications.
Actually, the type of tasks that the ATP package can carry out is practically unlimited.
For instance, by using some simple rules and taking advantage of some capabilities (e.g. TO
SUPPORTING PROGRAM feature to run supporting routines, DO loops to serialize power
components, string replacement), it is possible to develop a data section aimed at creating
the code of a component taking into account the transient process to be simulated and the
information available.
• The so-called EMTP Theory Book, written by H.W. Dommel [9], should be used by those
interested in models and solution techniques implemented in TPBIG. Although the book
needs to be updated, it is still a very valuable source of information for users of any transients
tool.
• The rules to be followed for creating an input data file are presented in the ATP Rule Book
[19]. Although the average user will create and run input data files by relying only on the GUI
ATPDraw, there are many situations for which the Rule Book will be a necessary resource.
Examples where a user will need to consult the Rule Book are those case studies in which the
control section is based on MODELS language (see Chapter 4) or those applications for which
custom-made models based on DATA BASE MODULE might be required (see Chapter 9).
• ATPDraw is currently the gate used by most ATP users for creating and running case studies.
Although based on a friendly environment and easy to use, ATPDraw has many capabilities
and not all of them are obvious; the ATPDraw Reference Manual can be then a valuable source
for consultation [20, 21].
In general, postprocessing tools (e.g. PlotXY, TOP) are easy to use and the help capabilities
available in most of them are clear enough.
but also to an extensive range of studies. Chapter 4 details the capabilities and built-in
models available in ATP. The chapter will include a few examples to illustrate the range of
applications of the package.
Introduction to the simulation of power systems transients. Chapter 5 presents the simulation
of some simple case studies using the ATP package. The chapter summarizes the procedure
to be followed with each module of the ATP package; discusses the modelling guidelines to
be applied, and analyses the results obtained from each case study. The selected examples
will illustrate the usage of elementary linear and nonlinear components, with either lumped-
and/or distributed-parameter components.
Calculation of overvoltages in power systems. An overvoltage is a voltage having a crest value
exceeding the corresponding crest of the maximum system voltage. Overvoltages can occur
with a very wide range of waveshapes and durations. Causes and main characteristics of over-
voltages are well known, and they are classified in standards (IEC, IEEE). For instance, the
magnitude of external lightning overvoltages remains essentially independent of the system
design, whereas that of internal switching overvoltages increases with the operating voltage
of the system. The estimation of overvoltage magnitudes and shapes is fundamental for the
insulation design of power components, and for the selection of protective devices [25, 26].
Chapter 6 analyses the different types of overvoltages and their causes, summarizes mod-
elling guidelines for overvoltage calculation with ATP, and presents some illustrative cases of
overvoltages.
Simulation of rotating machine dynamics. Two options are available in ATP for representing
conventional rotating machines: the Three-Phase Synchronous Machine model and the
so-called Universal Machine module [19]. To date, these capabilities have mostly been
used to simulate only three-phase synchronous and induction machines. However, the
applications are endless and a significant experience is already available. Chapter 7 provides a
summary of the features available in the two options, summarizes the methods implemented
for interfacing the rotating machine models to the power system, and includes several
illustrative examples that will cover some of the most important applications of ATP in the
study of rotating machine dynamics.
Simulation of power electronics devices. Power electronics applications have quickly spread to
all voltage levels, from high-voltage transmission to low-voltage circuits in end-user facili-
ties [27–29]. Modelling and simulation of power electronics devices are important tasks for
concept validation and design of new devices. Chapter 8 provides general modelling guide-
lines and procedures for simulation of power electronics devices using ATP capabilities,
and presents several case studies that will cover some important applications (FACTS and
Custom Power devices, drives, solid state transformer) of the package in this field.
Development of custom-made models and libraries. Several component models needed in some
studies (e.g. protection, power quality) are not available in the ATP. However, many capa-
bilities of the package can be used to develop custom-made models aimed at representing
missed components. Chapter 9 shows how ATP capabilities can be used for the development
of a library of component modules that can be called from ATPDraw as built-in models [30].
The chapter details the steps to be made for the development of a library of models aimed
at carrying out power quality studies. Power quality is a multidisciplinary area related to the
assessment, analysis, characterization, and quantification of the mutual interaction between
the utility and its customers (i.e. the interaction equipment and the power system). The con-
cept can be considered as a combination of voltage and current quality, so it is, therefore,
concerned with deviations of voltage and current from the ideal single-frequency sine waves
of constant amplitude and frequency. Power quality disturbances can be generally classified
in two categories: variations (small deviations of voltage and/or current characteristics from
8 1 Introduction to Transients Analysis of Power Systems with ATP
their nominal or declared value/waveform) and events (large deviations of voltage or cur-
rent characteristics from their nominal or declared values/waveforms) [31, 32]. The chapter
shows how the ATP capabilities can be used to analyse the effect of voltage dips, assess dis-
tortion caused by harmonic sources, and simulate techniques for mitigating voltage dips and
harmonic currents.
Protection systems. Protection systems are critical components and their behaviour is an impor-
tant part of the power system response to a transient event. A system aimed at protect-
ing against overcurrents consists of three major parts: instrument transformers (current,
wound electromagnetic voltage, and capacitor voltage transformers), protective relays, and
circuit breakers [33, 34]. Chapter 10 summarizes modelling guidelines for representing the
power system, instrument transformers and the different types of relays (electromechan-
ical, static/electronic, microprocessor-based) at both transmission and distribution levels
using ATP capabilities. The chapter includes some case studies that illustrate the potential
of ATP in this field, and the application of custom-made models developed for representing
distribution-level protective devices following the procedure proposed in Chapter 9.
Advanced applications. ATP users can develop simulation environments in which ATP capa-
bilities are combined with capabilities from other simulation tools. Such combinations can
allow users to create powerful tools that are able to significantly expand ATP applications.
Chapter 11 proposes a general procedure based on a MATLAB-ATP link and the usage of a
multicore environment to expand ATP applications and reduce simulation times. The chapter
details three different case studies that show how ATP can also be used as a design tool that
could be applied to studies that require additional capabilities.
References
1 Martinez-Velasco, J.A. (ed.) (2015). Transient Analysis of Power Systems. Solution
Techniques, Tools and Applications. Chichester (United Kingdom): Wiley/IEEE Press.
2 CIGRE WG 33.02 (1990). Guidelines for Representation of Network Elements when Calculat-
ing Transients. CIGRE Brochure 39.
3 Gole, A., Martinez-Velasco, J.A. and Keri, A. (eds.) (1998). Modeling and Analysis of Power
System Transients Using Digital Programs. IEEE Special Publication TP133, 1–187.
4 IEC TR 60071-4 (2004). Insulation Co-ordination - Part 4: Computational Guide to Insula-
tion Co-ordination and Modeling of Electrical Networks.
5 Martinez-Velasco, J.A. (ed.) (2009). Power System Transients. Parameter Determination. Boca
Raton (FL, USA): CRC Press.
6 Phadke, A.G. (1980). Digital Simulation of Electrical Transient Phenomena. IEEE Publication
81 EHO173-5-PWR.
7 Tziouvaras, D.A. (1999). Electromagnetic Transient Program Applications to Power System
Protection. IEEE Special Publication TP150, 1–101.
8 Martinez-Velasco, J.A. (2011). Transient Analysis of Power Systems: Solutions Techniques,
Tools and Applications. IEEE Special Publication 11TP255E, 100–194.
9 Dommel, H.W. (1986). Electromagnetic Transients Program Reference Manual (EMTP Theory
Book). Portland (OR, USA): Bonneville Power Administration.
10 Greenwood, A. (1991). Electrical Transients in Power Systems, 2e. New York (NY, USA):
John Wiley.
11 van der Sluis, L. (2001). Transients in Power Systems. Chichester (United Kingdom): Wiley.
12 Chowdhuri, P. (2003). Electromagnetic Transients in Power Systems, 2e. Taunton
(United Kingdom): RS Press/Wiley.
References 9
2.1 Introduction
The accurate simulation of transient phenomena requires a representation of network compo-
nents valid for a frequency range that varies from direct current (dc) to dozens of MHz. On
the other hand, such simulation implies not only the selection of component models but also
the selection of the system area that must be represented. The rules to be considered when
selecting models and the system area for the simulation of electromagnetic transients can be
summarized as follows [1]:
1) Select the system zone taking into account the frequency range of the transients; the higher
the frequencies, the smaller the zone to be modelled.
2) Minimize the part of the system to be represented. An increased number of components do
not necessarily mean increased accuracy, as there could be a higher probability of insufficient
or incorrect modelling. In addition, a very detailed representation of a system will usually
require longer simulation time.
3) Implement an adequate representation of losses. Since their effect on maximum voltages
and oscillation frequencies is limited, they do not play a critical role in many cases. However,
there are some cases (e.g. ferroresonance or capacitor bank switching) for which losses are
critical to defining the magnitude of overvoltages.
4) Consider an idealized representation of some components if the system to be simulated is
too complex. Such representation will facilitate the edition of the data file and simplify the
analysis of simulation results.
5) Perform a parametric study if one or several parameters cannot accurately be determined.
Results derived from such a study will show which parameters are of concern.
Modelling of power components taking into account the frequency-dependence of param-
eters can be achieved currently through the use of mathematical models which are accurate
enough for a specific range of frequencies. Each range of frequencies usually corresponds to
some particular transient phenomena. One of the most accepted classifications divides fre-
quency ranges into four groups [2, 3]: low-frequency transients, from 0.1 Hz to 3 kHz, slow-
front transients, from 50/60 Hz to 20 kHz, fast-front transients, from 10 kHz to 3 MHz, very
fast-front transients, from 100 kHz to 50 MHz. Note that there is overlap between frequency
ranges.
If a representation is already available for each frequency range, the selection of the model
may suppose an iterative procedure: the model must be selected based on the frequency range
of the transients to be simulated; however, the frequency ranges of the case study are not
usually known before performing the simulation. This task can be alleviated by looking into
Transient Analysis of Power Systems: A Practical Approach, First Edition. Edited by Juan A. Martinez-Velasco.
© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.
Companion Website: www.wiley.com/go/martinez/power_systems
12 2 Modelling of Power Components for Transients Studies
widely accepted classification tables; see [1]. Much effort has been dedicated to clarify the main
aspects to be considered when representing power components in transient simulations. Nowa-
days users of electromagnetic transients tools can obtain information on this field from several
sources [3–5].
This chapter provides a short summary of the modelling guidelines suggested for representing
power system components involved in the generation and delivery of electric energy.