4026 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 33, NO.

4, JULY 2018

A Wide-Area Dynamic Damping Controller Based on

Robust H Control for Wide-Area Power Systems
With Random Delay and Packet Dropout
Meng Li and Yong Chen , Senior Member, IEEE

Abstract—Wide-area damping controller (WADC) is a very

effective tool to damp out the low-frequency oscillation in wide-
area power systems. However, the WADC needs communication
networks to transmit remote signals; hence, the network-induced
delay and packet dropout are inevitably introduced in the commu-
nication of wide-area measurement systems (WAMS). In order to
effectively compensate delay and packet dropout, in this paper, a
new wide-area dynamic damping controller (WADDC) is designed.
Firstl the discrete-time model of power system with random delay,
packet dropout, and external disturbance is established. Then,
the WADDC based on robust H control is designed and the
sufficient condition about stability of the closed-loop system is
given. Finally, the controller designed in this paper is tested on the
Fig. 1. Wide-area power system based on WADC.
two-area four-machine power system and the 16-machine 68-bus
system. Simulation results demonstrate the effectiveness the
proposed methods for damping out the low-frequency oscillation
and compensating the network-induced delay and packet dropout. modes are not always controllable or observable [3]. With
the development of wide-area measurement system (WAMS)
Index Terms—Wide-area dynamic damping controller technology and phasor measurement units (PMUs), wide-area
(WADDC), random delay and packet dropout, robust H control,
two-area four-machine power system, and 16-machine 68-bus
damping controllers (WADCs) or wide-area power system sta-
system. bilizers (WAPSSs) based on remote signals have been proposed
to enhance the damping of the interarea oscillations [4].
I. INTRODUCTION Fig. 1 shows a typical closed-loop power system based on
OWADAYS, the power systems are increasingly becom- WADC, in which PMUs are installed at the side of sensor for
N ing larger and more complex, such as the cross-region
multi-machine power systems. Low frequency oscillation is
measuring dynamic data of power systems, such as current,
voltage, angle, and frequency. In terms of the control system, the
known as one of the most serious problems in the modern power wide-area power system equipped with the WADCs is a typical
systems duo to it would limit the available transfer capability of networked control system (NCS) because of the communication
the tie-lines between different power control areas. Tradition- networks are employed to link the remote control center and
ally, local power system stabilizer (LPSS), in which local signals the controlled system. Hence, the network-induced delay and
are used as feedback signals, as one effective tool to damp out packet dropout are inevitably introduced in the control-loop of
the local mode oscillation [1], [2]. However, the LPSSs are the WADC. These time delays can typically range from tens to
ineffective in damping interarea oscillations because interarea several hundred milliseconds [5]. Ignoring the time delay and
packet dropout would deteriorate the damping performance or
even cause the whole system instability.
Manuscript received April 8, 2017; revised August 14, 2017 and September Currently, most of the existing works in wide-area control of
20, 2017; accepted December 3, 2017. Date of publication December 13, 2017;
date of current version June 18, 2018. This work was supported in part by the power systems, either did not consider the impact of the time
National Natural Science Foundation of China under Grant 51607027, in part delay and packet dropout, or considered the compensation of
by the Scientific and Technical Supporting Programs of Sichuan Province under communication delays at the design stage. But, most of them
Grant 2016GZ0395, Grant 2017GZ0394, and Grant 2017GZ0395, and in part
by the Fundamental Research Funds for the Central Universities under project handle delay as a constant with a known upper-bound, or packet
number ZYGX2016KYQD123. Paper no. TPWRS-00509-2017. (Correspond- dropout is treated as the increasing of the delay, and random
ing author: Yong Chen.) delay and packet dropout have not been fully investigated. Lu
The authors are with the School of Energy Science and Engineering and the
Institute of Electric Vehicle Driving System and Safety Technology, University et al. [6] designed a wide-area power system stabilizer based on
of Electronic Science and Technology of China, Chengdu 611731, China (e- model-free adaptive control. However, the communication con-
mail: LMengXHU@163.com; ychencd@uestc.edu.cn). strains, such as delay and packet dropout, are not considered. In
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. [7], the authors analyzed the effects of delay to wide-area power
Digital Object Identifier 10.1109/TPWRS.2017.2782792 system stabilizer design, the results show that the introduction
0885-8950 © 2017 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications standards/publications/rights/index.html for more information.

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LI AND CHEN: WADDC BASED ON ROBUST H CONTROL FOR WAPS WITH RANDOM DELAY AND PACKET DROPOUT
of time delay in a feedback loop has a destabilizing effect and
reduces the effectiveness of control system damping. However,
there is no any effective controlled strategy is proposed to com-
pensate the delay. In [8], Li et al. utilized Lyapunov stability
theory and linear matrix inequality (LMI) approach to investi-
gate the impact of delay on power system with multiple delays.
However, the authors justly studied stability of the controlled
system. A rigorous networked control system (NCS) model is
established for control design of wide-area closed-loop power
systems in literature [9]. However, the network-induced delays
and data packet dropout are manifested as time-varying delays
in feedback signals. Yao et al. [10] proposed a WADC for a se-
lected generator exciter based on predictive control to enhance
the damping of interarea oscillations and provide active com-
pensation of delays in the control loop. In [24], the wide-area
power system stabilizer is studied, and an adaptive time delay
compensation method is proposed to deal with delay. However,
the packet dropout is ignored in [10], [24]. In [11], a wide-area
centralized damping controller is designed to improve the sta-
bility of a power system in presence of time-varying delay and
packet dropout in the communication network. However, the
delays from sensor to controller are neglected in the design of
WADC. Furthermore, in order to select the most effective sig-
nals to damp inter-area oscillations, Heniche et al. [28] studied
two different approaches for the Hydro-Québec network, the
results show that the geometric approach is more reliable and
useful than the residues approach under the case of wide-area
signals. In [29], the communication failure issues are consid-
ered, a method is designed to build resiliency in grid controls in
the physical system in order to counteract these issues. Wilches-
Berna et al. [30] provided rigorous characterization and anal-
ysis of time delays associated with actual PMU installations
in the Western Interconnection. In [31], Byrne et al. analyzed
the impact of symmetric time delays to stability properties of
wide-area damping controllers.
In past two decades, based on the rapid development of com-
munication networks, networked control systems (NCSs) have
emerged as a new type of spatially distributed control system.
As is shown in Fig. 1, in which the sensors, actuators, and con-
trollers are connected through a shared digital communication
network. As we all known, network-induced delay and packet
dropout are two major reasons for causing the deterioration of
system performance or even resulting in instability [32]–[34].
To tackle those issues introduced by network- induced delay and
packet dropout. In recent years, many control approaches have
been proposed to cope with them [12]–[16]. Among which the
robust H∞ control shows the good performance, especially, at
the aspect of damping the external disturbance [17]–18].
Motivated by the aforementioned works, in this paper, the
robust H∞ control is used to design a new WADC for wide-
area power systems with random delay and packet dropout.
The delays from sensor-to-controller and from controller-to -
actuator are considered simultaneously, and the packet dropout
is formulated by a Bernoulli random sequence. By constructing
a delay-dependent Lyapunov–Krasovskii functional, the suffi-
cient condition is given to guarantee that the closed-loop system
is stochastically stable with a H∞ disturbance attenuation level,
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4027
and the wide-area dynamic damping controller (WADDC) based
on robust H∞ control is designed. Simulation results demon-
strate the effectiveness the proposed methods for damping out
the low frequency oscillation and compensating the communi-
cation constrains.
The remainder of this paper is organized as follows. In
Section II, the discrete-time model of wide-area power system
with random delay, packet dropout and external disturbance
is established. The sufficient condition about stability of the
closed-loop system is given, and the WADDC based on robust
H control is designed in Section III. In Section IV, simulation
experiments are performed to demonstrate the effectiveness of
the proposed method in this paper. Conclusions are provided in
Section V.
Notations: The notation used here is fairly standard except
where otherwise state. Rn is the set of n dimensional Euclidean
space, A > B(A ≥ B) mean A − B is positive definite (posi-
tive semi-definite), E{·} stands for mathematical expectation,
diag{·} denotes a block diagonal matrix, 0 and I represent,
respectively, identity matrix and zero matrix with appropriate
dimensions. ‘T ’ stands for the transpose of a matrix, Pr{·}
means the occurrence probability of the event.
II. PROBLEM STATEMENT
Generally, the power system model is a set differential alge-
braic equations (DAEs), which describes the generators, exci-
tation systems (AVRs), power system stabilizers (PSSs), and so
on. It can be linearized at an operating point and realized in the
following state space form [19]:

x(t + 1) = Ax(t) + Bu(t) + Dw(t)
(1)
z(t) = Cx(t)
where x(t) ∈ Rn is the state vector, u(t) ∈ Rm is the control
input vector, z(t) is the measures output vector. A,B, C and D
are the constant matrices with appropriate dimension, w(t) is the
unknown
 disturbance, and w(t) ∈ L2 [0, ∞)(L2 = {{a(k), k ≥
0}| ∞ k =0 ||a(k)||2
< ∞}).
In wide-area power system, as is shown in Fig. 1, the com-
munication networks are employed to link the remote control
center and the plant, and the data are transmitted by the way
of packet. From sensor (PMUs) to the controller (feedback
channel) and from the controller to actuator (feedforward chan-
nel) over the communication network that may encounter the
network-induced delay and packet dropout. Consider the ef-
fects of network-induced delays and packet dropout in wide-area
power system, the system (1) can be rewritten as following:

x(t + 1) = Ax(t) + ξ(t)Bu(t − τ (t)) + Dw(t)
(2)
z(t) = Cx(t)
where τ (t) is the network-induced delays (τ (t)=τ sc (t) +
τ ca (t), in which τ sc (t) denotes sensor-to-controller delay, τ ca (t)
represents controller-to-actuator delay), and τ (k) is random but
bounded, i.e., 0 = τm in ≤ τ (t) ≤ τm ax = N h, h is the sam-
pling period, N is a positive integer. ζ(t) is the indicator of
4028
Fig. 2. The timing diagram of data packet transmission in wide-area power
system.
packet received, that is

1, if the control input is received at time t
ζ(t) =
0, if the control input is lost at time t
ζ(t) is an i. i. d. Bernoulli random sequence, and satisfy the
following probability distribution:
Pr{ζ(t) = 1} = γ0 , Pr{ζ(t) = 0} = 1 − γ0
where γ0 is the random probability, and γ0 ∈ (0, 1).
Remark 1: In this paper, the sensors is time-driven, con-
trollers and actuators are event-driven. Each node is clock syn-
chronization [20].
During the sampling interval [kh, (k + 1)h], for ∀k, there
are at most N + 1 control inputs that can be used at the side of
actuator. If multiple control inputs are received at the same time,
the newest one is selected to act on the controlled system, and
other previous control inputs are discarded. As is shown in Fig. 2,
the timing diagram of signals in NCS, the controlled signals are
sent out by sensor, assuming the delay times of data packets are:
τik = kh + tki (i = 0, 1, ..., N ), where tkN < · · · < tki < tki−1 <
· · · < tk0 and tki ∈ [0, h].
Assuming the control law u is digitally implemented through
a zero-order-holder (ZOH), i.e., u(t) = u(k) over the time in-
terval [kh, (k + 1)h]. Therefore, Integration of (2) over the
sampling interval [kh, (k + 1)h) for k yields the following
discrete-time system (4).
 
xk +1 = Āxk + N a
i=0 B̄k i uk −i + D̄wk
(4)
zk = C̄xk
where xk = x(kh), uk = u(kh), zk = z(kh), ζk = ζ(kh), wk
h h
= w(kh), Ā = eA h , D̄ = 0 eA t · Ddt, C̄ = C and, B̄k 0 = t k
 tk 0 ing the generator exciter.
eA (h−t) · Bdt× σ[(k + 1)h − τ0 ], B̄k i = t ki −1 eA (h−t) Bdt ·
i
σ(h + τi−1 − τi ) · σ(τi − ih), and uak −i = ζk −i uk −i , uk is the
control input computed at controller, uak is control input received
1, x ≥ 0
at actuator with σ(x) = { and
0, x < 0
 (6) is stochastically stable if for every original state x0 = x(0)
ζk −i =
1, if uk −i is recevied during [kh, (k + 1)h]
0, if uk −i is lost during [kh, (k + 1)h].
Since the PMU does not measure delta and omega but the
frequency and phase angle of the generator terminal bus in the
cross-region multi-machine power systems, hence the states are
not completely observable. However, the output feedback is not
requiring an accurate dynamic state of plant. Hence, in this
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IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 33, NO. 4, JULY 2018
Fig. 3. Configuration of the wide-area power system with WADDC.
paper, the output feedback is employed. Based on the above
system (4), a new WADDC is designed as follows
uk −i = Kk i zk −i = Kk i C̄xk −i (i = 0, 1, . . . , N ) (5)
Remark 2: Generally, in traditional WADC, the controller
(3) gain K is fixed. Such the controller gain does not reflect the
range of possible delay in the network. It can notice that the con-
troller designed in this paper is the multiple controller gains Kk i
which can vary with time delay. Thus, the proposed WADDC is
more realistic in practice.
Substituting (5) into (4), the following closed-loop system
can be gained
 
xk +1 = Āxk + N i=0 ζk −i B̄k i Kk i C̄xk −i + D̄wk
Σ: (6)
zk = C̄xk
III. DESIGN OF WADDC BASED ON ROBUST H CONTROL
In this section, a sufficient condition about stability of the
closed-loop wide-area power system (6) is given. Further, the
WADDC based on robust control is designed. Before deal-
ing the stability analysis and controller synthesis problem, the
schematic diagram of wide-area power system with the WADDC
will be demonstrated. The configuration of the wide-area power
system with WADDC is shown in Fig. 3. In which the wide-
area state x is introduced as remote feedback input of WADDC,
the output u of WADDC as one of the inputs of the automatic
voltage regulator (AVR) and Vr ef is the reference voltage. The
communication networks with network-induced delay and data
packet dropout are employed to transmit remote signals. The
controller improves the power system performance by regulat-
Subsequent, the stability of the closed-loop wide-area power
system and design of wide-area controller will be given. Firstly,
the following two definitions are given, which will be used in
the stability analysis.
Definition 1: [21]: When wk = 0, the closed-loop system in
∈ Rn , initial modes τ0 = τ (0) ∈ S = {0, h, ..., N h} and ξ0 =
ξ(0) ∈ {0, 1}, such that
∞

E{||x(k)||2 |x0 , τ0 , ξ0 } < ∞ (7)
k =0
Definition 2: [22]: The closed-loop system in (6) is stochas-
tically stable with an H∞ norm bound γ, if the following hold.
LI AND CHEN: WADDC BASED ON ROBUST H CONTROL FOR WAPS WITH RANDOM DELAY AND PACKET DROPOUT 4029

1) The closed-loop system in (6) with wk = 0 is stochasti- Proof: The proof is provided in the Appendix A.
cally stable. Further, under the condition of stability of close-loop system,
2) Under the zero-initial condition, the controlled output the following theorem will develop the WADDC (5) for wide-
z(k) satisfies area power system (4).
∞
 ∞
 Theorem 2: Considering the discrete-time wide-area power
E{||z(k)||2 } < γ 2 E{||wk ||2 } (8) system in (4) under the control law (5). For a given scalar γ > 0,
k =0 k =0 the closed-loop system Σ is stochastically stable with an H∞
for all nonzero wk , where γ > 0 is a prescribed scalar. norm bound γ, for any nonzero wk ∈ L2 [0, ∞) and ∀i ∈ S, if
The sufficient condition about stability of close-loop system there exist symmetric and positive definite matrices P = P T >
(6) is given by the following theorem. 0, Q = QT > 0, Q1 = Q1 T > 0, and real matrices Kk i and M
Theorem 1: Given a scalar γ > 0 and a positive integer N , such that we see (10a) shown at the bottom of this page.
the closed-loop system (6) is stochastically stable with the H∞ Proof: The proof is provided in the Appendix B.
performance index γ by the controller (5), if there exist symmet- Remark 3: Noticing that (10) is an LMI form in terms of
ric and positive definite matrices P = P T > 0, Q = QT > 0 variables P , Q, Q1 , Kk i and M . Hence, the solutions can be
and Q1 = Q1 T > 0, such that easily obtained by using MATLAB/LMI Toolbox.
⎡ ⎤ Furthermore, to obtain the best robust performance, the con-
−P −1 Ā 0 0 0 0 trol problem can be transformed into the following minimization
⎢ ∗ Ξ11 Ξ12 Ξ13 0 C̄ T ⎥
⎢ ⎥ problem:
⎢ ∗ ∗ Ξ22 Ξ23 0 0 ⎥
Ξ=⎢ ⎢ ∗
⎥ < 0 (9) Min γ
⎢ ∗ ∗ −γ 2 I D̄T 0 ⎥ ⎥
⎣ ∗ ∗ ∗ ∗ −P −1 0 ⎦ Subject to (10), P = P T , Q = QT and Q1 = QT1 . (11)
∗ ∗ ∗ ∗ ∗ −I
The implementation procedure as follows:
Step 1: Selecting the states and outputs variables in dynamic
Ξ11 = −P + ζk ĀT P B̄k 0 Kk 0 C̄
model of the generator to build state space (1), and
+ ζk C̄ T KkT0 B̄kT0 P B̄k 0 Kk 0 C̄ + Q + N Q1 obtaining coefficient matrices.
Step 2: Using LMIVAR and LMITERM in SIMULINK to
Ξ12 = ζk −1 ĀT P B̄k 1 Kk 1 C̄ ζk −2 ĀT P B̄k 2 Kk 2 C̄ construct matrix inequality (10).
Step 3: Solving the minimization problem (11) by MINCX
· · · ζk −N ĀT P B̄k N Kk N C̄
in MATLAB in order to obtain controller gain Kk i .
Ξ13 = (ĀT + ζk C̄ T KkT0 B̄kT0 )P D̄ Step 4: Building and running the system in SIMULINK.
Ξ22 = T1 + T2 IV. CASE STUDIES
T
T1 = diag ζk−1 C̄ KkT1 B̄kT1 P B̄k 1 Kk 1 C̄ ζk −2 C̄ T
KkT2 B̄kT2 P For the large-scale power system analysis, the numerical sim-
ulations have been utilized to benchmark the algorithm. In this
B̄k 2 Kk 2 C̄ · · · ζk −N C̄ T KkTN B̄kTN P B̄k N Kk N C̄ section, the controller designed in this paper will be tested on
N term s the two-area four-machine power system and the 16-machine
  
T2 = diag {Q − Q1 Q − Q1 · · · Q − Q1 } 68-bus system.

Ξ23 = ζk −1 C̄ T KkT1 B̄kT1 P D̄ ζk −2 C̄ T KkT2 B̄kT2 P D̄ A. Two-Area Four-Machine Power System

T Consider a two-area-four-machine power system [23], [24]
· · · ζk −N C̄ T KkTN B̄kTN P D̄ . shown in Fig. 4, the system comprises two similar areas

⎡ ⎤
−P −1 Ā + ζk B̄k 0 Kk 0 C̄ D̄ 0
⎢ ∗ 0 0 C̄ T ⎥
⎢ ⎥ < 0, i = 0
⎣ ∗ ∗ −γ 2 I 0 ⎦
∗ ∗ ∗ −I
⎡ ⎤
−P −1 Ā ζk −i B̄k i Kk i C̄ 0 0 0
⎢ ∗ −P + Q + N Q1 0 ĀT P D̄ 0 C̄ T ⎥
⎢ ⎥
⎢ ∗ ∗ Q − Q1 ζk −i M T D̄ 0 0 ⎥
⎢ ⎥
⎢ ∗ ∗ ∗ −γ 2 I D̄T 0 ⎥
⎢ ⎥
⎣ ∗ ∗ ∗ ∗ −P −1 0 ⎦
∗ ∗ ∗ ∗ ∗ −I
< 0, i ∈ {1, 2, . . . , N } (10a)

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4030 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 33, NO. 4, JULY 2018

There exist three-phase short-circuit to ground fault between

are 1 and area 2, distance from load 1 and 2 respectively
110 km, the short-circuit time occurring at 1 s and continu-
ing 0.2 s removing fault, and the ground resistance is 0.001
ohms. The simulation time and sampling period is 10 s and h
= 100 ms, respectively. In this paper, the decentralized control
[25], [26] is adopted, as shown in Fig. 4. Hence, the structure of
controller gain K is
⎡ ⎤
K11 01×2 01×2 01×2
⎢ 01×2 K22 01×2 01×2 ⎥
Fig. 4. Two-area and four-machine system. K=⎢ ⎣ 01×2 01×2 K33 01×2 ⎦
⎥ (12)
01×2 01×2 01×2 K44

connected by a weak tie. This system has specifically designed
to study low frequency oscillation in wide-area power systems.
In Fig. 4, the loads and reactive power supplied by the shunt
capacitors at buses 4 and 8, and area 1 is exporting 413 MW
to area 2. The parameters of the two area system can refer-
ence [23]. The dynamic model of the generator is described
by second-order model. Taking Δδ1 , Δω1 , Δδ2 , Δω2 , Δδ3 ,
Δω3 , Δδ4 , Δω4 as states variables, where Δδ1 , Δδ2 , Δδ3 ,
Δδ4 are rotor angle deviation of four generators; Δω1 , Δω2 ,
Δω3 and Δω4 are rotor speed deviation of G1 , G2 , G3 and G4 ,
respectively.
where K11 , K22 , K33 , K44 ∈ R1×2 .
In simulations, assuming the communication networks are
typical network (that is, there exists network-induced delay and
packet dropout). The following two cases are considered:
Case 1: Constant delay and packet dropout
In this case, consider the constant delay in networks (that is
τ (k) = 30 ms for all k), the packet dropout rate is 0 (i.e., ζk = 1
for all k), and γ = 0.92. Taking C̄ = I8 , the control law in (5)
becomes uk = K0 zk = K0 xk . The P , Q, Q1 and controller
gain K0 can be solved according to the Theorem 2, as shown in
the unnumbered equations at the bottom of this page.

⎡ ⎤
0.002 −0.0086 0 0 0 0 0 0
⎢ −0.0086 0.3170 0 0 0 0 0 0 ⎥
⎢ ⎥
⎢ 0 0 0.002 −0.0086 0 0 0 0 ⎥
⎢ ⎥
⎢ 0 0 −0.0086 0.3170 0 0 0 0 ⎥
P =⎢⎢ ⎥
0 0 0 0 0.002 −0.0087 0 0 ⎥
⎢ ⎥
⎢ 0 0 0 0 −0.0087 0.3182 0 0 ⎥
⎢ ⎥
⎣ 0 0 0 0 0 0 0.002 −0.0087 ⎦
0 0 0 0 0 0 −0.0087 0.3182
⎡ ⎤
101.7573 −0.1261 0 0 0 0 0 0
⎢ −0.1261 97.2254 0 0 0 0 0 0 ⎥
⎢ ⎥
⎢ 0 0 101.7573 −0.1261 0 0 0 0 ⎥
⎢ ⎥
⎢ 0 0 −0.1261 97.2254 0 0 0 0 ⎥
Q=⎢ ⎢
⎥
⎥
⎢ 0 0 0 0 101.7573 −0.1274 0 0 ⎥
⎢ 0 0 0 0 −0.1274 97.1842 0 0 ⎥
⎢ ⎥
⎣ 0 0 0 0 0 0 101.7573 −0.1274 ⎦
0 0 0 0 0 0 −0.1274 97.1842
⎡ ⎤
0.0533 0.1536 0 0 0 0 0 0
⎢ 0.1536 5.3559 0 0 0 0 0 0 ⎥
⎢ ⎥
⎢ 0 0 0.0533 0.1536 0 0 0 0 ⎥
⎢ ⎥
⎢ 0 0 0.1536 5.3559 0 0 0 0 ⎥
Q1 = ⎢
⎢ 0
⎥
⎢ 0 0 0 0.0532 0.1552 0 0 ⎥ ⎥
⎢ 0 0 0 0 0.1552 5.4032 0 0 ⎥
⎢ ⎥
⎣ 0 0 0 0 0 0 0.0532 0.1552 ⎦
0 0 0 0 0 0 0.1552 5.4032
⎡ ⎤
−7.1006 −260.28 0 0 0 0 0 0
⎢ 0 0 −7.1006 −260.28 0 0 0 0 ⎥
⎢
K0 = ⎣ ⎥
0 0 0 0 −6.7503 −247.0551 0 0 ⎦
0 0 0 0 0 0 −6.7503 −247.0551

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LI AND CHEN: WADDC BASED ON ROBUST H CONTROL FOR WAPS WITH RANDOM DELAY AND PACKET DROPOUT
Fig. 5. Rotor angle of G1 and G2 with respect to G 4 .
In simulations, the proposed WADDC with the multi-band
power system stabilizer (as a LPSS) is carried out. In this way,
the local and global information are considered simultaneously.
Additionally, the PSS designed in [2] and wide area stabilizer
in [24] and [6] are employed as comparison. The simulation
results are shown in Figs. 5 and 6. Fig. 5(a) and (b) describe the
rotor angle of generator G1 and G2 with respect to generator
G4, respectively. Fig. 6 gives the active power from area 1 to
area 2. From Figs. 5 and 6, it can be seen that when the system
is open loop (i.e., there is no any feedback), it becomes unstable
after adding the fault. The control performance has a greatly
improved when the PSS designed in [2] is used. However, it is
still not convergence within 10 s due to the PSS designed in
[2] only uses locally measured data as input signal, that justly
ensure damping of the local mode of oscillations. When the
method in [6], [24] and the proposed WADDC are executed, the
simulation curves can achieve stability in finite time because
of them not only use the local information but also employ the
global information as feedback signals which can well damp
out both the local oscillation and interarea oscillation. Addition-
ally, it is note that the jitter and convergence of the presented
WADCC is smaller and faster than the method in [6], [24]. The
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4031
Fig. 6. Active power from area 1 to area 2.
Fig. 7. Random delay in network.
simulations results indicate that the proposed WADDC can ef-
fective damp the interarea low frequency oscillation and com-
pensate the constant network-induced delay.
Case 2: Random delay and packet dropout
In this case, the random delay is considered. The delay
τ (k) satisfy: 0 ≤ τ (k) ≤ 150 ms, the packet dropout rate is
7%, namely, Pr{ζ(k) = 0} = 7%, and γ = 0.98. The controller
gains can be obtained through Theorem 2. Some of them are
listed as shown in the unnumbered equations bottom of the next
page.
In simulations, the PSS designed in [2] and the wide-area
power system stabilizer (WAPSS) designed in [6], [24] are car-
ried out for comparison. The WAPSS in [6], [24] also employ
the multi-band power system stabilizer as local feedback. The
random delays in network are shown in Fig. 7. The results are
shown in Figs. 8 and 9, Fig. 8(a) and (b) describe the rotor
speed deviation of G3 and G4, respectively. Fig. 9 gives the
active power from area 1 (A1) to area 2 (A2). Seen from the
Fig. 8, it can find that there is poorly damped and slow conver-
gence when the PSS designed in [2] is used. Meanwhile, it can
be seen that the three wide-area signals based algorithms obtain
4032 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 33, NO. 4, JULY 2018

Fig. 9. Active power from A 1 to A 2.

Fig. 8. Rotor speed deviation of G 3 and G 4 .

the good control performance. The reason is that the method

proposed in this paper and in [6], [24] not only use the local
information but also employ the global information as feed-
back signals which can well damp out both the local oscillation
and interarea oscillation. Furthermore, it can be found that the
overshoot and convergence of the presented WADCC is smaller
and faster than the method in [6], [24]. This indicates that the
proposed WADDC can effectively damp out the low frequency Fig. 10. Single-line diagram of the 68-bus test system.
oscillation and compensate the random network-induced delay
and packet dropout.

test system (NETS) (containing G1 to G9) and New York power

B. 16-Machine 68-Bus System
In this section, the 16-machine, 68-bus test system is con-
sidered [27], as is shown in Fig. 10. The 68-bus system is a
reduced order equivalent of the interconnected New England
system (NYPS) (containing G10 to G13), with five geographi-
cal regions out of which NETS and NYPS are represented by a
group of generators whereas, the power import from each of the
three other neighboring areas are approximated by equivalent

⎡ ⎤
−22.4524 −824.2887 0 0 0 0 0 0
⎢ 0 0 −22.4524 −824.2887 0 0 0 0 ⎥
K10 =⎢
⎣
⎥
⎦
0 0 0 0 −21.3378 −782.1573 0 0
0 0 0 0 0 0 −21.3378 −782.1573
⎡ ⎤
−9.0228 −330.8290 0 0 0 0 0 0
⎢ 0 0 −9.0228 −330.8290 0 0 0 0 ⎥
K20 =⎢
⎣
⎥
⎦
0 0 0 0 −8.5769 −313.9937 0 0
0 0 0 0 0 0 −8.5769 −313.9937

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LI AND CHEN: WADDC BASED ON ROBUST H CONTROL FOR WAPS WITH RANDOM DELAY AND PACKET DROPOUT 4033

generator models (G14 to G16). G13 also represents a small

sub-area within NYPS.
The generators G1 − G9 are equipped with local PSS (LPSS),
the parameters of the PSS and the 68-bus system are given in
[27]. The generators G3 , G9 and G15 , installed by proposed
WADDC, are describes by third-order model with state variables
Δδ3 , Δδ9 , Δδ15 , Δω3 , Δω9 , Δω15 , ΔEq 3 , ΔEq 9 and ΔEq 15 .
The physical meaning of Δδi , Δωi are the same as explained
in Case 1 and ΔEq i is the deviation q-axis transient voltage. In
the simulations, a 2% step in Vr ef of the G3 at t = 1.0 s and
a − 2% step in the same Vr ef at t = 15 s is considered. The
simulations time is 30 s and sampling period is h = 100 ms.
The delay τ (k) satisfy: 0 ≤ τ (k) ≤ 200 ms, the packet dropout
rate is 5%, that is, Pr{ζ(k) = 0} = 5%, and γ = 0.86. The
controller gains can be obtained through Theorem 2. Some of
them are listed as follows
⎡ ⎤ Fig. 11. Random delay in networks.
K111 01×3 01×3
K10 = ⎣ 01×3 K122 01×3 ⎦ and
01×3 01×3 K133
⎡ ⎤
K211 01×3 01×3
K20 = ⎣ 01×3 K222 01×3 ⎦ ,
01×3 01×3 K233
where
K111 = [−12.6491 − 702.8932 − 10.9133]
K122 = [−15.1639 − 849.2550 − 17.6112]
K133 = [−46.9012 − 1015.6745 − 46.5896]
K211 = [−29.3063 − 638.4272 − 28.2136]
K222 = [−58.7231 − 1278.4325 − 59.6879]
K233 = [−62.4465 − 1356.5142 − 69.4123]
The variables P , Q and Q1 are given as follows:
⎡ ⎤
0.003 −0.0054 0
P = ⎣ −0.0054 0.1022 0.0004 ⎦ ,
0 0.0004 0.001
⎡ ⎤
265.6007 0 0
Q=⎣ 0 265.6007 0 ⎦
0 0 265.6007
⎡ ⎤
0.0015 −0.0271 −0.0001
and Q1 = ⎣ −0.0271 0.5111 0.0021 ⎦ .
−0.0001 0.0021 0.0005
The simulation results are shown in Fig. 11 to Fig. 13. Fig. 11
gives the random delay in networks. Fig. 12 describes the rotor
speed deviation of G3 and G15 . It can be seen from the par-
tial enlarged drawing in Fig. 12(a), the proposed WADDC can Fig. 12. Rotor speed deviation of G 3 and G 1 5 .
achieve smaller joggle and faster convergence than the method
in [6], [24] and only local PSS. Seen from the Fig. 12(b), it can Fig. 12 and Fig. 13, it is notice that the control performance of
be seen that the damping performance of the proposed WADDC the proposed WADDC and WAPSS in [6], [24] are better than
is better than other three methods. Fig. 13 describes the rotor an- only the local PSS. Because of the presented method and method
gle deviation of G9 and G15 . There is serious vibrating when the in [6], [24] simultaneously use the local information and remote
system with only local PSS. However, the control performance signals as feedback signals so that they can damp out both
has a greatly improved when the remote signals are added. From the local oscillation and interarea oscillation. Additionally, in

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4034
Fig. 13. Rotor angle deviation of G 9 and G 1 5 .
Fig. 14. Rotor speed deviation of G 8 .
contrast to the method in [6], [24], the presented WADCC fur-
ther enhances the damping of the system. This indicates that
the proposed WADDC can more effective damp out the low fre-
quency oscillation and compensate the random network-induced
delay and packet dropout than the method in [6], [24]. Further-
more, in order to verify that the effectiveness and damping effect
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IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 33, NO. 4, JULY 2018
Fig. 15. The rotor slips G 1 2 with respect to G 1 6 .
of inter-area oscillations of the proposed method, the rotor speed
deviation of G8 and the rotor slips G12 with respect to G16 are
given in Fig. 14 and Fig. 15, respectively. Fig. 14 shows that the
proposed method with smaller jitter and faster rate of conver-
gence than other methods. Seen from the Fig. 15, it can be seen
that the damping of inter-area mode of oscillation is obviously
improved by proposed method.
V. CONCLUSION
Wide-area damping controller (WADC) is a very effectively
tool to damp out the low frequency oscillation in wide-area
power systems. However, the WADC needs communication
networks to transmit remote signals, hence, the network- in-
duced delay and packet dropout are inevitably introduced in the
communication of wide-area measurement systems (WAMS).
In this paper, a new wide-area dynamic damping controller
(WADDC) based on robust H control is designed in order to
effective damp out the low frequency oscillation and compen-
sate the network-induced delay and packet dropout. Different
from the traditional wide-area damping controller, the controller
designed in this paper is the multiple controller gains which can
vary with time delay. Thus, the proposed WADDC is more re-
alistic in practice. Furthermore, the controller designed in this
paper is tested on the two-area four-machine power system and
the 16-machine 68-bus system. Simulation results demonstrate
the effectiveness the proposed methods for damping out the low
frequency oscillation and compensating the network-induced
delay and packet dropout.
APPENDIX A
PROOF OF THEOREM 1
For the system in (6), the stochastic Lyapunov functional
candidate is constructed as follows:
V (k) = V1 (k) + V2 (k) (A1)
With
LI AND CHEN: WADDC BASED ON ROBUST H CONTROL FOR WAPS WITH RANDOM DELAY AND PACKET DROPOUT 4035

k −1
 k −1

V1 (k) = xTk P xk
+ xTi Qxi − xTi Qxi − xTk −τ k Qxk −τ k
k −1
 
0 k −1
 i=k +1−τ k + 1 i=k +1−τ k
V2 (k) = xTi Qxi + xTi Q1 xi 
i=k −τ k δ =−N+1 i=k +δ −1 ≤ xTk Qxk + xTk N Q1 xk − xTk −N Q1 xk −N

(i). Assuming the zero input (wk = 0), let σk = +xTk +1−N Q1 xk +1−N + · · · + xTk −1 Q1 xk −1
[xTk , xTk −1 , ..., xTk −N ]T , taking the difference of V (k) along the k −1
trajectory of the system (6) yields 
+ xTi Qxi ≤ xTk (Q + N Q1 )xk
E{ΔV1 (k)|xk } i=k +1−τ m a x


0 k −1

= E{V1 (k + 1)|xk } − V1 (k) − xTk +δ −1 Q1 xk +δ −1 + xTi Qxi
= E{xTk +1 P xk +1 } − xTk P xk δ =−N +1 i=k −N

 T = σkT Ξ2 σk (A3)
N
= Āxk + ζk −i B̄k i Kk i C̄xk −i
i=0
where we see the unnumbered equations shown at the bottom
  of this page.

N
According to (9), it is inferred that
× P Āxk + ζk −i B̄k i Kk i C̄xk −i − xTk P xk
⎡ ⎤
i=0
−P −1 Ā 0
= σkT Ξ1 σk (A2) Ξ̃ = ⎣ ∗ Ξ11 Ξ12 ⎦ < 0 (A4)
∗ ∗ Ξ22
E{ΔV2 (k)|xk }
Using Schur complements, (A4) is equivalent to
= E{V2 (k + 1)|xk } − V2 (k)  
Ξ11 + ĀT P Ā Ξ12

k 
0 
k
∗ Ξ22
<0 (A5)
= xTi Qxi + xTi Q1 xi
i=k +1−τ k + 1 δ =−N+1 i=k +δ
Combining (A2) and (A3), the following inequality (A6) can
k −1
 
0 k −1
 be obtained
− xTi Qxi − xTi Q1 xi
i=k −τ k δ =−N+1 i=k +δ −1 E{ΔV (k)|xk }

0
 T  ≤ E{ΔV1 (k)|xk } + E{ΔV2 (k)|xk }
= xTk Qxk + xk Q1 xk − xTk +δ −1 Q1 xk +δ −1
δ =−N +1 = σkT (Ξ1 + Ξ2 )σk (A6)

⎡
ĀT P Ā − P + ζk ĀT P B̄k 0 Kk 0 C̄ + ζk C̄ T KkT0 B̄kT0 P B̄k 0 Kk 0 C̄
⎢ ∗
⎢
⎢ ∗
Ξ1 = ⎢
⎢ ..
⎣ .
∗
⎤
ζk −1 ĀT P B̄k 1 Kk 1 C̄ ζk −2 ĀT P B̄k 2 Kk 2 C̄ ··· ζk −N ĀT P B̄k N Kk N C̄
ζk −1 C̄ T KkT1 B̄kT1 P B̄k 1 Kk 1 C̄ ··· ⎥
0 0 ⎥
⎥
∗ ζk −2 C̄ T KkT2 B̄kT2 P B̄k 2 Kk 2 C̄ ··· 0 ⎥
⎥
⎥
.. .. .. ⎥
. . . 0 ⎦
∗ ∗ ··· ζk −N C̄ T
KkTN B̄kTN P B̄k N Kk N C̄
N +1term s
⎡  ⎤
Q + N Q1 0 ··· 0
⎢ 0 Q − Q1 ··· 0 ⎥
⎢ ⎥
Ξ2 = ⎢ .. .. .. .. ⎥
⎣ . . . . ⎦
0 0 ··· Q − Q1

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4036 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 33, NO. 4, JULY 2018

⎡ ⎤
Ω21 ζk −i ĀT P B̄k i Kk i C̄ ĀT P D̄
⎢ ⎥
Ω2 = ⎣ ∗ ζk −i C̄ T KkTi B̄kTi P B̄k i Kk i C̄ + Q − Q1 ζk −i C̄ T KkTi B̄kTi P D̄ ⎦ < 0
∗ ∗ −γ 2 I + D̄T P D̄
Ω21 = −P + ĀT P Ā + C̄ T C̄ + Q + N Q1 (B2)

Furthermore Let M = P B̄k i Kk i C̄, by using Schur complements, the (B2)

 T
 is changed to (10b), the proof is completed.
Ξ11 + Ā P Ā Ξ12
Ξ1 + Ξ2 = (A7)
∗ Ξ22
According to (A5), it can be deduced that
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Meng Li was born in Shanxi province, China.
He received the B.S. degree in applied math from
Yanan University, Yanan, China, in 2012, and the
M.S. degree in applied math from Xihua University,
Chengdu, China, in 2015. Since September 2015, he
has been working toward the Ph.D. degree at the
University of Electronic Science and Technology of
China, Chengdu, China. The main research direc-
tion includes networked control, robust control, mo-
tor control, and smart grid.
Yong Chen (M’08–SM’16) was born in Sichuan
Province, China, in 1977. Since 2015, he has been
a Professor and Ph.D. supervisor with the School of
Energy Science and Engineering and the Director of
the Institute of Electric Vehicle Driving System and
Safety Technology, University of Electronic Science
and Technology of China, Chengdu, China. He was
a visiting scholar in the School of Mechanical Engi-
neering, The University of Adelaide. He is currently
presiding over one National Natural Science Founda-
tion of China project and the Scientific and Technical
Supporting Programs of Sichuan Province. He has authored or co-authored more
than 50 technical papers in journals and conferences, and 15 Chinese patents.
His current research interests include power electronics, motor control, energy
control, networked control, and smart grid.
Prof. Chen is a CSEE Member (Chinese Society for Electrical Engineering.