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Assessment of Two Methods to Select Wide-Area Signals for Power System Damping Control
Annissa Heniche, Member, IEEE, and Innocent Kamwa, Fellow, IEEE
AbstractIn this paper, two different approaches are applied to the Hydro-Qubec network in order to select the most effective signals to damp inter-area oscillations. The damping is obtained by static var compensator (SVC) and synchronous condenser (SC) modulation. The robustness analysis, the simulations, and statistical results show, unambiguously, that in the case of wide-area signals, the geometric approach is more reliable and useful than the residues approach. In fact, this study shows that the best robustness and performances are always obtained with the stabilizer conguration using the signals recommended by the geometric approach. In addition, the results conrm that wide-area control is more effective than local control for damping inter-area oscillations. Index TermsCompensator, control loop selection, geometric measures, inter-area oscillations, power system stabilizer, residues, wide-area control.

I. INTRODUCTION

NTER-AREA oscillations have been observed in electrical networks for many years [1]. Many power systems in the world are affected by these oscillations [2][4] whose frequency varies between 0.1 and 1 Hz. Currently, inter-area oscillation damping is done with devices that use local signals. The basic question we are asking here is: are these signals really the most efcient? In practice, the choice of measurement and control signals is a problem regularly faced by designers. In fact, to obtain the desired performances and robustness, we have to select signals that allow good observability and controllability of the system modes. To quantify the observability and controllability of the modes, measures have been dened in [5] and [6]. These measures, which are deduced from the Popov Belevich Hautus test [7] and from residues, respectively, indicate how the th mode is observable from available measurements and how it is controllable from the system inputs. Thus, it is possible to select, for each mode, the most efcient control loop. By scientic curiosity, we wanted to know if the two methods always lead at the same conclusion. Rapidly, we noted that it was not the case. The results of a rst work were published [21], but those associated with the 9 areas23 generators test system [14] were not. As Hydro-Qubec is currently considering a project on wide-area control, we thought that it was important to test the two approaches on its network rigorously. In addition, even if

the results concern only the Hydro-Qubec network, it is important to notice that a statistical analysis was realized. This analysis allowed the test of the two approaches using 1140 different congurations of the network. The aims of this paper are on one hand to show that the two measures do not provide the same conclusion in terms of control loop selection and on the other hand to demonstrate the efciency and reliability of one measure in comparison to the other. To do that, the two measures were applied in order to select the most effective control loops for damping the 0.6-Hz inter-area mode of Hydro-Qubec network. Local and global angle shifts were considered. The inter-area damping is obtained by compensators modulation. The modulation signal is produced by a multi-band power system stabilizer (MBPSS) which uses only intermediate frequency band [8]. The description and the parameters of this stabilizer are given in the Appendix. This paper is organized as follows. Section II is devoted to system modeling, while Section III presents a brief review of the controllability-observability measures used in this work. Section IV describes the application. Section V contains the results. Sections VI is devoted to the discussion of the results, and Section VII is the conclusion. II. SYSTEM MODELING An electrical network is a nonlinear system which can be described by the following nonlinear state equation:

(1) , and are the state, where input and output vectors, respectively. n is the dimension of the system, m is the number of inputs, and p is the number of outputs. f: and g: are functions . For measurement and control signals selection, a linear model of the network is used. The latter is obtained using the modal analysis tool developed at Hydro-Qubecs Research Institute (IREQ) [9]. The linear state representation (A,B,C,D) of the network is obtained using the identication eigensystem realization algorithm (ERA) which was originally introduced in [10]. In the context of electrical power systems, this approach was rst applied in [2], [11] and then in [12], [13], [14], and [15]. The rst stage consists in exciting the nonlinear system by means of a pulse of duration 0.4 s and amplitude of 1%. Thereafter, the excitation u and associated outputs y are used by the ERA identi-

Manuscript received May 11, 2007; revised November 9, 2007. Paper no. TPWRS-00346-2007. The authors are with IREQ, Hydro-Qubec, Varennes, QC J3X 1S1, Canada (e-mail: heniche.annissa@ireq.ca; kamwa.innocent@ireq.ca). Color versions of one or more of the gures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identier 10.1109/TPWRS.2008.919240

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cation algorithm which provides the linear state representation of the system given by

As shown in (7), the residues matrix depends on matrices is B and C and the right and left eigenvectors. Note that and the complex conjugate transpose of . For , the elements ) of matrix are given by

(2) and are the state, input where and and output vectors, respectively. are state, input, and output matrices, respectively. III. SIGNALS SELECTION For measurement and control signals selection, two different approaches were used: the geometric and the residues approaches. Let us consider the identied linear model of the network given by (2). An eigenanalysis of matrix A produces the eigen) and corresponding values (assumed distinct for matrices of the right and left eigenvectors ] and , respectively. The eigenvectors and corresponding to are orthogonal and normalized, which implies ( is the complex conjugate transpose that of G, and I is the identity matrix of size n). A. Geometric Approach and observThe geometric measures of controllability associated with mode i are dened as follows [5]: ability (3) (4) In (3) and (4), is the th column of is the th row of is the acute angle between the input vector and the left is the acute angle between the output eigenvector and are, respecvector and the right eigenvector tively, the modulus and the Euclidien norm of z. Using (3) and (4), the joint controllability/observability measure is expressed by (5) (9) (8) Using the residues matrix, the joint controllability/observability measure is given by [6]

and observability meaIn [6], the controllability measure are deduced from (9) by setting and , sure respectively (10) (11) From (3), (4), (10), and (11), we can say that if is orthogonal to , then pole is uncontrollable from input . If is is unobservable from output . orthogonal to , then pole and for which and are maximum are The signals the most efcient for damping mode i. Equation (9) shows that the joint measure associated with mode i is proportional to the norm of the associated residues matrix. According to [16], this means that, if the maximal value of the residues associated with and mode i is obtained with input k and output l, then are the most efcient signals to damp mode i. C. Remarks The two approaches show that the modal observability and controllability is related to the orthogonality between the eigenvectors and the output and input vectors, respectively. Contrary to the geometric approach, residues are independent of any scaling of , and . Indeed, as shown in (9) (11), for observability and controllability analysis, the residues use the and as measures without scaling. That magnitudes of means that we are free to scale the left and right eigenvectors arbitrarily. For example, we can increase the observability of as mode i in output l by increasing the magnitude of one wants by multiplying the right eigenvector with a positive decreases since constant. In this case, the magnitude of is required. In addition, using the geometric approach, the magnitudes of and can be written as (12) (13) In (12), represents the amount of information in the output l. A higher norm means that the mode i is clearly present in output l, which means more observability. On the other hand, in represents the power injected into the system by the (13),

B. Residues Approach The interconnected system transfer function associated with the state (2) is expressed by (6) where is the residues matrix associated with mode

(7)

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TABLE I SVC AND SC DESCRIPTION

Fig. 1. The 2001 Hydro-Qubec Network.

input k. A higher norm means more power injected by the input and then more controllability. On the basis of these considerations, we can say that the results of modal analysis for input and output selection depend critically on the scaling of the variables. This is the way to express the relative contribution of each signal and then to rigorously select and classify control and measurement signals. IV. APPLICATION A. Power System Description The power system used in this study is represented in Fig. 1. This is the 2001 Hydro-Qubec peak load network, which is characterized by its very good robustness and well-damped inter-area modes. In order to obtain more oscillations, the line between Micoua and Saguenay was removed. The network was divided into nine electrically coherent areas [17]. In Fig. 1, the numbers inside the little circles and squares represent the number of SCs and static var compensators (SVCs) connected at the associated substation. In addition, the numbers and the associated words located in the lower left corner refer to the substations located in the southern part of the system and identied, in Fig. 1, by 1-2-3. As shown in Fig. 1, the network includes six SVCs and four synchronous condensers (SC). Table I describes the nomenclature and the characteristics of the SVCs and SCs used in this work. Even if the network presents several inter-area modes [15], we will devote our study to the 0.6-Hz mode which is considered as the most dominant mode during major events. The two zones affected by this mode are James Bay and Churchill Falls.

Fig. 2. Control system conguration.

B. Power System Linear Model The identied linear model of the Hydro-Qubec network represented in Fig. 1 is described by the linear state (2) with the input vector u and output vector y given by the following relations: (14)

(15)

is the voltage reference of the compensator ) as represented in Fig. 2. The output vector y corresponding to the 49 available measurement signals includes 29 wide-area signals and 20 local signals. In (15), the subscripts G and L indicate wide-area referenced and local measurements, respectively. Consequently, the coi, , and are global referenced measurements and are local meaangle shifts whereas angle shifts surements calculated by a line model which uses the voltage and current phasors at bus k [18]. The denition of measurement , the signals is given in Table II. For the global angle shift

In (14),

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TABLE II AVAILABLE MEASUREMENTS DEFINITION

TABLE III SELECTED MEASUREMENTS SIGNALS

reference bus is equal to the Churchill bus, except if refers to the Churchill plant. In this case, the reference bus is equal to the RobertBourassa (LG2) bus. The tools presented in Section III were applied to select the most effective measurement and control signals to damp the 0.6-Hz inter-area mode of the Hydro-Qubec network. As represented in Fig. 2, the damping is obtained by modulating the of the compensator with the stabilizareference voltage tion signal VPSS. The latter is produced by an MBPSS stabilizer which uses a global or a local angle shift. Indeed, as shown in Fig. 2, if the control system is in global mode, the input of the PSS is , which represents the angle shift between two remote buses. On the other hand, if the control system is in local mode, the input of the PSS is equal to the angle shift between the compensator bus (bus k) and a neighboring bus (bus nk or bus sk in our case). V. RESULTS A. Residues Approach For all compensators, the joint measures obtained using the residues are given in Table IV. Taking into account the large number of available measurements, for each control signal, we chose to select only the measurements which exhibit the larger residues. More precisely, for each compensator and for each category of measurement signals as dened by lines of Table II, we choose those which present the larger residues. The physical interpretation of these measurements is given in Table III. If we consider only the global measurement signals, the results of Table IV show for each column and each row decreasing value from top to bottom and from left to right, respectively. That means that if we consider only one global measurement signal as input for the PSS (one column in Table IV), then the damping of the 0.6-Hz inter-area mode obtained in closed loop depends on the modulation of the input of a given compensator. More precisely, in closed loop, the damping obtained is larger if the control site is SVC LVD or in other words if the modulation concerns the voltage reference of SVC LVD. On the other hand, the damping decreases if another compensator than SVC LVD is selected. The diminution of the damping is observed from top to the button, i.e., according to compensator controllability classication given in the rst column of Table IV. The same reasoning can be used to explain the decreasing value of each

TABLE IV JOINT MEASURES OBTAINED WITH RESIDUES APPROACH

row. In this case, if we consider one compensator, the damping of the 0.6-Hz mode in closed loop depends on how observable it is from the measurements. Table IV shows that for damping the 0.6-Hz inter-area mode, the best control strategy is to modulate the input of the SVC LVD with a stabilization signal obtained by using the angle shift between LA1 and Churchill. The results show that the second choice corresponds to a joint measure equal to 0.8. In -SVC LVD) and this case, the control loops (y-u) are ( -SC MAN). The third choice corresponds to a joint mea( sure equal to 0.7. It can be performed using the measurement and by voltage reference modulation of compensators NEM, ALB, and CHI. B. Geometric Approach Table V shows the joint measures obtained using the geometric approach. As for the residues approach, only the signal associated to the larger measures are listed. One notes that the results obtained are different from those obtained with the residues. Indeed, contrary to the residues, the geometric approach recommends the angles shifts between CHI and , ALB and Churchill , and LG2 and Churchill . In addition, except for SC MAN and SVC Churchill LTD, the geometric approach leads to the conclusion that the

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TABLE V JOINT MEASURES OBTAINED WITH GEOMETRIC APPROACH

Fig. 4. Joint measures.

Fig. 3. Wide-area signal  r coi.

best measurement is the angle shift between LG1 and Churchill . At this stage, the question that remains to be answered is: which is the most effective method? The answer to this question is given by the comparative analysis. C. Comparative Study To compare the two approaches, we chose to consider the control and measurement signals recommended by the residues. Consequently, in what follows, the global measurement signals are those which represent the columns of Table IV. Concerning the control sites, only those with a controllability greater than or equal to 0.7 (SVC LVD, SC MAN, SVC NEM, SVC ALB, and SVC CHI) will be considered. 1) Identication Results: Fig. 3 compares the output signal coi of the network with that of the identied system. In this case, the excitation is applied to the voltage reference of SVC LVD. As expected, the results obtained show that the system remains stable even if the transmission line from Micoua to Saguenay were removed. In addition, one observes a very good superposition between the identied signal and the real signal which is the output of the nonlinear simulation model obtained using ST600 software. Note that the same results were observed for all compensators and all measurements, which implies that the identied linear models used for the signals selection and analysis are good and reliable.

2) Control Loops Selection Results: Fig. 4 represents the joint measures obtained with the two approaches. For each compensator and for each method, the joint measures were divided by the associated maximum measure. The results show that the joint measures obtained with the residues and the geometric approaches are different. As global measurements are different from those given in Table V and knowing that the geometric measures are scaling dependent, in coi are Fig. 4, it is normal that the conclusions concerning different from those in Table V. For all compensators, as showed in Fig. 4, the results obtained with the residues reveal that the observability of the 0.6-Hz mode is maximum with the global angle shift between LA1 and . On the other hand, with the geometric apChurchill proach, maximum observability is obtained with global angle between NEM and Churchill buses in case of SVC shift between LG1 and LVD and with global angle shift Churchill for the other compensators. For all compensators, the residues, contrary to the geometric approach, allow us to concoi. In adclude that the worst wide-area measurement is dition, the results show that the conclusions concerning local signals are the same with the two methods. Indeed, for the local measurements, even if the values of the geometric measures are higher than those obtained with the residues, for each compensator, the two approaches recommend the same signals. For the ve selected compensators, in case of local measurement, except for compensator MAN, the two methods reveal that the . best observability is obtained with local measurement On the other hand, in case of compensator MAN, the two ap. Finally, the proaches recommend the local measurement results show that the joint measure associated to wide-area measurements are greater than those related to local signals what implies that global control is more effective than local control to damp the 0.6-Hz inter-area mode. 3) Small-Signal Study Results: In this section, we compare the performances and robustness of three PSSs: PSS RES, ( ) which uses the global angle shift recommended by the residues approach; PSS GEO, which, depending on the case, uses the measurement (

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Fig. 5. Global measurement in open loop. Fig. 8. Step at LG2, delay of 200 ms.

Fig. 6. Step at LG2, angle shift between Churchill plant, and LG2 plant buses.

Fig. 7. Step at LG2, angle shift between Churchill plant, and LG2 plant buses with optimized PSS.

) or ( ) recommended by the geometric approach; and PSS LOC, based on local measurements. a) Performances: Figs. 6 and 7 show the responses of the closed-loop system in the case of a step applied to the voltage reference of plant LG2 (Robert Bourassa). For each compensator, the angles in per unit in Figs. 5 and 6 are the angles shifts between Churchill plant bus and LG2 plant bus.

Fig. 6 reveals that the performances obtained with the PSS GEO are better than those obtained with PSS RES. As shown in Fig. 5, this is due to the fact that, contrary to the geometric approach, the signal classication obtained with residues is based only on signals amplitude. In this case, if the gain of the stabilizer is too large, the risk of closed-loop instability is higher. As the closed-loop performances depend on the PSS parameters and the measurements used, the stabilizers were optimized. The optimized parameters are given in the Appendix. As shown in Fig. 7, the optimization was performed in order to obtain similar small-signal performances for the three PSSs. This approach was adopted to allow a fair comparison between the two control-loop selection methods and between global and local control. This methodology is used to compare the three PSSs in terms of a compromise between robustness and performances. b) Robustness: The gain MG, phase MP, modulus MM, and delay MR margins as well as the sensitivity S and the complementary sensitivity T functions [19], [20] were used to evaluate the robustness of the closed-loop system. The results of Table VI show that the highest gain margin is obtained with stabilizer PSS GEO. For compensators LVD and CHI, compared to PSS RES, the gain margins obtained with the local PSS are higher. The opposite effect is observed with compensators MAN, NEM, and ALB. In addition, except for compensator MAN with local control, the modulus margins are satisfactory. For all compensators, the highest modulus margin is obtained with PSS GEO. Except for compensator MAN, the phase margin obtained with all compensators and all PSS is innite. As shown in Table VI, for SC MAN, the highest phase MP and delay MR margins are obtained with PSS GEO, which means that this stabilizer tolerates the most important delay. This result is conrmed by the simulation results illustrated in Fig. 8. For compensators ALB and LVD, Figs. 9 and 10 illustrate the sensitivity functions associated with the three PSSs. The sensitivity function T is always less than 1, which means that the stabilizers have a good robustness with respect to model uncertainties. Between 0.1 and 10 Hz, global control guarantees

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TABLE VI ROBUSTNESS MARGINS

Fig. 10. Sensitivity functions S and T, SVC LVD.

Fig. 11. Contingency m0100-3SVC19c.

Fig. 9. Sensitivity functions S and T, SVC ALB.

a better robustness than local control and stabilizer PSS GEO is more robust than PSS RES. Note that, except for compensator MAN with local control, these results have been observed with all PSSs and compensators. In addition, between 0.1 and 10 Hz, the sensitivity function S associated with PSS GEO does not present a peak. This result, observed with all compensators, implies that PSS GEO provides better performances than PSS RES and PSS LOC. 4) Large-Signal Results: The behavior of the three PSSs was tested on the 2003 Hydro-Qubec network using the transient stability program ST600. Three contingencies were considered. The rst, 3SVC19c, is a fault at Micoua with a the loss of the line between Micoua and Saguenay. The second, 3SVCnem, and the

third, 3SVCalb, are successive line losses in Robert Bourassa (LG2) and LG4 corridors, respectively. The results, illustrated in Fig. 11, show that the two global PSSs have similar performances, both better than those obtained with the local PSS. The oscillation frequency is around 0.32 and 0.27 Hz with the global and the local PSS, respectively. This result is in accordance with the associated sensitivity function S given in Fig. 9. As shown in Fig. 12, in the case of successive line losses in corridor LG4, the best performances are obtained with the global stabilizer PSS GEO. With the stabilizer based on the residues approach, oscillations around 0.84 Hz are observed. This result was foreseeable because, as shown in Fig. 10, the sensitivity function S associated with SVC LVD and PSS RES has a peak at this frequency. Fig. 13 conrms that the best performances are obtained with the stabilizer based on the geometric approach. In addition, the frequency of the oscillations obtained with the PSS RES corresponds to the resonance peaks observed on the associated sensitivity functions. 5) Statistical Analysis Results: A total of 1140 contingencies were simulated for the statistical analysis. Among them,

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Fig. 14. Statistical analysis in the case of three SVCs. Fig. 12. Contingency p0100-3SVCalb.

Fig. 15. Statistical analysis in the case of three SVCs and one SC.

Fig. 13. Contingency p0100-3SVCnem.

780 associated with 60 load ows and 13 faults were applied to the peak load network. The others, associated with 30 load ows and 22 faults, were applied to the summer network, which corresponds to a load equal to 17 500 MW. In the statistical analysis, to evaluate the impact of SVC and SC control on the damping of the 0.6-Hz inter-are mode, the results in closed loop were compared with those obtained in open loop, i.e., without PSS connected to the compensators. In this paper, the open loop is considered as the reference case. In addition, to compare local and global controls, two scenarios were considered. In the rst, only SVC NEM, SVC LVD, and SVC ALB were equipped with local and global stabilizers. In the second, in addition to these SVCs, the SC MAN was also equipped with a PSS. The behavior of the stabilizers was compared using four indicators. The rst is the number of stable cases obtained. The second is the number of voltage and/or frequency criteria-violation cases. The third is the number of loss-of-synchronism cases observed, and the last is the number of cases of unstable before 2 s obtained.

In Figs. 1416, for the open loop and the closed loop associated to each stabilizer, the bars represent the value of the four indicators. The numbers from which these gures were obtained are given in the Appendix. As shown in Figs. 14 and 15, the two global PSSs are more efcient than the local PSS. Compared to local PSS, the global stabilizers allow an increase in the number of stable cases and a larger reduction of the number of voltage and frequency criteria violations, loss-of-synchronism cases, and unstable before 2 s cases. To be more precise, the global stabilizers allow an increase around 3.5% of the number of stable cases with respect to the reference case. Concerning the number of criterion violation cases, with local PSS, the results reveal an augmentation of 15% and 4% in the case of three and for compensators, respectively, whereas with the global PSS, one observes a diminution of 22% and 34%. Concerning the increase in stable cases and the reduction of criteria-violation cases, Figs. 14 and 15 show that the two global stabilizers are equivalent. On the other hand, the results show that the reduction in the number of loss-of-synchronism and unstable before 2 s cases is more signicant with the PSS based on the geometric approach. Fig. 16 shows the statistical results obtained when a 200-ms delay is added in the global control loops. In this case, only the SC MAN, SVC LVD, and SVC ALB are equipped with global

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Fig. 17. MBPSS description.

TABLE VII CASE OF THREE SVCS EQUIPPED WITH PSS

Fig. 16. Statistical analysis: Global PSS with 200-ms delay.

TABLE VIII CASE OF THREE SVCS AND ONE SC EQUIPPED WITH PSS

stabilizers. The results obtained show that the stabilizer based on the geometric approach is more robust with respect to the delay than that based on the residues approach. In fact, with respect to the reference case, the number of losses of synchronism increases by 15% with PSS RES, whereas it increases by only 5% with PSS GEO. In addition, the number of stable cases is lower with PSS RES and the percentage of reduction of criteria-violation and unstable before 2 s cases is the same with the two stabilizers. VI. DISCUSSION OF THE RESULTS In the statistical study, the time delay was increased from 0 to 200 ms. The results highlighted similar behavior of the global stabilizers until 100 ms. Even if the technology today allows to obtain delays of around 50 ms, we chose to consider a longer delay for two reasons. The rst was, to evaluate the robustness of the closed-loop with respect to the delay and neglected dynamics, while the second relates directly to the implementation solution cost. Indeed, as a future work, Hydro-Qubec is currently considering a project to test wide-area control on its network. VII. CONCLUSION The geometric measures and the residues were used to select the most effective control loops to damp the 0.6-Hz inter-area mode of the Hydro-Qubec network. The damping is obtained by compensators voltage reference modulation. Two control scenarios were studied: global and local control. The results showed that the two selection methods produce different control loops. The analysis of open-loop signals reveals that, contrary to the geometric approach, the residues recommend high-amplitude signals independently of the phase. For all compensators, the robustness analysis reveals that the PSS based on the geometric approach is the more robust. On the other hand, in terms of robustness, it is not possible to clearly discriminate between the PSS based on residues and the local PSS. All these observations were conrmed by small-signal simulations which allowed the validation of the theoretically calculated robustness margins. In addition, in the case of severe

TABLE IX DELAY OF 200 MS

TABLE X MBPSS PARAMETERS

TABLE XI MBPSS OPTIMIZED GAIN KI

contingencies produced with the transient stability program ST600, for all compensators, the best performances were obtained with the PSS based on the geometric approach. For all contingencies, the link between the frequency oscillations and the peaks observed on the sensitivity functions was established. On the basis of the statistical study, we can conclude that global control is more effective than local control to damp the 0.6-Hz inter-area mode of the Hydro-Qubec network. In addition, concerning the control-loop selection, the results showed unambiguously that the geometric approach is more reliable than the residues approach, which is the one usually used in several studies. This last result conrms those presented in [21].

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APPENDIX Fig. 17 describes MBPSS. Table VII shows the case of three SVCs equipped with PSS, Table VIII shows the case of three SVCs and one SC equipped with PSS, Table IX shows a delay of 200 ms, Table X shows the MBPSS parameters, and Table XI shows the MBPSS optimized gain ki. REFERENCES [1] P. Kundur, Investigation of low frequency inter-area oscillations problems in large interconnected power systems, in Canadian Electrical. Association, Rep. 294T622, Ontario Hydro, Dec. 1993. [2] I. Kamwa and L. Grin Lajoie, State-space system identicationtoward MIMO models for modal analysis and optimization of bulk power systems, IEEE Trans. Power Syst., vol. 15, no. 1, pp. 326335, Feb. 2000. [3] N. Martins, A. A. Barbosa, J. C. R. Ferraz, M. G. dos Santos, A. L. B. Bergamo, C. S. Yung, V. R. Oliveira, and N. J. P. Macedo, Retuning stabilizers for the north-south brazilian interconnection, in Proc. IEEE Power Eng. Soc. Summer Meeting, July 1822, 1999, vol. 1, pp. 5867. [4] H. Breulman, E. Grebe, M. Losing, W. Winter, R. Witzman, P. Dupuis, M. P. Houry, T. Margotin, J. Zerenyi, J. Duzik, J. Machowski, L. Martin, J. M. Rodriguez, and E. Urretavizcaya, Analysis and damping of inter-area oscillations in the UCTE/CENTREL power system, CIGRE 2000, Paris, Paper 38-113. [5] H. M. A. Hamdan and A. M. A. Hamdan, On the coupling measures between modes and state variables and subsynchronous resonance, Elect. Power Syst. Res., vol. 13, pp. 165171, 1987. [6] M. Tarokh, Measures for controllability, observability, and xed modes, IEEE Trans. Autom. Control, vol. 37, no. 8, pp. 12681273, Aug. 1992. [7] T. Kailath, Linear Systems. Englewood Cliffs, NJ: Prentice-Hall, 1980. [8] R. Grondin, I. Kamwa, G. Trudel, J. Taborda, R. Lenstroem, L. Grin Lajoie, J. P. Gingras, M. Raine, and H. Baumberger, The Multi-Band PSS, A Flexible Technology Designed to Meet Opening Markets, 2000, CIGRE 39-201. [9] I. Kamwa and L. Grin-Lajoie, State-space identication-towards MIMO models for modal analysis and optimization of bulk power systems, IEEE Trans. Power Syst., vol. 15, no. 1, pp. 326335, Feb. 2000. [10] J. Juang and R. S. Pappa, An eigensystem realization algorithm for modal parameter identication and system reduction, J. Guid. Control, vol. 8, pp. 620627, 1985. [11] I. Kamwa, R. Grondin, J. Dickinson, and S. Fortin, A minimal realization approach to reduced-order modelling and modal analysis for power system response signals, IEEE Trans. Power Syst., vol. 8, no. 3, pp. 10201029, Aug. 1993. [12] I. Kamwa, G. Trudel, and L. Grin Lajoie, Low-order black-box models for control system design in large power systems, IEEE Trans. Power Syst., vol. 11, no. 1, pp. 303311, Feb. 1996.

[13] J. J. Sanchez-Gasca and J. H. Chow, Computation of power systems low-order models from time domain simulations using a Hankel matrix, IEEE Trans. Power Syst., vol. 12, no. 4, pp. 14611467, Nov. 1997. [14] A. Heniche and I. Kamwa, Control loop selection to damp inter-area oscillations of power systems, IEEE Trans. Power Syst., vol. 17, no. 2, pp. 378384, May 2002. [15] I. Kamwa, A. Heniche, G. Trudel, M. Dobrescu, R. Grondin, and D. Lefebvre, Assessing the technical value of FACTS-based wide-area damping control loops, in Proc. IEEE Power Eng. Soc. General Meeting, Jun. 2005, vol. 2, pp. 17341743. [16] N. Martin and L. T. G. Lima, Determination of suitable locations for power systems stabilizers and static VAR compensators for damping electromechanical oscillations in large scale power systems, IEEE Trans. Power Syst., vol. 5, no. 4, pp. 14551469, Nov. 1990. [17] I. Kamwa, R. Grondin, and Y. Hebert, Wide-area measurement based stabilizing control of large power systemsa decentralized/hierarchical approach, IEEE Trans. Power Syst., vol. 16, no. 1, pp. 136153, Feb. 2001. [18] P. M. Anderson and R. G. Farmer, Series Compensation of Power Systems PBLSH Inc., 1996. [19] S. Skogestad and I. Postlethwaite, Multivariable Feedback Control: Analysis and Design. New York: Wiley, 1997. [20] H. Bourles, Systmes linaires de la Modlisation la commande, Herms, 2006. [21] A. Heniche and I. Kamwa, Using measures of controllability and observability for input and output selection, in Proc. 2002 IEEE Int. Conf. Control Applications, 2002, pp. 12481251.

Annissa Heniche (M02) received the B.Eng. degree in electrical engineering from Ecole Nationale des Ingnieurs et Techniciens dAlgrie in 1985 and the Masters and Ph.D. degrees from Paris 11 University, Paris, France, 1992 and 1995, respectively. She joined the Hydro-Qubec Research Institute, Varennes, QC, Canada, in 2001, where she is involved as a researcher in the Power System Analysis, Operation, and Control Department. Dr. Heniche is a member of the Qubec Order of Engineers.

Innocent Kamwa (S83M88SM98F05) received the graduating degree and Ph.D. degree in electrical engineering from Laval University, Qubec City, QC, Canada, in 1988 and 1984, respectively. Since then, he has been with the Hydro-Qubec Research Institute, Varennes, QC, where he is at present a Principal Researcher with interests broadly in bulk system dynamic performance. Since 1990, he has held an Associate Professors position in electrical engineering at Laval University, where ve students have completed their Ph.D. under his supervision. Dr. Kamwa is a recipient of the 1998 and 2003 IEEE PES Prize Paper Awards and is currently serving on the System Dynamic Performance Committee, AdCom. He is a member of CIGR