2004 IEEE Intemational Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004)April 2004 Hong Kong

Robust Decentralized LFC Design

In a Deregulated Environment
H. Bevrani, Student Member, IEEE, Y. Mitani, Member, IEEE, and K. Tsuji, Member, IEEE

Abstract-In this paper, a decentralized robust approachgeneration rate limits determines the LFC synthesis as a
is proposed for load-frequency control (LFC) design in a multi-objective problem. In the most reported robust LFC
deregulated environment using bilateral market scheme. approaches, only one single norm is used to capture
First, the effect of bilateral contracts as a set of new input
design specifications. It is clear that meeting all LFC
signals is taken into account in the control area dynamical
design objectives by single control approach with regard
model, and then the LFC problem will be formulated as a
multi-objective problem to cover robust performance, to increasing the complexity and changing of power
practical constraint on control action and minimize the system structure is difficult. Furthermore each robust
effects of load disturbance under wide range of demand method is mainly useful to capture a set of special
changes. A mixed H / H, is used to solve the problem and specifications. For instance, the regulation against random
design the desired robust controllers. disturbances more naturally can be addressed by LQG or
A three control areas power system example with possibleH 2 synthesis, while H , approach is more useful to
contract scenarios and load changes is given to illustrate the
holding closed-loop stability and formulation of physical
proposed approach. The resulting controllers are shown to
control constraints. It is shown that using the combination
minimize the effect of disturbances and maintain the robust
performance. of H , and H , (mixed H,/H, ) allows a better
performance for a control design problem including both
Index Terms- Load Frequency Control, robust set of above objectives [ 11.
control, restructured power system, bilateral contracts, A generalized dynamical model for a given control
mixed H , / H , . area in the deregulated environment is introduced in [2],
following the idea presented in [3] for a 2-control area
I. INTRODUCTION power system. This model shows how the bilateral
N a deregulated environment, load-frequency control contracts are incorporated in the traditional LFC system
acquires a fundamental role to enable power leading to a new model. In this paper, using the given
exchanges and to provide better conditions for the results in [2], the LFC problem will be formulated as a
electricity trading. In an open energy market, generation multi-objective problem and is solved by the mixed
companies (Gencos) may or may not participate in LFC H 2 / H , control approach to obtain the desired robust
task. In other hand a distribution company (Disco) may decentralized controllers. We applied the proposed
contract individually with a Genco or independent power strategy to a three-control area example. The results show
producers (IPPs) for power in its area or other areas. the controllers guarantee the robust performance for a
Currently these transactions are done under the wide range of operating conditions.
supervision of the independent system operator (ISO), This paper is organized as follows. Technical
independent contract administrator (ICA) or other background on mixed H 2 / H m control approach is given
responsible organizations. in section 2. Section 3 describes the modified traditional
Recently, several control scenarios based on robust LFC structure versus new environment and problem
and optimal approaches have been proposed for LFC formulation. The proposed methodology is applied to a
system in deregulated power system. This paper addresses three-area power system as a case study, in section 4.
the novel control strategy using the modified LFC Finally to demonstrate the effectiveness of the proposed
structure. LFC goals, i.e. frequency regulation and method, some simulation results for a set of various
tracking the load changes, maintaining the tie-line power contract scenarios are given in section 5.
interchanges to specified values and considering the

H. Bevrani is with Dcpt. of Elcctrical Eng., Osaka university, 2-1 BACKGROUND

Yamada-Oka, Suita, Osaka 565-0871 Japan.
(e-mail: bcvrrlni(~~polux.pwr.cng.osaka-u.ac.jp).
Y. Mitani is with thc Department of Electrical Engineering, Kyushu
Institute of Technology, Kyushu Japan.
(e-mail: mitani@clc. kyutcch.ac.jp).
K. Tsuji is with Dept. of Electrical Eng., Osaka university, 2-1
Yamada-Oka, Suita, Osaka 565-0871 Japan.
(e-mail: tsujir,~p\~r.snrr.osaka-u.ac.jp).
11. TECHNICAL
Mixed H,/H, control synthesis gives a power full
multi-objective design addressed by the LMI techniques.
This section gives a brief overview of mixed H 2 / H ,
output feedback control design. The general synthesis
control scheme is shown in Fig. 1. G(s) is a linear time
invariant system with the following state-space realization

0-7803-8237-4/04/$17.0002004IEEE
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2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004)April 2004 Hong Kong
X = Ax+ Blw+ B2u
Z, = C,x+ D,,w+ D,,u
z2 = C2x+ D2/w+ DZ2u
y = C,,x+ DVlw
where x is the state variable vector, w is the disturbance
and other external input vector and y is the measured
output vector. The output channel z2 is associated with
the LQG aspects ( H , performance) while the output
channel z , is associated with the H , performance. Let
T, (s) and T, (s) as the transfer functions from w to z,
and z2, respectively, and consider the following state-
space realization for closed-loop system.
Fig. 1. Closed-loop system via mixed H 2 / H ~ control
The following lemmas express the design objectives in
term of LMIs [4].
Lemma 1 ( H , peiformance): The closed-loop RMS gain
for T,(s) does not exceed ym if and only if there exists a
symmetric matrix X , > U such that
Lemma 2 ( H , performance): The H 2 norm of T2(s)
does not exceed y 2 if and only if De,* = U and there exist
two symmetric matrices X? and Q such that
Trace (Q) < y i
Mixed H,/H, control design method uses both
lemmas and gives us an output- feedback controller K(s)
(1)
that minimizes a trade-off criterion of the form
k / IIT- $(1: + k, llT2 (SIII: 9 ( k, 2 0 k, 2 01 (5)
An efficient algorithm for solving this problem is
available in function hinfinix of the LMI control toolbox
for Matlab [4].
LFC STRUCTURE
111. GENERALIZED
A. LFC Structure in Deregulated Environment, [2]
In the restructured power systems, vertically integrated
utilities (VIU) no longer exist, however the common
objectives, i.e. restoring the frequency and the net
interchanges to their desired values for each control area
are remained. In a vertically integrated power system
structure, it is assumed that each bulk generator unit is
equipped with secondary control and frequency regulation
requirements, but in an open energy market, Gencos may
or may not participate in LFC problem. Therefore, in a
control area including numerous distributed generators
with an open access policy and a few LFC participators
comes the need for novel modeling strategies to describe
,the dynamical behaviors of new environment. In [2], a
traditional-based dynamical model is generalized for a
given control area in deregulated environment under
bilateral LFC scheme, following the idea presented in [3].
The generalized LFC model uses all the information
required in a vertically operated utility industry plus the
contract data information.
Based on mentioned model, overall power system
structure can be considered as a collection of distribution
areas (Discos) as separate control areas interconnected
through high voltage transmission lines or tie-lines. Each
control area has its own LFC and is responsible for
tracking its own load and honoring tie-line power
exchange contracts with its neighbors. There can be
various combinations of contracts between each Disco
and available Gencos. On the other hand each Genco can
contract with various Discos. The “generation
participation matrix (GPA4)” concept is defined to
conveniently visualize of these bilateral contracts in the
generalized model.
GPM shows the participation factor of each Genco in
the considered control areas and each control area is
determined by a Disco. The rows of a GPMcorrespond to
Gencos and columns to control areas which contract
power. For example, for a large scale power system with
(4) m control area (Discos) and n Gencos, the GPM will have
the following structure. Where gpf,, refers to “generation
participation factor” and shows the participation factor of
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2004 IEEE International Conference on Electric Utility Deregulation, Restructuringand Power Technologies (DRPT2004) April 2004 Hong Kong

governor valve position,

governor load setpoint,
turbine power,
net tie-line power flow,
area load disturbance,
equivalent inertia constant,
equivalent damping coefficient,
The generalized LFC block diagram for control area i governor time constant,
can be obtained in a deregulated environment as shown in turbine time constant,
Fig. 2. New information signals due to possible various tie-line synchronizing coefficient between
contracts between Disco i and other Discos and Gencos
are shown as dashed-line inputs, and, we can write [2]: area i & j ,
frequency bias,
drooping characteristic.
ACE participation factor,
number of control areas,
p u demand of area j ,
power generation of a Genco i,
,=I
contracted local demand,
scheduled A 4 r e - t ( Wre-r,scheciu/eci 1,

w3i= (Total export power - Total import power)

B. Problem Formulation
A large scale power system consists of a number of
interconnected distribution control areas; each control
area may have several Gencos (Fig. 2). The main control
framework in order to formulation the LFC problem via a
mixed H,/H, control design for a given control area is
shown in Fig. 3. Gi(s) denotes the dynamical model
corresponds to modified control area shown in Fig. 2.
According to (l), the state space model for control area i
can be obtained as
j-1

Interested readers can find more details on above LFC

modeling and simulation for a given restructured power
system in [2-31.

'Vl, I
Fig. 2. Modified control area in a dercgulatcd environment.

where,
A? frequency deviation,

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2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

WjT = [wlj w2j w3i w4j]> W4iT = [w41.l w4i-2 .'. W4j.n]
signals. Therefore, it is expected that the proposed
strategy satisfy the main objectives of LFC system under
(' 9,
load change and bilateral contracts variation. The qli , q2;
and q3; in Fig, 3 and (18) are constant weighting
coefficients that chosen by the designer to getting the
desired performance.

Iv. CASE STUDY AND DESIGNED

CONTROLLERS

A . Casestudy
To illustrate the effectiveness of modeling strategy, a
three control area power system shown in Fig. 4, is
considered as a test system. It is assumed that each control
area includes two Gencos and one Disco. The power
Fig. 3. Proposed control framework system parameters are given in [2].

Fig. 4. Three control area power system

-D,/M, - l / M b
At the next step, according to synthesis methodology
2xn
described in section 2, a set of three decentralized robust
controllers are designed. The problem formulation and
=- ~ ~ 1/qIl - l/q2, .. . - I/T,,]
A =~diag[- control framework are explained in section 3. k , and k ,
in (5) are fixed in unity. The resulted controllers are
A,,, = diagl- l/Tg,, - l/Tszl ... - l/Tgnl 1 dynamic type and they have the following form, whose
orders are the same as size of area model (here 6).

B,,,I = Using the standard Hankel norm approximation, the

order is reduced to 3 for each controller, with no
Bit,, = BI,,, = o m 2 > Blr12 = 0,xn 9 Bh22 = o,,x,, > performance degradation.

V. SIMULATION
RESULTS
In order to demonstrate the effectiveness of the
BmT = [a,,/T,,, a,,/T,,, ... ..,/T,,I.
proposed strategy, some simulations were carried out. In
these simulations, the proposed low-order controllers
The H m performance is to set a limit On the were applied to the three control area power system
control set-point to penalize the fast change and large described in Fig. 4. Here, the closed-loop system
overshoot in the control action signal. The H Z responses are shown for two scenarios which are
performance is used to minimize the effects of presented in [2] and include different bilateral contracts
disturbances on control area frequency and tie-line flow (GPM)and large load disturbances.

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2004 E E E International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

Scenario 1:
It is assumed a large load demand (as a step load
disturbance) is requested in each control area:
AP,, = l o o m , APLz= 7 0 M w , AP,, = 6 0 M
Assume each Disco demand is sent to its local Gencos
only, based on following GPM

GpM=I 0
0
0.5 0
0.5 0 1
1 0 0 0.5
o.5J
Frequency deviation (AA, power changes (AF")and
area control error (ACE) of closed-loop system are shown
in Fig. 5a to Fig. 5c. Using the proposed method, the area
control error and frequency deviation of all areas are
quickly driven back to zero, the generated power and tie-
line power are properly convergence to specified values.
As shown in these figures, the actual generated powers of
Gencos, according to (S), reach the desired values in the
steady state.
AP,, = U,, = 0.05 pu,
APm3= AP,, = 0.035 pu,
Mm5 = Mm6= 0.03 pu. ~
oo;&
0 ~ ~
8 ;;
"
lI
"
l;
" " ~

Since there are no contracts between areas, the &

scheduled steady state power flows (7) over the tie lines $-
-002
0 2 4 6 8 10 12 14 16 18 20
are zero. The actual tie-line powers are shown in Fig. 5d. Tune(sm)

(b)
Scenario 2:
Consider the following larger demands by Disco 2 and
Disco 3,
U,,= 100 m,U,,= 100 m,APL3= 100 MW
2 405
obpl
And assume Discos contract with the available Gencos
in other areas, according to the following GPM,
r0.25 0.25 o 1
7

2
2
4
005

n
0
I; ;
2 4
6
6 8
lo
10
l1
12
lI
14
l6
16 18
i2
M
I

1
o: O.?S 0.?5
G p M = 0.25 0.25 0
I 3
01 " " " ' ' ' '
1 0 0.25 0
0 0 0.251
The closed-loop responses for each area are shown in
'
t
-OoZO 2 4 6 8 10
Tune(sec)
12 14 16 18 20

Fig. 6a to Fig. 6d. According to (S), the actual generated (c)

powers of Gencos for this scenario can be obtained as in.'

U,, = Mntr= 0.05 pu,

I " " " " ' I
= 0. I pu,
Mm4= 0.05 pu,
hp,, = hPmn = 0.025 p14.
Also, the simulation results show the same values in
steady state. The scheduled power tie-lines in the
directions from area 1 to area 2 and area 2 to area 3, using
(10) are obtained as
M,ie,,-2=0 , 4 . 2 - 3 = 0.05 p u I , ,L', , , I , I I I
40 2 4 6 a 10 12 14 16 18 20
TMC (sec)

Fig. 6d shows actual tie-line powers and they reach to (4

Fig. 5. Power system responses to scenario I . a) Area-I, b) Area-2, c)
above values at steady state. Area-3, and d) Tie-line powers.

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 2004 IEEE Intemational Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004)April 2004 Hong Kong

The simulation results show the proposed simple

controllers perform robustness for a wide range of load
disturbances and different bilateral contract scenarios.

VI. CONCLUSION
In this paper the LFC is considered as a multi-objective
problem and a new method for robust decentralized LFC
5 o O '0 2 4 6 8 10 12 14 15 18 20 design using mixed H,/H, approach has been proposed
0 0 5 - , , , I
for a modified traditional LFC system model according to
0
bilateral contracts in the restructured power system.
005 ' ' ' I ' ' ' I
The proposed method was applied to a three control
0 2 4 6 8 10 12 14 16 18 20
Tunc(sm) area power system and it was shown that the designed
(4 controllers are capable to guarantee the robust
0 0 5 , r , t , , , m m
performance under a wide range of area-load disturbances
0
and possible contracted scenarios.
-005 ' ' ' I ' ' ' ' I

VII. REFERENCES

'0 2 4 6 8 10 12 14 16 18 20
PI C. W. Scherer, P. Gahinet, M. Chilali, "Multiobjective output-
feedback control via LMI optimization, "IEEE Trans. Auromat
' ' ' ' ' ' ' ' I

B Control, vol. 42, no. I , pp. 896-9 1 1, 1997.

PI H. Bevrani, Y. Mitani and K. Tsuji, "Robust AGC: Traditional
structure versus restructured scheme," Trans. of Electrical
1
Engineering in Japan, Vol. 124-B, No. 5 , May 2004.
r31 V. Donde, M. A. Pai and I. A. Hiskens, "Simulation and
optimization in a AGC system after deregulation," IEEE Trans.
-0 1
0 2 4 6 8 10 12 14 16 18 20 Power Systems, vol. 16, no. 3, pp. 48 1-489, Aug. 200 1.
Tunc (sec) r41 P. Gahinet, A. Nemirovski, A. J. Laub, M. Chilali," LMI Control
Toolbox, The Mathworks, Inc, 1995.
(b)

VIII. BIOGRAPHIES
; o w p j
-0.m
0 2 4 6 8 10 12 14 16 18 2l
Hassan Bevrani (student member) received his M.Sc degree (first class
2 005 honors) in Electrical Engineering from K. N. Toosi University of
Technology, Tehran, Iran in 1997. He is currently a Ph.D student at
Osaka University. His special fields of interest included robust control
and modem control applications in Power system and Power electronic
industry. He is a student member of the Institute of Electrical Engineers
of Japan, IEE, and IEEE.
o10 2 4 6 8 10 12 14 16 18 20

Yasunori Mitani (member) received his BSc., MSc., and Dr. of

Engineering degrees in electrical engineering from Osaka University,
0 2 4
'
6
'
8 10
' '
12 14
'
16
' '
18 20
Japan in 1981, 1983, and 1986 respectively. Hc has worked with the
Tune(sec) Department of Electrical Engineering of the same university from 1990
to 2003. Currently, he is a professor in Kyushu Institute of Tcchnology.
His research interests are in the areas of analysis and control of power

oofzE3
systems. He is a member of thc Institute of Electrical Engineers of Japan,
2 OW5 the Institute of Systems, Control and Information Engineers of Japan,
and the IEEE.
2 -0005
a D 010
-0015 2 4 6 8 10 12 14 16 18 M
Kiichiro Tsuji (member) received his B.Sc and M.Sc. degrees in
electrical engineering from Osaka University, Japan, in 1966 and 1968,
respectively, and his Ph.D in systems engineering from Case Westem
Reserve University, Cleveland, Ohio in 1973. In 1973 he jointed the
Department of Electrical Engineering, Osaka University, and is currently
a professor at Osaka University. His research interests are in the areas of
analysis, planning, and evaluation of energy systems, including electrical
power systems. He is a member of the Institute of Electrical Engineers of
0
; i' d 6 ; Ib 12 1; 16 lb A Japan, the Japan Society of Energy and Resources, the Society of
Tlme (sec)
Instrument and Control Engineers, the Institute of Systems, Control and
(4 Information Enginccrs, and the IEEE.
Fig, 6 . Power system responses to scenario 1. a) Area-I, b) Area-2, c)
Area-3, and d) Tie-line powers.

33 1