The 4

th
International Power Engineering and Optimization Conf. (PEOCO2010), Shah Alam, Selangor, MALAYSIA: 23-24 June 2010

Abstract-- This paper presents a global tuning procedure for
FACTS power oscillation damping (POD) and power system
stabilizers (PSSs) in a multi-machine power system using real
coded genetic algorithm. The stabilizers gains are obtained
through the minimization of an objective function based on the
damping ratio. The proposed controllers were simultaneously
designed and they have provided a coordinated control action
and a satisfactory performance for the power system, as shown in
the results.

Index TermsFACTS, Genetic algorithm, Optimization,
Power oscillation damping(POD), Power system stabilizer(PSS).

I. INTRODUCTION
amping of power system oscillate plays an essential task
not only in increasing the transmission capability but also
in stabilizing the power system, mainly after serious faults.
Small-disturbance stability, mainly in the context of positive
damping of electromechanical modes or oscillations among
the interconnected synchronous generators in a power system,
constitutes one of the essential criteria for secure system
operation. Power system stabilizers (PSSs) together with their
coordination have been developed for enhancing system
stability. However, the use of PSSs only may not be, in some
cases, effective in providing sufficient damping for inter-area
oscillations, particularly with increasing transmission line
loading overlong distances [1]. Many main blackouts reasoned
by power system stability have demonstrated the importance
of this fact. Conventionally, transient instability has been the
main stability problem on most systems, and has been the
center of attention of much of the industrys interest in relation
to system stability. As power systems have grown through
current expansion in interconnections, use of new technologies
and controls, and the increased operation in highly stressed
condition, different forms of system instability have appeared.

Asiye Aghazade and Ahad Kazemi are with the Department of Electrical
Engineering, Iran University of Science and Technology, Tehran, Iran. (e-
mail: asiye_aghazade@elec.iust.ac.ir).

For example, voltage stability, frequency stability and inter
area oscillations have become greater concerns than in the past
[2]. This has produced a need to study the depiction and
classification of power system stability. A fine considerate of
different types of instability and how they are integrated is
necessary for the adequate design and operation of power
systems. Additionally, constant use of phrases is necessary for
upward system design and operating conditions, standard
logical tools, and study events. The problem of relating and
classifying power system stability is an old one, and there
have been several preceding reports on the subject by CIGRE
and IEEE Task Forces [2]. These, however, do not completely
reflect current industry needs, experiences, and understanding.
In particular, definitions are not precise and the classifications
do not encompass all practical instability scenarios [2]. Precise
definitions of stability can be found in the literature dealing
with the rigorous mathematical theory of stability of dynamic
systems [2]. In large power systems, damping of power
oscillations among unified areas is essential for the system
safe operation. FACTS devices are one of latest suggestions to
lighten in such conditions. They have a very essential effect to
control the power flow along transmission lines and to
increase damping power oscillations. For many years, great
attempts have been made for designing and putting on new
damping sources. One of the most ordinary controls employed
to damp out oscillations and to balance the harmful damping
of the automatic voltage regulators are power system
stabilizers. In spite of this, under some operating conditions,
PSS may not supply sufficient damping, especially to inter-
area oscillating modes. In these situations FACTS POD
controllers are rising as an interesting choice. Furthermore,
uncoordinated restricted control of FACTS devices and PSSs
may reason unwanted relations that further result in the system
deterioration. This problem may happen particularly after the
approval of a serious fault, if shunt and series connected
devices are put in the same area. For developing coordination
along with PSS and FACTS POD controllers many researches
were made [5,6,7-9] that some of them are the complex non-
linear simulation methods [5,6], the others are linear methods
[7-9]. In this paper, since power system non-linear simulations
Simultaneous Coordination of Power System
Stabilizers and STATCOM in a Multi-machine
Power System for Enhancing Dynamic
Performance

Asiye Aghazade, Student Member, IEEE, and Ahad Kazemi
D
978-1-4244-7128-7/10/$26.00 2010 IEEE 13

The 4
th
International Power Engineering and Op
require much more time than the linear appro
analysis is proposed to coordinate the
controllers simultaneously. The whole power
is optimized by means of genetic algorithm
the objective function, in which the influen
FACTS POD controllers are taken into acc
among these damping controllers are im
machine power system of Fig.1 [4] is con
STATCOM is set in to bus 21[13].

Fig. 1 16-machine power system

II. PSS AND FACTS POD CONTRO
A. PSS
In this study, 12 generators, i.e. G1 to G
with PSSs. This controller acts during the ex
import a element of further damping torqu
speed change of the generator [11]. PSS in
function contain a wash-out block, an amplif
two lead-lag blocks [10,11]. The lead-lag b
suitable phase-lead characteristic to compens
among the exciter input and the generator
The block diagram of the PSS controller is ill






Fig. 2 PSS controller

B. FACTS POD
The structure of shunt FACTS POD contr
PSS controllers as shown in Fig. 3 [3]. In this
I
Shunt
denotes the controlled variable of th
device [3] where it is the reactance of STATC




K
PSS

sI
w
1 +sI
w
1 + sI
1
1 +sI
2

1 +sI
3
1 +sI
4

I
S
ptimization Conf. (PEOCO2010), Shah Alam, Selangor, MAL
oaches, the modal
several damping
r system operation
m. By minimizing
nces of PSSs and
count, interactions
mproved. The16-
nsidered, when a

OLLER
G12 are equipped
xcitation system to
ue comparative to
nvolves a transfer
fication block and
blocks supply the
sate the phase lag
electrical torque.
lustrated in Fig. 2.
roller is similar to
s study, the output
he shunt FACTS
COM.






Fig. 3 FACTS con
III. LINEARIZED SYST
The stability of the operating poi
small disturbances is termed small s
small signal stability the system
linearized about a steady state oper
set of state equations:


x = Ax +Bu
y = Cx +u

where A is the state matrix; B is
output matrix ; D is the feed forw
vector and u is the input. The total
extended by PSS and FACTS contr
Thus, the eigenvalues z

= o

o
assessed. The objective is to see
controllers for reaching to minimiz
damping index (CDI) which is given

CBI = (1 -
I
)
n
I=1


Where

= -
o

(o

2
+

2
)


is the damping ratio and n i
eigenvalues. The CDI depends on
FACTS POD controller and PSS co
the optimization is to move the tota
side of the s-plane, and thus to maxi
much as possible. Calculated mode
without any controller is given in Fig
IV. OPTIMIZATION
In this research, it is designed to
objective function CDI. The contro
bounds are constraints of the pro
problem can be expressed as the sub
problem:

Minimize CDI

Subject to

k
PSS
mn
k
PSS
k
PSS
mux

I
SMn

I
S

I
SMux
u
PAC1S
K
PAC1S
sI
w]
1 +sI
w]

1
1
LAYSIA: 23-24 June 2010
ntroller
TEM MODEL
int of a dynamic system to
signal stability. To test for
s dynamic equations are
rating point to get a linear
(1)
the input matrix; C is the
ward matrix; x is the state
l linearized system model
rollers can be determined.
of the entire system can be
ek the best gain for the
zation the comprehensive
n by Equation 2.
(2)
(3)
is the whole number of
n the parameters of both
ontrollers. The objective of
al eigenvalues to left hand
imize the damping ratio as
es of 16- machine system
g. 4.
PROBLEM
o minimize the wished-for
oller optimized parameter
oblem. Thus, the design
sequent optimization
(4)
1 + sI
1]
1 +sI
2]

1 +sI
3]
1 +sI
4]
I
SMux1
I
SMn1
I
Shunt
14

The 4
th
International Power Engineering and Optimization Conf. (PEOCO2010), Shah Alam, Selangor, MALAYSIA: 23-24 June 2010

k
PAC1S
mn
k
PAC1S
k
PAC1S
mux
(5)

The proposed method utilizes real-coded genetic algorithm
to solve this optimization problem and search for optimal set
of the controller parameters.


Fig. 4 Calculated modes 16 machine system
V. GENETIC ALGORITHM
A. GA
Genetic algorithm is a general-purpose optimization
method that is distinguished from conventional optimization
techniques by the use of concepts of population genetics to
guide the optimization search. A population of individuals,
representing a potential candidate solution to a given problem,
is maintained through optimization process. A fitness value of
each individual is assigned according to the fitness function to
indicate the quality of a candidate solution. The individuals
then must compete with others in the population to generate
their offspring. The highly fit individuals that are those with
higher fitness value have more opportunities to reproduce
through recombination operation. The offspring inherits genes
of their highly fit parents and will become even fitter, which
represent a better solution to the problem concerned. The
lowest fit individuals have few opportunities to reproduce and
the trace of their genes will eventually disappear in the
population. Comparison between the newly generated
offspring and their parents, the best individuals are selected
regard to their fitness values to form the population of the next
generation. By repeating the GA optimization process, the
population of individuals will develop into an optimal solution
of the problem. Because of problems of binary description in
continuous search space with large dimension, the
optimization problem is done by real-coded genetic algorithm
(RCGA) [12]. A decision variable (gen) x

is represented by a
real number within its lower and upper limits. In this research
each chromosome has 13 gens where the first gen is gain of
STATCOM controller and the rest of gens are gains of 12
PSSs. The operators of RCGA are crossover and mutation that
are described as follows:
B. Crossover
Crossover: One point crossover has been employed in this
study that two mating chromosomes are cut at one point and
the cuts are exchanged between the two parents.
C. Mutation
Each chromosome undergoes mutation with probability p
m

then a number in the range [0,1] is generated with uniform
distribution. If the value at the gen position is v, after mutation
it becomes:

: _ 2o: u = u
: _ 2o : = u
(6)

The + or - occurs with equal probability. Since in this
paper it is aimed to minimize objective function the fitness
function is defined as F = 1 CI .
D. RCGA Application
RCGA has been used to seek for optimal settings of the
optimized gain of the PSS and FACTS POD controllers. In our
research, the crossover and mutation probabilities are both 0.5.
The number of individuals in each generation is selected to be
100. In addition, the search will terminate if difference
between maximum of fitness and minimum of it is very small
or the number of generations reaches 100. The computational
flow chart of GA is shown in Fig. 5.



Fig. 5 Flow chart of GA

Calculated modes with PSS and TCSC before optimization
and after optimization are shown in Fig. 6 and Fig. 7
respectively. By applying coordination method by using
RCGA, as shown in Fig. 7, all of modes (local, inter-area and
exciter modes of oscillation) are now well damped.
-0.2 0 0.2 0.4 0.6 0.8 1 1.2
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
Calculated Modes data16m
damping ratio
f
r
e
q
u
e
n
c
y

H
z
15

The 4
th
International Power Engineering and Optimization Conf. (PEOCO2010), Shah Alam, Selangor, MALAYSIA: 23-24 June 2010

Fig. 6 Calculated modes with PSS and STATCOM before optimization

Fig. 7 Calculated modes after optimization

VI. SIMULATION RESULTS

In order to validate the performance of the instantaneous
coordination three phase fault is applied at bus 1,on line 1-2.
The fault is cleared at bus 1, 0.01s after the fault is applied,
and at bus 2, 0.02 s after the fault is applied. Fig. 8 to Fig. 10
represent referenced angular displacement of rotor 1 in rad/sec
versus time in face of three phase fault at bus 1. These
simulations have done for three conditions: power system
without any controller, power system with PSS and
STATCOM before optimization and with PSS and
STATCOM after optimization where RCGA is optimization
method. It can be seen that in comparison with first and
second condition, the damping behavior is improved
significantly. Angular velocity
10
,
11
in face of three phase
fault at bus 1, in the same conditions when stabilizers obtained
by RCGA method, are shown in Fig. 11 to Fig. 16,
respectively where angular velocities are in per unit. It can be
seen by applying the coordination method with RCGA
optimization the damping behavior is better than without any
optimization. The response of the field voltages at generators
10, 11 to a three phase fault at bus 1 same three conditions are
shown in Fig. 17 to Fig. 22. It can be seen after optimization
this response is improved.
Fig. 8 Referenced angular position without
any controller


Fig. 9 Referenced angular position with PSS and STATCOM
before optimization

Fig. 10 Referenced angular position with PSS and STATCOM after
optimization


0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
Calculated Modes data16mtcsc
damping ratio
f
r
e
q
u
e
n
c
y

H
z
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
1
2
3
4
5
6
7
8
Calculated Modes data16mtcsc
damping ratio
f
r
e
q
u
e
n
c
y

H
z
0 1 2 3 4 5 6 7 8 9 10
-0.05
0
0.05
0.1
0.15
0.2
0.25
0.3
0 1 2 3 4 5 6 7 8 9 10
0.08
0.1
0.12
0.14
0.16
0.18
0.2
0.22
0 1 2 3 4 5 6 7 8 9 10
0.08
0.1
0.12
0.14
0.16
0.18
0.2
0.22
16

The 4
th
International Power Engineering and Optimization Conf. (PEOCO2010), Shah Alam, Selangor, MALAYSIA: 23-24 June 2010

Fig. 11 Angular velocity
10
without any controller

Fig. 12 Angular velocity
10
with PSS and STATCOM
before optimization

Fig. 13 Angular velocity
10
with PSS and STATCOM
after optimization

Fig. 14 Angular velocity
11
without any controller
Fig. 15 Angular velocity
11
with PSS and STATCOM before optimization

Fig. 16 Angular velocity
11
with PSS and STATCOM after
optimization
0 1 2 3 4 5 6 7 8 9 10
0.996
0.997
0.998
0.999
1
1.001
1.002
1.003
1.004
1.005
0 1 2 3 4 5 6 7 8 9 10
0.997
0.998
0.999
1
1.001
1.002
1.003
0 1 2 3 4 5 6 7 8 9 10
0.997
0.998
0.999
1
1.001
1.002
1.003
0 1 2 3 4 5 6 7 8 9 10
0.996
0.997
0.998
0.999
1
1.001
1.002
1.003
1.004
1.005
0 1 2 3 4 5 6 7 8 9 10
0.997
0.998
0.999
1
1.001
1.002
1.003
0 1 2 3 4 5 6 7 8 9 10
0.998
0.9985
0.999
0.9995
1
1.0005
1.001
1.0015
1.002
1.0025
1.003
17

The 4
th
International Power Engineering and Optimization Conf. (PEOCO2010), Shah Alam, Selangor, MALAYSIA: 23-24 June 2010

Fig. 17 Response of field voltage at generator 10
To three phase fault without any controller


Fig. 18 Response of field voltage at generator 10
To three phase fault with PSS and STATCOM
before optimization

Fig. 19 Response of field voltage at generator 10
To three phase fault with PSS and STATCOM
after optimization


VII. REFERENCES

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[9] D. Arnautovic and J. Medanic, Design of decentralized multi-variable
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[13] J.H. Chow (Ed.), Time-Scale Modeling of Dynamic Networks with
Application to Power Systems, Springer, Berlin, 1982.

0 1 2 3 4 5 6 7 8 9 10
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0 1 2 3 4 5 6 7 8 9 10
-4
-3
-2
-1
0
1
2
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0 1 2 3 4 5 6 7 8 9 10
-5
-4
-3
-2
-1
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18