Robust power system frequency control

This text emphasizes the physical and engineering aspects of the power system frequency control design problem while providing a conceptual understanding of frequency regulation and application of robust control techniques.

1 Power System Control: An Overview	p. 1
1.1 A Brief Historical Review	p. 1
1.2 Instability Phenomena	p. 2
1.3 Controls Configuration	p. 5
1.4 Controls at Different Operating States	p. 6
1.5 Dynamics and Control Timescales	p. 7
1.6 Power System Frequency Control	p. 8
1.6.1 Load-Frequency Control	p. 8
1.6.2 Why Robust Power System Frequency Control?	p. 9
1.7 Summary	p. 11
References	p. 11
2 Real Power Compensation and Frequency Control	p. 15
2.1 Fundamental Frequency Control Loops	p. 15
2.2 Frequency Response Modelling	p. 16
2.3 Frequency Control in an Interconnected Power System	p. 20
2.4 LFC Participation Factor	p. 25
2.5 Frequency Operating Standards	p. 26
2.6 A Literature Review on LFC Synthesis/Analysis	p. 28
2.7 Summary	p. 30
References	p. 31
3 Frequency Response Characteristics and Dynamic Performance	p. 39
3.1 Frequency Response Analysis	p. 39
3.2 State-Space Dynamic Model	p. 43
3.3 Frequency Control in a Deregulated Environment	p. 44
3.4 LFC Dynamics and Bilateral Contacts	p. 47
3.4.1 Modelling	p. 47
3.4.2 Simulation Example	p. 50
3.5 Physical Constraints	p. 55
3.5.1 Generation Rate and Dead Band	p. 55
3.5.2 Time Delays	p. 56
3.5.3 Uncertainties	p. 58
3.6 Summary	p. 60
References	p. 60
4 PI-Based Frequency Control Design	p. 63
4.1 H&infinity;-SOF Control Design	p. 64
4.1.1 Static Output Feedback Control	p. 64
4.1.2 H&infinity;-SOF	p. 64
4.2 Problem Formulation and Control Framework	p. 66
4.2.1 Transformation from PI to SOF Control Problem	p. 66
4.2.2 Control Framework	p. 67
4.3 Iterative LMI Algorithm	p. 69
4.3.1 Developed Algorithm	p. 70
4.3.2 Weights Selection	p. 71
4.4 Application Example	p. 73
4.4.1 Case Study	p. 73
4.4.2 Simulation Results	p. 75
4.5 Using a Modified Controlled Output Vector	p. 77
4.6 Considering Bilateral Contracts	p. 81
4.7 Summary	p. 81
References	p. 82
5 Frequency Regulation with Time Delays	p. 85
5.1 Preliminaries	p. 86
5.1.1 H&infinity; Control for Time-Delay Systems	p. 86
5.1.2 LFC with Time Delays	p. 87
5.2 Proposed Control Strategy	p. 89
5.2.1 Problem Formulation	p. 89
5.2.2 H&infinity;-SOF-Based LFC Design	p. 90
5.2.3 Application to a Three-Control Area	p. 92
5.3 Real-Time Laboratory Experiment	p. 92
5.3.1 Analog Power System Simulator	p. 92
5.3.2 Configuration of Study System	p. 93
5.3.3 H&infinity;-SOF-Based PI Controller	p. 96
5.4 Simulation Results	p. 96
5.5 Summary	p. 99
References	p. 100
6 Multi-Objective Control-Based Frequency Regulation	p. 103
6.1 Mixed H2/H&infinity;: Technical Background	p. 104
6.2 Proposed Control Strategy	p. 105
6.2.1 Multi-Objective PI-Based LFC Design	p. 106
6.2.2 Modelling of Uncertainties	p. 108
6.2.3 Developed ILMI	p. 108
6.2.4 Weights Selection (¿i, Wi)	p. 110
6.2.5 Application to Three-Control Area	p. 110
6.3 Discussion	p. 110
6.4 Real-Time Laboratory Experiments	p. 113
6.4.1 Configuration of Study System	p. 113
6.4.2 PI Controller	p. 114
6.5 Simulation Results	p. 117
6.6 Summary	p. 121
References	p. 121
7 Agent-Based Robust Frequency Regulation	p. 123
7.1 Frequency Response Analysis	p. 124
7.1.1 Frequency Response Model	p. 124
7.1.2 Total Power Imbalance Estimation	p. 125
7.2 Proposed Control Strategy	p. 126
7.2.1 Overall LFC Framework	p. 126
7.2.2 Computing of Participation Factors	p. 127
7.2.3 Structure of Two-Agent System	p. 129
7.3 Tuning of PI Controller	p. 130
7.4 Real-Time Implementation	p. 132
7.4.1 Configuration of Study System	p. 132
7.4.2 PI Parameters	p. 133
7.4.3 Implementation	p. 133
7.5 Laboratory Results	p. 135
7.6 Remarks	p. 136
7.7 Summary	p. 138
References	p. 139
8 Application of Structured Singular Values in LFC Design	p. 141
8.1 Sequential Decentralized LFC Design	p. 141
8.1.1 Model Description	p. 142
8.1.2 Synthesis Procedure	p. 143
8.1.3 Synthesis Steps	p. 147
8.1.4 Application Example 1	p. 148
8.1.5 Simulation Results	p. 152
8.2 A Decentralized LFC Design	p. 154
8.2.1 Synthesis Methodology	p. 155
8.2.2 Application Example 2	p. 157
8.2.3 Simulation Results	p. 161
8.3 Summary	p. 161
References	p. 163
9 Frequency Control in Emergency Conditions	p. 165
9.1 Frequency Response Model	p. 165
9.1.1 Modelling	p. 166
9.1.2 Considering of Emergency Control/Protection Dynamics	p. 168
9.1.3 Simulation Example	p. 169
9.2 Under-Frequency Load Shedding	p. 174
9.2.1 Why Load Shedding?	p. 174
9.2.2 A Brief Literature Review on UFLS	p. 175
9.3 UFLS in Multi-Area Power Systems	p. 177
9.3.1 On Targeted Load Shedding	p. 177
9.3.2 A Centralized UFLS Scheme	p. 179
9.3.3 Targeted Load Shedding Using Frequency Rate Change	p. 180
9.3.4 Simulation Example	p. 183
9.4 Remarks	p. 186
9.5 Summary	p. 187
References	p. 187
10 Renewable Energy Options and Frequency Regulation	p. 191
10.1 RESs and New Challenges	p. 191
10.2 Impact on Frequency Regulation: A Simulation Study	p. 194
10.3 Considering RESs Effect in LFC Model	p. 198
10.3.1 LFC Model with RESs	p. 199
10.3.2 Required Supplementary LFC Reserve	p. 200
10.3.3 RESs and Frequency Performance Standards	p. 201
10.4 A Survey on Recent Studies	p. 203
10.5 Summary	p. 206
References	p. 206
Appendix A p. 209
Appendix B p. 211
Index	p. 215

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