5922
6, NOVEMBER 2021
Disturbance Observer Based Fractional-Order
Integral Sliding Mode Frequency Control Strategy for
Interconnected Power System
Fan Yang , Member, IEEE, Xinyi Shao , S. M. Muyeen , Senior Member, IEEE, Dongdong Li, Member, IEEE,
Shunfu Lin , Member, IEEE, and Chen Fang
Abstract—The significant penetration of renewable energy re-
sources and ever-rising load demand has gradually aggravated the
safe operation of the interconnected power system. A generalized
extended state observer and fractional-order theory based integral
sliding mode control strategy is introduced in the interconnected
power system to minimize the frequency deviation by controlling
the governor of the generation unit. The generalized extended
state observer is designed to estimate the disturbance from sys-
tem uncertainty, load demand, and wind power fluctuation to
improve the robustness of the interconnected power system. The
fractional-order integral sliding mode control relieves the chatter-
ing of frequency deviation and tie-line power deviation. Besides, the
superconducting magnetic energy storage and the wind model, as
the ancillary frequency regulation devices, are implemented in the
interconnected power system. The novel sliding mode controller
based on generalized extended state observer is designed for the
interconnected power system with the addition of the supercon-
ducting magnetic energy storage and the wind model. Stability
proof and simulation comparison with the integer-order sliding
mode control and other three control schemes are carried out as
well.
Index Terms—Fractional-order integral sliding mode control,
generalized extended state observer, interconnected power system,
load frequency control, uncertainty.
I. INTRODUCTION
RESENTLY, we are in a situation where renewable energy
P resources (RERs) have a high penetration in the intercon-
nected power system. While the conventional generation units
are gradually reduced. Indeed, renewable generation units are
Manuscript received January 6, 2021; revised March 31, 2021; accepted May
9, 2021. Date of publication May 19, 2021; date of current version October
20, 2021. This work was supported in part by the National Natural Science
Foundation of China under Project 51977128, and in part by Shanghai Science
and Technology Committee under Grant 19020500800. Paper no. TPWRS-
00018-2021. (Corresponding author: Fan Yang.)
Fan Yang, Dongdong Li, and Shunfu Lin are with the College of Electrical
Engineering, Shanghai University of Electric Power, Shanghai 200090, China
(e-mail: yangfan@shiep.edu.cn; epsldd@163.com; shunfulin@shiep.edu.cn).
Xinyi Shao is with the College of Electrical Engineering, Shanghai University
of Electric Power, Shanghai 200090, China (e-mail: m13585642006@163.com).
S. M. Muyeen is with the School of Electrical and Computer Engineering,
Scottin University, Perth 6845, Australia (e-mail: s.m.muyeen@ieee.org).
Chen Fang is with the Electric Power Research Institute, State Grid Shang-
hai Municipal Electric Power Company, Shanghai 200437, China (e-mail:
fangc02@139.com).
Color versions of one or more figures in this article are available at https:
//doi.org/10.1109/TPWRS.2021.3081737.
Digital Object Identifier 10.1109/TPWRS.2021.3081737
0885-8950 © 2021 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See https://www.ieee.org/publications/rights/index.html for more information.
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IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 36, NO.
decoupled from the grid by electronic converters, decreasing the
overall inertia of the grid [1]. Consequently, the existing power
system will inevitably experience the somber instability problem
with a rapid drop in regional frequency. Moreover, once a small
load perturbation (SLP) in any area of an interconnected power
system happens, the neighboring control area will be confronted
with frequency oscillations. Generation units can restore the
frequency to the scheduled value when disturbance happens by
regulation of their active power, which is done by primary and
secondary frequency control loop [2].
Generally, droop control is the system’s primary frequency
control, which can quickly response the change of the intercon-
nected power system’s frequency. To further improve the per-
formance of primary frequency control, energy storage system
(ESS) and the wind plant, as the ancillary frequency regulation
devices, is added to the interconnected power system. Ref. [3],
[4], [5] present the interconnected power system containing
different energy storage system (ESS) to enhance the frequency
response considering wind fluctuation and load disturbance. Ref.
[6] proposed a sliding mode controller for multi-area hybrid
power system with wind power intervention. Ref. [7] construct
a multi-source power system in which the wind farm utilizes
inertia control and droop control techniques with the purpose of
improving the frequency regulation.
As for secondary control, many controllers taking care of
LFC problem are applied in the interconnected power system,
such as sliding mode controller (SMC) [3], [6], [8]–[14] model
predictive controller (MPC) [15], [16], fuzzy controller [17],
fractional-order PID controller [18], active disturbance rejection
controller (ADRC) [19], artificial neural network (ANN) con-
troller [20], optimal controller [21] and linear matrix inequalities
(LMI) controller [22]. Ref. [23] gives a classification of LFC
based on different control techniques. Among these controllers,
SMC has attracted much attention for its strong robustness to
disturbance and unmodelled dynamics. Ref. [8] provides a SMC
strategy based on linear sliding mode surface, while Ref. [9]
proposed an integral sliding surface. Ref. [10] proposed a new
full-order sliding mode controller which shows the superiority
in terms of overshoot and response time. Ref. [11] proposed a
second-order sliding mode control strategy. Ref. [12] proposed a
terminal sliding mode control strategy to solve the LFC problem
of the microgrid (MG) system. In order to reduce the frequency
deviation caused by load disturbance and uncertainties, Ref.
YANG et al.: DISTURBANCE OBSERVER BASED FRACTIONAL-ORDER INTEGRAL SLIDING MODE FREQUENCY 5923

[13], [14] introduce a disturbance observer to reduce the impact

of disturbance.
Although the SMC has the advantages of strong robustness
and fast response, it also faces the chattering effect caused by
large switching gain [24]. Sliding sector, method of adding
boundary layer around the switching surface, sigmoid approx-
imations, and high gain control with saturation etc., have been
widely used [25]. In recent years, some researchers have applied
fuzzy logic to SMC to suppress chattering [26]. However, wind
turbines are not involved in frequency regulation. It is necessary
to propose a new effective solution. Furthermore, the aforemen-
tioned sliding mode controllers are mainly based on the integer
order. Compared with traditional calculus, fractional calculus
increases the variability of differential and integer degrees of
freedom, which brings new flexibility to the design of the
control system. Some scholars have contributed to the design
of fractional-order controllers. Ref. [27] introduces a MATLAB
Toolbox for fractional-order system, which contains a fractional
PID controller. Ref. [28], [29] introduce a non-integer order
Fig. 1. The structure of the interconnected power system.
calculus based sliding mode control in the non-commensurate
systems. To the best of our knowledge, the theory of integer-
order calculus is mainly utilized in the integral sliding mode is compared with the other four control strategies. Finally, this
controller [30] of the interconnected power system. control strategy is applied to the interconnected power system
Therefore, in this paper, the mathematical modeling of the with SMES/FRWM.
interconnected power system with FRWM/SMES participating
in system frequency regulation is carried out. Then the concept II. SYSTEM CONFIGURATION AND MODELLING
of fractional order is introduced into the integral sliding mode
The linearized interconnected power system considering the
surface, and a generalized extended state observer (GESO) based
frequency regulation of SMES and wind power system is shown
fractional-order integral sliding mode frequency control strategy
in Fig. 1.
(FOISMC) is designed. In order to verify the performance of
the proposed control strategy, the frequency deviation of the
system with and without GESO, the effects of different frac- A. Model of SMES
tional orders as well as uncertainties, the different performance Superconducting magnetic energy storage (SMES), as an
between FOISMC and IOISMC in frequency deviation, related energy storage unit, is installed in the power system to store
state variables and control signals, the performance with or the excess energy generated from the wind plant. The SMES
without FRWM/SMES participating in frequency regulation, can quickly respond to the frequency deviation caused by the
and the response under other control strategies (Fuzzy-PID, excess power of wind plant or load demand. When the power
MPC, PSO-PID) are simulated. Four indicators (ISE, ITSE, IAE of the interconnected power system is imbalance, the SMES
and ITAE) are further introduced to quantify performance. discharges its stored energy into the power system through power
The main contributions of this control strategy are: (i) it has conversion system which can reduce the time consumed by the
smaller chattering and more flexibility; (ii) it eliminates the influ- interconnected power system to be stable. Many studies have in-
ence of matching disturbance of the system (iii) SMES/FRWM troduced SMES as an auxiliary secondary frequency regulation
as an auxiliary frequency regulation device further optimizes device in interconnected power systems considering high wind
the dynamic performance of frequency deviation. The remaining power penetration [5], [15], [16]. The transfer function is shown
parts of this paper will be organized as follows: Section II mainly as follows [7]:
deals with the overall modeling of the system, including SMES,
wind generation plant and the interconnected power system. At 1 + sT1 1 + sT3 KSM ES
GSM ES = · · (1)
the end of the second part, the models with only SMES and wind 1 + sT2 1 + sT4 1 + sTSM ES
turbine. Section III mainly deals with the design of fractional Where T1 , T2 , T3 , T4 , TSM ES is the time constant of SMES,
sliding mode controller, including the operational properties KSM ES is the variable gain of SMES, and its value is affected
of fractional calculus, the generalized extended state observer by the state of charge (SOC) [31], [32]. The rules regarding
(GESO), the fractional-order sliding mode surface, the fractional KSM ES and SOC are as follows:
sliding mode controller (FOISMC) and the proof of system
stability. Section IV verifies the effectiveness of the GESO if SOC ∈ [0.45, 0.55] then KSM ES = 0.2035;
and introduces uncertainty, generation rate constraints (GRC)
if SOC ∈ (0.1, 0.45) then KSM ES = 0.2035 − 0.235/0.35∗
and governor dead band (GDB) to verify the robustness of the
control strategy. In addition, the method proposed in this paper (0.45 − SOC);

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5924 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 36, NO. 6, NOVEMBER 2021

if SOC ∈ (0.55, 0.9) then KSM ES = 0.2035 − 0.235/0.35∗ 1 KSM ES

ΔṖSM ES = − ΔPSM ES + ΔXa (12)
(SOC − 0.55); TSM ES TSM ES
if SOC ∈ [0, 0.1] or [0.9, 1] then KSM ES = 0; T3 T1
ΔẊa (t) = (−ΔPtie−ij (t) + ΔPgi (t) − ΔPSM ES
T 4 T 2 M1
B. Model of Wind Generation Plant T3 1 T1 D1 1
+ di (t)) + ( − )Δfi − Xa
As shown in Fig. 1, the wind turbines are modeled in two T4 T2 T 2 M1 T4
parts: one is the nonlinear model that does not participate in 1 T3
frequency regulation, the other is the transfer function model +( − )Xb (13)
T4 T2 T4
that participates in frequency regulation. The former is designed
T1
according to the model in [5]. The white noise is multiplied with ΔẊb = (−ΔPtie−ij + ΔPgi − ΔPSM ES
the wind speed to simulate the fluctuation of wind power. The T 2 M1
output equation of the wind plant is given by 1 TI D1 1
+ di (t)) + ( − )Δfi − ΔXb (14)
1 T2 T 2 M1 T2
Pw = ρπR2 (Vw + ΔVw )3 Cp(λ, β) (2)
2 di (t) = ΔPLoad + ΔPW T (15)
Where ρ is the air density, λ is the tip speed ratio, R is the blade
radius, Vw is the wind speed, β is the pitch angle and Cpis the Equation (7)–(13) show the interconnected power system with
utilization coefficient, which mainly depends on λ and β. The the regulation of SMES. Where Δfi is the frequency deviation,
detailed equation of Cp is a high-order nonlinear function, which Tgi is the governor time constant, Di is the load damping coef-
is determined by ficient, Ei is area control error integer deviation, Mi is System
inertia constant, Tij is Synchronous torque coefficient, ΔPgi is
Cp(λ, β) = 0.22(116/λi − 0.4β − 5)e−12.5/λi (3) generator output power deviation, Tti is turbine generator time
1 constant, ΔPvi is governor valve position, Bi is frequency devia-
λi = (4) tion coefficient, ΔPtie−ij is tie-line power deviation. The system
1/(λ + 0.08β) − 0.035/(β 3 + 1)
equations with only the frequency regulation of the wind model
λ = ω × R/Vw (5) (without SMES) are similar to previous equations. Equation
(14)–(16) substitute (12)–(14) to represent the interconnected
The other is the transfer function of the wind power unit. power system (with FRWM) for (i = 12):
This model consists of a hydraulic pitch actuator, data fit pitch
response, and blade characteristics which is helpful to verify the ΔṖwind = − ΔPwind + Kpw2 · ΔXa (16)
proposed control strategies [15], [33]. Kpw1 · Tpw1
ΔẊa = Δfi − ΔXa
1 Kpw1 · Tpw1 · s + Kpw1 Kpw2 Tpw2
Gwind = · · (6)  
Tpw2 s + 1 s+1 s+1
Kpw1 · Tpw1
+ Kpw1 − ΔXb (17)
C. Model of Interconnected Power System Tpw2
1 1
The linearized model of a two-area power system is estab- ΔẊb = − ΔXb + Δfi (18)
lished. The dynamic equations of the interconnected power Tpw2 Tpw2
system for (i = 12) are given as: Before getting the simplified differential equation of the sys-

n tem aforementioned, the state variables should be selected.
ΔṖtie−ij (t) = 2π Tij (Δfi (t) − Δfj (t)) (7) Only the regulation of the SMES:
j=1,j=i
x(t) = [ΔPtie−12 Δf1 ΔPg1 ΔE1 ΔPv1 ΔPSM ES1 ΔXa ΔXb
Di 1 1
Δf˙i (t) = − Δfi (t) + ΔPgi (t) − di (t) Δf2 ΔPg2 ΔE2 ΔPv2 ΔPSM ES2 ΔXc ΔXd ]T (19)
Mi Mi Mi
1 1 Only the FRWM:
− ΔPtie−i (t) − ΔPSM ES (8)
Mi Mi x(t) = [ΔPtie−12 Δf1 ΔPg1 ΔE1 ΔPv1 ΔPwind1 ΔXa ΔXb
1 1
ΔṖgi (t) = − ΔPgi (t) + ΔPvi (t) (9) Δf2 ΔPg2 ΔE2 ΔPv2 ΔPwind2 ΔXc ΔXd ]T (20)
Tti Tti
1 1 1 Then the differential equation of the interconnected power
ΔṖvi (t) = − Δfi (t) − ΔPvi (t) + ui (t) system with SMES/ FRWM are given:
Ri Tgi Tgi Tgi 
1 ẋ(t) = Ax(t) + Bu(t) + Hd(t)
− Ei (t) (21)
(10) y(t) = Λx(t)
Tgi
The detailed information of the system matrix is listed in
ΔĖi (t) = Bi Δfi (t) + ΔPtie−ij (t) (11) Appendix.

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YANG et al.: DISTURBANCE OBSERVER BASED FRACTIONAL-ORDER INTEGRAL SLIDING MODE FREQUENCY 5925

III. DESIGNING OF THE GESO-FOISMC CONTROLLER into the form of (27):

        
A. Preliminaries of Fractional Calculus ẋ AI x B 0
= + u+ (27)
ġ 00 g 0 ġ
The definition of fractional calculus mainly includes
Grünwald-Letnikovs (GL) definition, Riemann-Liouvilles (RL) Where g is a generalized disturbance. Then the mathematical
definition and Caputo definition [28]. The fractional calculus model of the disturbance observer can be reconstructed:
        
in this paper is based on the widely used definition of RL. x̂˙ AI x̂ B L1
However, the fractional operation is driven by an unknown signal ˙ĝ = 0 0 ĝ
+
0
u−
L2
(x̂ − x) (28)
in the actual system. So, it is necessary to build a filter that
can simulate the RL differential action. The filters used in early Where L1 , L2 are the designed observer gain. Subtracting (21)
research include Carlsor filter, Matsuda-Fuji filter, etc. However, from (28), the observer system error can be deduced:
     
the approximation of the above filters in the high-frequency or x̃˙ x̃(t) 0
low-frequency part is not ideal. The oustaloup filter, which has ˙g̃ = Ã − (29)
g̃ ġ
a better approximation, uses a set of polylines to approximate
fractional linear features. However, it is not a strict regular A − L1 I
Where à = [ ], x̃(t) = x̂(t) − x(t), g̃ = ĝ − g.
system. The refined oustaloup filter has a higher fitting accuracy −L2 0
and improves the flexibility of the dynamic adjustment of the To make the tracking error converge, the characteristic value
system degree [25], [34]. should be set negative.
Definition 1: The RL type α-order calculus of the continuous
λ − A + L1 −I
function f(t) is displayed as λI − Ã = = (λ + rΛ)2 = 0 (30)
L2 λ
 t
−α 1 According to (30), the observer gain can be designed as
t0 D t f (t) = (t − τ )α−1 f (τ )dτ (22)
Γ(α) t0 follows:
 t 
1−σ 1 σ−1 L1 = Ã + 2r ∗ Λ, L2 = (r ∗ Λ)2 = r2 ∗ Λ2
t0 Dt f (t) = t0 Dt f (t) = (t − τ ) f (τ )dτ
α
Γ(σ) t0
(23) C. Design of Fractional Sliding Mode Surface
∞
Where 0 < α < 1, Γ(α) = 0 xα−1 e−x dxis the gamma Due to uncertainty system parameters and the fluctuation of
function. the wind power, the linear model should be modified as follows:
The outstaloup filter (Eq. 31) implements the approximation ẋ(t) = (A + ΔA)x(t) + (B + ΔB)(u(t) + Δu(t))
of RL operator in a certain frequency band.
+ (H + ΔH)d = Ax(t) + Bu(t) + g(x, t) (31)
N
s + ωk
s ≈
α
ωhα (24) Where g(x, t) = f (x, t) + w(t), and f (x, t) is system uncer-
s + ωk tainty, w(t)is the external disturbance. In order to design the
k=−N
control law, some assumptions are assumed.
Where ωk = (b ∗ wh /d)(α+2k)/(2N +1) , ωk = Assumption 1: The matrix (A, B) is fully controllable.
(α−2k)/(2N +1)
(d ∗ wh /b) . Assumption 2: The aggregated disturbance g(x, t) satisfies
The improved algorithm is to approximate the fractional inequality:
differential operator with the fractional transfer function:
   α g(x, t) ≤ ξ(x, t) (32)
s s
K(s) = 1+ / 1+ (25) Where ξ(x, t) is the positive function and the symbol  ∗ 
(d/b)ωb (b/d)ωh
represents Euclidean norm. Here an integral sliding mode sur-
Where s = jω, b = 10, d = 9 [27], [35]. face based on fractional-order is proposed in this paper.
Expand the above equation and take the first-order approxi-
mation in the frequency range ωb < ω < ωh , then the fractional s(t) = Dα Cx(t) − Dα−1 [C(A − BL)x(t)] (33)
operator can be deduced: Where matrix C ∈ R2×15 and L ∈ R2×15 which satisfies the
 α   following requirement and the matrix CB is nonsingular, 0 <
dωh ds2 + bωh s
sα ≈ K(s) (26) α≤1
b d(1 − α)s2 + bωh s + dα
λ(A − BL) < 0 (34)
B. Design of the Generalized Extended State Observer
One way to solve matrix L is the pole placement. However,
The aggregated disturbance’s boundary is a big problem in the such a method cannot comprehensively consider the conver-
processing of the sliding mode control. Considering it is hard gence speed of state variables and energy consumption. So the
to determine a suitable boundary directly, a generalized extend LQR is considered to tune the matrix L [36].
state observer, essentially as a disturbance observer, is used to  t
track the actual change of disturbance from limited available min J = xT Qx + uT Ru dt (35)
measurements [14]. To design the observer, (21) is expended 0

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5926 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 36, NO. 6, NOVEMBER 2021

Where J is the cost function, Q is the penalty of state variables, TABLE I

PARAMETERS OF INTERCONNECTED POWER SYSTEM
R is the penalty of system input.

D. Design of Fractional Sliding Mode Controller

When the state of the interconnected power system reaches
the preset sliding surface, the conditions s(t) = 0 and ṡ(t) = 0
are satisfied.
ṡ(t) = Dα C ẋ(t) − Dα−1+1 [C(A − BL)x(t)]
= Dα [CBu(t) + Cg(x, t) + CBLx(t)] (36)
Then the equivalent controller will be deduced:
ueq = −Lx(t) − (CB)−1 Cg(x, t) (37)
Since Q is a positive definite symmetric matrix, the eigen-
By substituting (37) into (21), the new differential equation values of it are positive. Assuming that
can be derived as
2ψ1 (t) P 
x(t) ≥ (45)
ẋ(t) = Ax(t) + Bueq + g(x, t) λmin (Q )
= (A − BL)x(t) + [I − B(CB)−1 C]g(x, t) (38) Then the sliding mode can be assumed asymptotically stable,
namely V̇1 < 0. Construct the Lyapunov function [13]:
According to assumption 1-2, theorem 1 and (34), the stability
1 2
of the power system can be eventually assured. In this paper, V2 =
s (46)
the exponential approaching law is chosen to ensure the system 2
quickly reaches the sliding surface. From the fractional-order sliding surface (32), we can get the
time derivative of (47)
ṡ(t) = −a1 s(t) − a2 sign(s(t)) (39)
V̇2 = sṡ
Where sign(s(t)) is the Symbolic function. Then the robust
term can be deduced: = s(Dα−1+1 (CBu(t) + Cg(x, t) + CBLx(t)))

ur = −(CB)−1 {D−α [a1 s(t) + a2 sign(s(t)]} (40) = s(Dα (CB(−Lx(t) − (CB)−1 C ĝ(x, t) − (CB)−1

Finally, the complete FO calculus theory based control law {D−α [a1 s + a2 sign(s)]}) + Cg(x, t) + CBLx(t)))
can be obtained: = s(−Dα CBL − Dα C ĝ(x, t) − a1 s
u = − Lx(t) − (CB)−1 C ĝ(x, t) − a2 sign(s) + Dα Cg(x, t) + Dα CBLx(t))
− (CB)−1 {D−α [a1 s(t) + a2 sign(s(t)]} (41) = s(−a1 s − a2 sign(s) − Dα C(ĝ(x, t) − g(x, t))) (47)

E. The Stability of The Interconnected Power System and 0 ≤ |ĝ(x, t) − g(x, t)| ≤ ε(x, t) (48)
Existence of Sliding Surface
lim ε(x, t) = 0 (49)
Construct the Lyapunov function 1 as follows [13]: t→t0

V1 = x T P x

Where P is the solution of à P + P à = −Q for a given
T
positive definite symmetric Q . Taking the derivative of V1 and
substituting (31) into it, give
V̇1 = ẋT P x + xT P ẋ = (Ãx + F̃ )T P x + xT P (Ãx + F̃ )
 
= xT ÃT P + P Ã x + F̃ T P x + xT P F̃
= − xT Q x + F̃ T P x + xT P F̃
Where à = A − BL, F̃ = [I − (CB)−1 C]g(t).
Let ψ1 (t) = In − B(CB)−1 Cξ(x, t), then it can be de-
duced that:
V̇1 ≤ −λmin (Q )x2 + 2ψ1 (t) P  x
(42) s2
V̇2 ≤ −a1 s2 − a2 <0 (50)
|s|
Theorem 2: For the linear model (31), the FO calculus theory
based integral sliding surface (32) as well as the controller (41) is
proposed. If the boundary of error between the actual disturbance
and the observed disturbance is limited, namely as Eq.(46)–(48),
then it can ensure that the trajectory of the system is near the
sliding mode. If the Eq.(43) is satisfied, the closed-loop system
with such disturbance observer (28) is stable.
(43)
IV. SIMULATION RESULT
The interconnected power system described by Fig. 1 with
the novel controller is simulated in MATLAB/SIMULINK to
validate the chattering attenuation of the proposed controller.
(44) The system parameters are displayed in Table I.

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YANG et al.: DISTURBANCE OBSERVER BASED FRACTIONAL-ORDER INTEGRAL SLIDING MODE FREQUENCY 5927

Fig. 4. The frequency deviation under uncertainty boundary value.

Fig. 2. The estimated disturbance of Area1 by GESO under different r.

Fig. 5. Frequency response in area 1 under FOISMC and IOISMC strategy.

TABLE II
STEADY STATE CHARACTERISTICS UNDER IOISMC AND FOISMC
Fig. 3. Frequency response under FOISMC with different α.

The proposed fractional-order integral sliding mode control

law contains several parameters that should be designed. FO-
ISMC should first be designed with the observer parameter r
in (30). Fig. 2 shows the dynamic frequency response of the
estimated load disturbance under different r (r = 1 and 100).
It can be clearly found that the compensation effect of GESO
the order is 0.7 and 0.6, the chattering problem is getting worse.
output can largely suppress the frequency oscillations caused
The parameter α is finally fixed at 0.8.
by disturbance. Excessive r value does not lead to significant
Before discussing the system under FOISMC, the bound-
improvement. In this paper, r is finally fixed at 100.
ary of the system parameters should be discussed. The lower
Next, the parameters a1 , a2 in approaching law (39) are tuned.
bound condition and upper bound condition of Di /Mi , 1/Mi ,
The parameter a1 ensures the exponential approach characteris-
1/Tti , 1/Tgi in (7)–(10) are ±0.02, ±2, ± 1, ± 5; As for 1/Ri ,
tic of the moving point. Namely, the velocity gradually attenu-
the fluctuation is designed as: Area1: −0.134/0.323; Area 2:
ates with time. The parameter a2 ensures the speed of the moving
−0.15/0.05. Fig. 4 shows the frequency response under the
point when it is close to the sliding surface. However, too large
minimum boundary condition and the upper boundary condition.
a2 will also lead to increased chattering. Therefore, a1 should be
Although the system under lower bound condition consumes a
increased and a2 should be decreased. For convenience, a1 , a2
longer time to be stable, the novel control strategy is verified to
are finally fixed at a suitable value (i.e., a1 = 10, a2 = 0.6).
be effective under the influence of uncertainty.
The matrix L in (41) is important in designing the novel
controller. The aim of tuning L is to enable λ(A − BL) < 0. One
method to solve matrix L is pole placement, the other method is A. Verification of GESO-FOISMC Without FRWM and SMES
LQR. When the fractional-order is 0.8, comparing the effect under
Then, the fractional-order α in (32) should be designed. Fig. 3 IOISMC and FOISMC, it is obvious that the chattering degree
shows the frequency response under different α (α= 0.6, 0.7, is greatly reduced (see Fig. 5). Taking the accumulation of
0.8 and 0.9). When the order is 1, it can be found that there is frequency deviation within 2s∼4s, it is found that the chattering
obvious chattering in the system frequency deviation. Modifying degree is reduced by 91.65% in Area1 and 90.47% in Area2.
the order of the system, it can be found that when the order is 0.9 In Table II, the overshoot and undershoot are also taken into
and 0.8, the degree of chattering decreases sequentially. While account. By comparing the case under IOISMC and FOISMC,

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5928 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 36, NO. 6, NOVEMBER 2021

Fig. 8. Frequency response in area 1 under FOISMC and IOISMC strategy.

Fig. 6. Governor valve position under FOISMC and IOISMC strategy.

Fig. 9. Governor valve position under FOISMC and IOISMC strategy.

Fig. 7. The control law under IOISMC and FOISMC.

the improvements of overshoot in Area1 and Area2 are 1.94%

and 2.83%. The improvements of undershoot are 7.86% and
2.27%. It means that compared with IOISMC, FOISMC has
both a slight increase in overshoot and a stronger suppression
effect on system chattering.
As for the governor valve position, the control effect under
FOISMC is also better than IOISMC. In Fig. 6, there is a clear
improvement of the chattering phenomenon, which does a great
contribution to the maintenance of the governor. Besides, the
maximum change of the governor under FOISMC is bigger
than the one under IOISMC. So, the frequency deviation under Fig. 10. The control law under IOISMC and FOISMC.
FOISMC can recover to stability faster than IOISMC.
The control signal is also an aspect that cannot be ignored
in the frequency control of interconnected power systems. As
shown in Fig. 7, after introducing the fractional operator based
on the oustaloup algorithm into IOISMC, the chattering problem
of the control law of the system is greatly improved.
In order to reduce system energy consumption while ensuring
frequency stability, the parameter L in (41) needs to be adjusted.
In order to reduce system energy consumption while ensuring
frequency stability, the parameter L in (41) needs to be adjusted.
Because the value of the control signal is limited, the following
simulation time is enlarged to observe the changes of the state Fig. 11. The frequency response under FOISMC considering GRC&GDB.
variables completely. Compare Fig. 5- Fig. 7 with Fig. 8– Fig. 10,
it can be found that the change speed of the state variable and the
under FOISMC. In summary, the advantages of FOISMC, which
control signal is reduced, which is due to the fact that the LQR re-
has a great improvement in chattering suppressing, over IOISMC
stricts the output signal of the controller. In detail, the frequency
is verified. Then LQR method is also verified to be available in
deviation signal (Fig. 8), the governor valve position (Fig. 9),
designing the effective controller.
and the control signal (Fig. 10) have a better performance under
FOISMC than IOISMC. At the same time, due to the use of
B. Verification of GESO-FOISMC With FRWM
LQR method, the maximum value of them is obviously reduced,
which improves the feasibility of the controller. In Fig. 11, GRC The interconnected power system with only FRWM is sim-
and GDB are considered in the interconnected power system ulated. The power output of wind turbines in area 1 (Vw =

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YANG et al.: DISTURBANCE OBSERVER BASED FRACTIONAL-ORDER INTEGRAL SLIDING MODE FREQUENCY 5929

Fig. 12. The fluctuation of the wind power. Fig. 13. The frequency deviation of the system with and without FRWM under
FOISMC.
TABLE III
PERFORMANCE OF THE SYSTEM UNDER DIFFERENT WIND PENETRATION

12m/s) are shown in Fig. 12. The detailed simulation parameters

are shown in the Table III.
According to Ref. [29], the frequency regulation of wind Fig. 14. The frequency deviation of the system under three scenarios.
model is added to the low inertia system. In order to further
TABLE IV
compare the performance indicators, this paper introduces a PERFORMANCE OF THE SYSTEM UNDER DIFFERENT SCENARIOS
series of evaluation indicators:
t
J1 = IT AE = 0 (|Δf1 | + |Δf2 | + |ΔPtie |) · t· dt
2 2
+ |ΔPtie |2 · t · dt
t
J2 = IT SE = 0 |Δf1 | + |Δf2 |
t
J3 = IAE = 0 (|Δf1 | + |Δf2 | + |ΔPtie |) · dt

2 2
+ |ΔPtie |2 · dt
t
J4 = ISE = 0 |Δf1 | + |Δf2 |

Table III shows the ISE, ITSE, IAE, ITAE of the intercon-
nected power system under different wind penetration (10%,
30% and 50%). The increase in wind power penetration has led
controller. Compare with the control effect under the FOISMC
to the continuous deterioration of four performance indicators.
without SMES, the proposed controller can quickly respond
Although some indicators are greatly affected, the overall system
the load demand and have a better convergence performance
is tended to be stable.
in terms of ITAE, ITSE, IAE and ISE. Fig. 12 also shows the
Based on (16)–(18), the FOISMC with FRWM is designed.
frequency response under FOISMC with BESS. It indicates
Suppose that at 30s and 130s, wind farm 1 and wind farm 2 are
that the FOISMC considering SMES can absorb the surplus
incorporated into area 1 and area 2 (see Fig. 13). Then the
power and release vacancy power more quickly than BESS when
frequency response of the system under FOISMC with and
the interconnected power system suffers from the load distur-
without FRWM are compared, respectively. It can be found
bance. In addition, the frequency chattering under FOISMC
that the performance of frequency is improved by observing the
considering SMES is the weakest among the three scenarios.
four indicators. The ISE, ITSE, IAE and ITAE under FOISMC
Table IV lists the four indicators of the interconnected power
without FRWM are 0.0981, 8.9941, 2.4258 and 227.0212. While
system without SMES, and with BESS and SMES. These data
the indicators under FOISMC with FRWM are 0.0053, 0.4463,
quantify the performance in three cases and further prove the
0.7665 and 68.85, which have a significant improvement under
advantage of SMES to the frequency deviation of the system
the frequency regulation of the wind model.
when participating in frequency regulation.
Fig. 15 shows the frequency response in area 1 under 4 dif-
C. Verification of GESO-FOISMC With SMES
ferent control strategies. Fig. 16 lists the performance indicators
Based on (12)–(14), the FOISMC with SMES is designed. under the four control strategies, which shows that the proposed
Fig. 12 shows the dynamic response of the system under such a control strategy is superior to MPC, fuzzy-PID and PSO-PID.

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5930 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 36, NO. 6, NOVEMBER 2021

Fig. 15. Frequency response in area 1 under 4 different control strategies.

Fig. 16. Performance index of the system under 4 different control strategies.
V. CONCLUSION
This paper mainly solves the frequency oscillations of the
interconnected power system. By controlling the governor of the the frequency deviation of the interconnected power system.
generation units, the frequency deviation of the interconnected FOISMC can also be exercised in the interconnected power
power system based on GESO-FOISMC has an improvement in system with hybrid energy storage as an auxiliary frequency reg-
overshoot, undershoot and chattering degree, which is 1.94%, ulation device. By coordinating the output of different devices,
7.86%, 91.65% in area 1 and 2.83%, 2.27%, 90.47% in area the dynamic performance of the system frequency can be further
2. Under the proposed control strategy, the ancillary frequency improved, which can be considered as a possible extension of
regulation of the wind model and SMES is further considered this paper.
which gives much improvement in evaluation index after aver-
aging (about 81.93%/32.36%) compared to the interconnected APPENDIX
power system without FRWM/SMES. The stability proof and
simulation results indicate that FOISMC is good at minimizing System matrix considering FRWM:
⎡ 2π ⎤
0 T12 0 0 0 0 0 0 − T2π12
0 0 0 0 0 0
⎢− 1 −M D1 1
0 0 − M11 0 0 0 0 0 0 0 0 0 ⎥
⎢ M1 M1 ⎥
⎢ 0 0
1
1
− Tt1 0 1
0 0 0 0 0 0 0 0 0 0 ⎥
⎢ ⎥
⎢ Tt1
⎥
⎢ KI1 KI1 ∗ B1 0 0 0 0 0 0 0 0 0 0 0 0 0 ⎥
⎢ 1 1 1 ⎥
⎢ 0 − R1 ∗Tg1 0 − Tg1 − Tg1 0 0 0 0 0 0 0 0 0 0 ⎥
⎢ ⎥
⎢ 0 0 0 0 0 −1 Kpw2 0 0 0 0 0 0 0 0 ⎥
⎢ ⎥
⎢ 0 N1 0 0 0 0 −1 N2 0 0 0 0 0 0 0 ⎥
⎢ 1 1 ⎥
⎢ 0 0 0 0 0 0 − Tpw2 0 0 0 0 0 0 0 ⎥
⎢ R1 ∗Tpw2 ⎥
⎢ 1 0 0 0 0 0 0 0 −M D2 1
0 0 − M12 0 0 ⎥
⎢ M2 M2 ⎥
⎢ 0 0 0 0 0 0 0 0 0
2
− T1t2 0 1
0 0 0 ⎥
⎢ ⎥
⎢ Tt2
⎥
⎢ −KI2 0 0 0 0 0 0 0 KI2 ∗ B2 0 0 0 0 0 0 ⎥
⎢ 1 1 1 ⎥
⎢ 0 0 0 0 0 0 0 0 − R2 ∗Tg2 0 − Tg2 − Tg2 0 0 0 ⎥
⎢ ⎥
⎢ 0 0 0 0 0 0 0 0 0 0 0 0 −1 Kpw2 0 ⎥
⎢ ⎥
⎣ 0 0 0 0 0 0 0 0 N3 0 0 0 0 −1 N4 ⎦
1 1
0 0 0 0 0 0 0 0 R2 ∗Tpw2 0 0 0 0 0 − Tpw2

System matrix considering SMES:

⎡ 0 2π
0 0 0 0 0 0 − T2π 0 0 0 0 0 0
⎤
T12 12
D
⎢ − M1 − M1 1
M1 0 0 − M1 0 0 0 0 0 0 0 0 0 ⎥
⎢ 0 1
0
1
− T1 0 1
0
1
0 0 0 0 0 0 0 0 0 ⎥
⎢ t1 Tt1 ⎥
⎢ KI1 KI1 ∗ B1 0 0 0 0 0 0 0 0 0 0 0 0 0 ⎥
⎢ 0 1
− R ∗T 0 − T1 − T1 0 0 0 0 0 0 0 0 0 0 ⎥
⎢ 1 g1 g1 g1 ⎥
⎢ 0 0 0 0 0 −T 1
KSM ES
0 0 0 0 0 0 0 0 ⎥
⎢ SM ES TSM ES ⎥
⎢ −N1 N2 N1 0 0 −N1 − T1 N3 0 0 0 0 0 0 0 ⎥
⎢ −N 4 ⎥
⎢ 5 N4 N5 0 0 −N5 0 − T1 0 0 0 0 0 0 0 ⎥
⎢ 1 2
D
− M2 1
− M1 ⎥
⎢ M2 0 0 0 0 0 0 0
2 M2 0 0
2
0 0 ⎥
⎢ 0 0 0 0 0 0 0 0 0 − T1 0 1
0 0 0 ⎥
⎢ −KI t2 Tt2
⎥
⎢ 2 0 0 0 0 0 0 0 KI2 ∗ B2 0 0 0 0 0 0 ⎥
⎢ 0 0 0 0 0 0 0 0 1
− R ∗T 0 − T1 − T1 0 0 0 ⎥
⎢ 2 g2 g2 g2 ⎥
⎢ 0 0 0 0 0 0 0 0 0 0 0 0 −T 1
KSM ES
0 ⎥
⎣ N 0 0 0 0 0 0 0 N7 N6 0 0
SM ES
−N6
TSM ES
− T1 N3
⎦
6
4
N9 0 0 0 0 0 0 0 N8 N9 0 0 −N9 0 − T1
2

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YANG et al.: DISTURBANCE OBSERVER BASED FRACTIONAL-ORDER INTEGRAL SLIDING MODE FREQUENCY
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Fan Yang (Member, IEEE) received the B.S. degree
from the Wuhan University of Science and Tech-
nology, Wuhan, China, in 2002, and the Ph.D. de-
gree from Shanghai Jiao Tong University, Shanghai,
China, in 2009. She is currently an Associate Pro-
fessor with the College of Electrical Engineering,
Shanghai University of Electric Power, Shanghai,
China. Her research interests include power system
stability and control, distributed generation and mi-
crogrid control technology, and condition monitoring
and fault diagnosis of power equipment.
5932 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 36, NO. 6, NOVEMBER 2021

Xinyi Shao received the B.Sc. degree from the De-
partment of Electrical Engineering, East China Jiao-
tong University, Jiangxi, China, in 2019. He is cur-
rently working toward the master’s degree with the
Shanghai University of Electric Power, Shanghai,
China. He studied under Dr. Fan Yang and his research
interests include power system stability and control,
load frequency control, energy storage system, and
renewable energy.
research interests include power quality and smart grid technologies of LV
distribution system.
Shunfu Lin (Member, IEEE) received the B.S. and
Ph.D. degrees from the University of Science and
Technology of China, Hefei, China, in 2002 and 2007,
respectively. From 2007 to 2009, he was with the
Corporate Technology of Siemens Limited China,
Beijing, China, as a Research Scientist in power
monitoring and control. From 2009 to 2010, he was
a Postdoctoral Fellow with the University of Alberta,
Edmonton, AB, Canada. He is currently a Professor
with the College of Electrical Engineering, Shanghai
University of Electric Power, Shanghai, China. His

S. M. Muyeen (Senior Member, IEEE) received the

B.Sc.Eng. degree in electrical and electronic engi-
neering from the Rajshahi University of Engineer-
ing and Technology (formerly known as Rajshahi
Institute of Technology), Rajshahi, Bangladesh, in Chen Fang received the B.Sc. and Ph.D. degrees from
2000, and the M.Eng. and Ph.D. degrees in electrical the Department of Electrical Engineering, Tsinghua
and electronic engineering from the Kitami Institute University, Beijing, China, in 2006 and 2011, respec-
of Technology, Kitami, Japan, in 2005 and 2008, tively. He is currently the Deputy Director of the
respectively. He is currently an Associate Professor Science and Technology Development Department,
with the School of Electrical Engineering Computing State Grid Shanghai Electric Power Research Insti-
and Mathematical Sciences, Curtin University, Perth, tute, and an Expert Member of the International Elec-
WA, Australia. He has authored or coauthored more than 225 articles in different trotechnical Commission, Electrical Energy Storage
journals and international conferences. He is the author or editor of seven books. Systems Technical Committee (IEC TC120). His re-
His research interests include power system stability and control, electrical search interests include renewable energy integration
machine, FACTS, energy storage system, renewable energy, and HVDC system. of smart grid and power storage technology.
He has been a Keynote Speaker and an Invited Speaker at many international
conferences, workshops, and universities. He is the Editor or an Associate Editor
for many prestigious Journals from IEEE, IET, and other publishers including
the IEEE TRANSACTIONS ON SUSTAINABLE ENERGY, IEEE TRANSACTIONS ON
ENERGY CONVERSION, IEEE POWER ENGINEERING LETTERS, IET Renewable
Power Generation, and IET Generation, Transmission and Distribution. He is a
Fellow of Engineers Australia.

Dongdong Li (Member, IEEE) received the B.S. de-

gree in electrical engineering from Zhejiang Univer-
sity, Hangzhou, China, in 1998, and the Ph.D. degree
in electrical engineering from Shanghai Jiao Tong
University, Shanghai, China, in 2005. He is currently
a Professor and the Dean of the College of Electric
Engineering, Shanghai University of Electric Power,
Shanghai, China. His current research interests in-
clude analysis of electric power system, renewable
energy system, and smart grid.

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