Electrical Power and Energy Systems 54 (2014) 425431

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Electrical Power and Energy Systems

journal homepage: www.elsevier.com/locate/ijepes

Enhanced design of an indirect adaptive fuzzy sliding mode power

system stabilizer for multi-machine power systems
K. Saoudi , M.N. Harmas
Department of Electrical Engineering, Ferhat ABBAS University of Stif1, Setif 1 19000, Algeria

a r t i c l e

i n f o

Article history:
Received 21 April 2012
Received in revised form 21 July 2013
Accepted 25 July 2013

Keywords:
Sliding mode control
PI
Fuzzy logic
Adaptive control
Multi-machine power system
Power system stabilizer

a b s t r a c t
This paper presents an enhanced indirect adaptive fuzzy sliding mode based power system stabilizer for
damping local and inter-area modes of oscillations for multi-machine power systems. The proposed controller design is based on an adaptive fuzzy control combining a proportional integral controller with a
sliding mode controller. Generator speed deviation and its derivative are selected as input signals to a
fuzzy logic system that approximates unknown power system functions and a proportional integral regulator is used to eliminate the undesirable sliding mode chattering. Using Lyapunov synthesis, adaptation
laws are developed in an enhanced indirect adaptive fuzzy scheme which closely tracks changes in power
system operating conditions. Performance of the proposed stabilizer is evaluated for a two-area fourmachine power system subjected to different types of disturbances. Simulation results are compared
to those obtained with a conventional PSS, with a fuzzy logic based stabilizer and with an adaptive fuzzy
PSS clearly showing the effectiveness and robustness of the proposed approach.
2013 Elsevier Ltd. All rights reserved.

1. Introduction
Budget constraints in a world ravenous for electrical power
have led utility companies to operate generating stations with full
power and sometimes at the limit of stability. In such drastic conditions the occurrence of any contingency or disturbance may lead
to a critical situation starting with poorly damped oscillations followed by loss of synchronism and power system instability. The
occurrence of these low frequency oscillations reduces at best
the power-transfer capability of power systems. Moreover they
are associated with the rotor angle of the synchronous machines
when operating in an interconnected system through long transmission lines [1,2] with other generation systems and continue
to grow causing loss of synchronism and system separation if no
adequate response is promptly taken. In the past decades, the utilization of supplementary excitation control signals for improving
power system stability has received much attention.
Early used stabilizers, conventional power system stabilizer
(CPSS), relied on xed lag-lead compensators tuned using a linearized power system model for a specic operating point [3,4]. Since
power systems are highly nonlinear with congurations and
parameters changing with time, CPSS cannot handle large changes
in operating conditions. Adaptive power system stabilizers have
been proposed [5,6] to adequately deal with these varying operating conditions. Adaptive stabilizers provide better dynamic perfor Corresponding author. Tel.: +213 0779173651.
E-mail address: Saoudi_k@yahoo.fr (K. Saoudi).
0142-0615/$ - see front matter 2013 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.ijepes.2013.07.034

mance over a wide range of operating conditions, but they suffer

from the major drawback of requiring parameter model identication, state observation and on-line feedback gain computation.
Recently, PSS design has undergone the advent of articial intelligence such as fuzzy logic [7,8] and articial neural network
[9,10], techniques which do not require a precise mathematical
model of the system to be controlled, nevertheless xed-parameters control prevent from obtaining satisfying performance in case
of operating condition changes such as a sudden loading modication or in the event of a major disturbance such as short-circuit,
although it is less sensitive than CPSSs.
To overcome these difculties, Adaptive fuzzy logic controllers
have been applied to the design of PSS in a large number of papers
[1117] that grasp the merits of adaptive and fuzzy logic techniques and overcomes theirs drawbacks.
On the other hand, it is well known that robust control provides
an effective approach to deal with uncertainties introduced by
variations of system parameters as well as changes of operating
conditions. Among many techniques available in the control arsenal, sliding mode control has been reported as one of the most
effective control methodologies for nonlinear power system applications [1822] in improving power system stability due to its
invariance properties and robustness.
In this paper, following similar approach in [23,24], a new indirect adaptive fuzzy sliding mode stabilizer (AFSMPSS) is designed
for enhancing oscillations damping in nonlinear multi-machine
power system using nonlinear models while many papers use lin-

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K. Saoudi, M.N. Harmas / Electrical Power and Energy Systems 54 (2014) 425431

ear model with perfectly known parameters as [25,26] or address

single machine systems [27,28].
In the design of the proposed stabilizer, generator speed deviation and its derivative are selected as input signals to a fuzzy logic
system that approximates unknown nonlinear functions of the
power system model and PI control term is used to eliminate chattering phenomenon in the design of SMC. Based on the Lyapunov
theory, adaptation laws are developed to make the fuzzy sliding
mode controller adaptive and the PI parameters can be tuned online by adaptation law to take care of the changes due to the varying operating conditions and to guarantee power system stability.
It is clear that speed deviation and electrical power are easily
measurable directly. For this reason, we have chosen the sliding
mode surface according to these variables, on the other hand in
[29,30] the authors use the rotor angle, delta which is more delicate to measure. High order sliding modes (HOSM), in our opinion,
are also computationally far more demanding and not as straight
forward as our proposed controller.
The authors in [29,30] propose HOSM for multi-machine power
systems, in which they assume that all machine parameters are
precisely known and use an observer to estimate the non-measurable states system. In our work, the nonlinear functions describing
the power system are not known and system parameters are considered known imprecisely which is more realistic than relying on
an exact mathematical system model hard if not impossible to acquire. Actual speed deviation and accelerating power of the associated generator are obtained on-line and are used as inputs to the
fuzzy logic systems. Moreover PI parameters can be tuned on-line.
The performance of the newly designed controller is evaluated
in a two-area four machine power system under different types
of disturbances in comparison with the indirect adaptive fuzzy
power system stabilizer approach (AFPSS). Simulation results show
the effectiveness and robustness of the proposed stabilizer in
enhancing power system oscillations damping under various disturbances. Moreover, it outperforms other types of PSS considered
in this paper.

In order to design the power system controller proposed in this

paper, the generator dynamics model can be expressed in a canonical form given in [31], using speed variation (x1) and the accelerating power (x2) are used as state variables and can be measured.
The synchronous machine system model can be represented in
the following non-linear state-space equations form:

1
1 _
DP i
DPi fi Dxi ; DPi g i Dxi ; DPi ui yi Dxi
2Hi
2Hi

It is known that a positive u will cause a positive change in Pei, i.e. P_ ei > 0 whenever ui > 0. This means that g is a negative function.
gi(x1i, x2i) < 0 for all x1i, x2i.
In generic terms, the equation set (1) for ith generator is

x_ 1 ax2 ax_ 2 f x1 ; x2 gx1 ; x2 uy x1

3.1. Sliding mode control design

The control objective is to force y in the system (3) to track a
bounded desired trajectory yd, under the constraint that all variables involved must be bounded. The control objective [31,33] is
to determine a feedback control u = u(x|h) and an adaptation law
for adjusting the parameters vector h, such that:
(i) The closed loop system must be globally stable and robust in
the sense that all variables x(t), h(t) and u(x|h), must be uniformly bounded, i.e., |x| 6 Mx 6 1, |h| 6 Mh 6 1 and
|u| 6 Mu 6 1 for all t P 0, where Mx, Mh and Mu are parameters designer specied.
(ii) The tracking error, e = y  yd, should be as small as possible
under the previous constraints.
The elaboration of an indirect adaptive fuzzy sliding mode controller achieving the above control objectives is presented in the
rest of this section [23,24].
_ T and a slidLet the tracking error be dened as e y  yd e; e
T
ing surface dened as se k1 e e_ k e, where k = [k1, 1]T are the
coefcients of the Hurwitz polynomial hk k k1 If the initial
error vector e(t0) = 0, then the tracking problem can be considered
as the state error vector e remaining on the sliding surface s(e) = 0
for all t > t0.
A sufcient condition to achieve this behavior is to select a control strategy such that:

1 d 2
s e 6 gjsj g P 0
2 dt
y
d
s_ k1 e_ y
_
d :
k1 e f x gxu  y

If f and g are known, we can easily construct the sliding mode

control u* = ueq  usw

u

1
d 
k1 e_  f x  g sgns y
gx

where x1i = Dxi = xi  x0 is the speed deviation and x2i = DPi =

Pmi  Pei is the accelerating power, xi is the angular speed in per
units, Hi is the per unit machine inertia constant, Pmi is the mechanical input power treated as a constant in the excitation controller
design and Pei is delivered electrical power. Eq. (1) represents the
machine during a transient period after a major disturbance has occurred in the system. It has been assumed that two nonlinear functions fi and gi can be found [12,32]:

P_ ei 2Hi f x1i ; x2i gx1i ; x2i ui 

3. Indirect adaptive fuzzy sliding mode control based PSS design

From (4), we have

2. Multi-machine power system model

_i
Dx

where a = 1/2H and x = [x1, x2]T = [Dx, DP]T 2 R2 is a measurable

state vector. PSS output u represents the supplementary control signal to be designed and y = Dx is the considered output while f and g
are nonlinear system functions assumed unknown.

ueq

1
d 
k1 e_  f x y
gx

usw

1
g sgns
gx

However, power system parameters are not well known and

imprecise; therefore it is difcult to implement the control law
(6) for unknown nonlinear system model. Not only f and g are unknown but the switching-type control term will cause chattering.
An adaptive fuzzy sliding mode controller using fuzzy logic system
and PI control term is proposed to solve these problems.
3.2. Fuzzy logic system
In this section, the fuzzy logic system used is briey described.
The basic conguration of the fuzzy logic systems [33] consists of a
collection of fuzzy IFTHEN rules:

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K. Saoudi, M.N. Harmas / Electrical Power and Energy Systems 54 (2014) 425431

Rl : IF x1 is F l1 and . . . and xn is F ln THEN yis Gl

The fuzzy logic system performs a mapping from U =

U1      Un # Rn to R, where x = (x1, . . ., xn)T 2 U and y 2 R are
the input and output of the fuzzy logic system, respectively, F li
and Gl are labels the input and output fuzzy sets, respectively.
Let i = 1, 2, . . . , n denote the number of input for fuzzy logic system where l = 1, 2, . . . , M denotes the number of the fuzzy IFTHEN
rules. By using the singleton fuzzication, product inference and
center average defuzzication, the output value of the fuzzy system can be formulated as:

PM

l1 hl

Q
n

i1

yx P Q
M
n
l1

i1

lF li xi

lF li xi

10

where lF l xi is the membership function value of xi in F li , hl is the

i
center of gravity of the membership function of the output for the
lth rule; Eq. (10) can be rewritten as:
M
X
yx
hl nl x hT nx

11

l1

where hl = [h1. . .hM]T and n(x) = [n1(x). . .nM(x)]T represents the fuzzy
basis functions dened as:

Qn
nl x P

lF li xi

i1

M
l1

Q
n

i1

lFli xi

12

d :
s_ k1 e_ f x gxu  y
^hjhp
f x  ^f xjhf gx  g^xjhg u  p

18

The next task, is to replace ^f and g^ by fuzzy logic systems rep^ is given by (14) and to develop adequate
resented in (16), (17), p
adaptation laws for adjusting the parameters vector hf, hg and hp
while seeking a zero tracking error. Using the procedure suggested in [23], the parameter vectors of the fuzzy logic systems
^f xjh and g^xjhg will be adapted according to the following
f
rules.
Theorem 1. Consider the control problem of the nonlinear system (3).
^ and p
^ are estimated by (14),
If the control (15) is used, the function ^f ; g
(16), and (17), the parameters vector hf, hg and hp are adjusted by the
adaptive control law (19)(21), the closed-loop system signals
will be bounded and the tracking error will converge to zero
asymptotically.

h_ f c1 snx

19

h_ g c2 snxu

20

h_ p c3 swh

21

Proof. Dene the optimal parameters vector

!
hf

arg min supj^f xjhf  f x; tj

hf 2Xf

3.3. Indirect adaptive fuzzy sliding mode control design

22

x2Rn

If f and g were known, we could easily construct the sliding mode

control u* introduced in the previous section, however, f and g are
not known, we thus replace f(x) and g(x) by the fuzzy estimates
^f xjh , g^xjhg which are in the form of (11) to which we append a
f
proportional integral PI control term to suppress the chattering action. The inputs and output of the latter are dened as [23,24]:

hg arg min supjg^xjhg  gx; tj

up kp h1 ki h2

where Xf, Xg and Xp are constraint sets for hf, hg and hp, respectively. Dene the minimum approximation error:

where h1 = s, h2 =
rewritten as

^hjhp
p

13
R

sdt, kp and ki are PI control gains. Eq. (13) can be

hTp wh

hg 2 Xg

23

x2Rn

!
hp

^hjhp  usw j
arg min supjp
hp 2 Xp

24

h2Rn

w f x; t  ^f xjhf gx; t  g^xjhg u

25

14

where hp = [kp, ki]T 2 R2 is an adjustable parameter vector, and

wT(h) = [h1, h2] 2 R2 is a regressive vector. We use fuzzy logic systems to approximate the unknown functions f(x), g(x) and design
an adaptive PI control term eliminate chattering due to sliding
mode control. Hence, the control law becomes:

1
^hjhp y
d 
u
k1 e_  ^f xjhf  p
g^xjhg

15

^f xjh hT nx
f
f

16

g^xjhg hTg nx

17

In order to avoid the chattering problem, the switching term is

replaced by a PI control action which changes continuously and
will lead to smooth out of the chattering effect when the state is
within a boundary layer |s| < U. The control action is kept at the
saturated value when the state is outside the boundary layer.
^hjhp j g when |s| P U, where U is the thickness
Hence, we set jp
of the boundary layer.
Using the control law in (15), then (5) becomes:

Assumption 1. The parameters hf, hg and hp belong to the constraint sets Xf, Xg and Xp respectively, which are dened as

Xf fhf 2 Rn : khf k 6 M f g

26

Xg fhg 2 Rn : 0 < e 6 khg k 6 M g g

27

Xp fhp 2 Rn : khp k 6 M p g

28

Mf, e, Mg and Mp are positive constants designer specied for estimated parameters bounds. Assuming that fuzzy hf, hg and PI control
parameter hp do not reach the boundaries.
So, (18) can be written as

^hjhp w
s_ /Tf nx /Tg nxu hTp wh  p
hf

hg

29

hp

where /f  hf ; /g  hg ; /p  hp .
Now let us consider the Lyapunov function candidate

1 2
1 T
1 T
1 T
s
/ /f
/ /g
/ /p
2
2c1 f
2c2 g
2c3 p

The time derivative of V along the error trajectory (29) is:

30

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K. Saoudi, M.N. Harmas / Electrical Power and Energy Systems 54 (2014) 425431

Q2

1
1
1
V_ ss_ /Tf /_ f /Tg /_ g /Tp /_ p

c1

c2

l1 ;l2

c3

^hjhp w
s/Tf nx /Tg nxu  p
s/Tf nx

c3
1

c2

c1

c1

/Tf /_ f

s/Tg nxu

^hjhp sw
/Tp /_ p  sp
/Tg c2 snxu /_ g

c3

c1

c1

/Tf /_ f

/Tg /_ g

c2

c2

/Tg /_ g

c3

/Tp /_ p

/Tf 1 snx /_ f

^hjhp sw
/Tp swh /_ p  sp

c3
1

c2

c2

/Tp swh /_ p  s

gsgns sw <

/Tg 2 snxu /_ g

c3

c1

/Tf 1 snx /_ f

/Tp swh /_ p  jsj

g sw

31

where /_ f h_ f ; /_ g h_ g and /_ p h_ p . Substitute (19)(21) into

(31), then we have

V_ 6 sw  jsjg 6 0

32

Since w is being the minimum approximation error, (32) is the

best we can obtain. Therefore all signals in the system are
bounded. Obviously, e(t) will be bounded if e(0) is bounded for
all t. Since the reference signal yd is bounded, then system states
x are bounded. We need proving that s ? 0 as t ? 1. Assuming
that |s| 6 gs then (32) can be rewritten as

V_ 6 jsjjwj  jsjg 6 gs jwj  jsjg

33

g
jsjds 6 jV0j jVtj s
g
g
1

Rgl1 ;l2 : IF x1 is Al11 and x2 is Al22 THEN g^xjhg is Gl1 ;l2

36

^f xjh hT nx
 Construct
the
fuzzy
systems
f
f
T
^
g xjhg hg nx, where n(x) are expressed as (12).

and

4.3. On-line adaptation

 Apply the feedback control (15) to damp the oscillations and
improve stability in the power system (3), where ^f xjhf is given
^xjhg is given by (17) and p
^hjhp is given by (14).
by (16), g
 Use the adaptive laws (19)(21) to adjust the parameters hf, hg
and hp.

Table 1
Fuzzy rule base and parameter vector hg .

Dx

Integrating both sides of (33), we have

jwjds

35

Q
and collect them into a 2i1 mi -dimensional vector nx in a natural
ordering for l1 and l2.
 Construct the fuzzy rule base of g^xjhg , which consist of
m1  m2 rules. Table 1 shows the fuzzy rules and forty-nine initial parameter vector hg (the elements of hg are in per unit and
chosen to be negative [12]). Since there is enough information
about ^f xjhf , the initial value of hf is chosen to be zero.

s/Tp wh

1
/Tf c1 snx /_ f /Tg c2 snxu /_ g

i1 lF li xi
i
P
Q2
mn
1
ln 1 i1 lF li xi
l1 1   

x Pm

34

then we have s 2 L1. From (32), we know that s is bounded and

every term in (29) is bounded. Hence, s; s_ 2 L1 , using Barbalats lemma [31], we conclude that: s(t) ? 0 as t ? 1, the system is stable
and the error will asymptotically converge to zero.

NB
NM
NS
ZR
PS
PM
PB

DP
NB

NM

NS

ZR

PS

PM

PB

0.93
1.86
2.79
3.71
2.79
1.86
0.93

1.86
2.79
3.71
4.64
3.71
2.79
1.86

2.79
3.71
4.64
5.57
4.64
3.71
2.79

3.71
4.64
5.57
6.5
5.57
4.64
3.71

2.79
3.71
4.64
5.57
4.64
3.71
2.79

1.86
2.79
3.71
4.64
3.71
2.79
1.86

0.93
1.86
2.79
3.71
2.79
1.86
0.93

4. Design procedure
Let the inputs to the fuzzy logic system be x1 = Dx (speed variation), x2 = DP (accelerating power), the procedure for designing
an indirect AFSMPSS to damp local and inter-area oscillations in
uncertain dynamic power systems can be summarized by the following steps:
4.1. Off-line initial processing
 Select proper initial values of PI parameters kp = 1 and ki = 4.
 Specify k1 = 0.1 such that k1 e e_ is a Hurwitz polynomial.
 Specify the learning coefcients c1 = 2, c2 = 20 and c3 = 2.
4.2. Initial fuzzy controller construction
l

 Dene mi fuzzy sets Aii for linguistic variable xi whose membership functions lAli uniformly cover the corresponding universe
i

of discourse, where i = 1, 2 and li = 1, . . ., mi. i.e. input states

x1 = Dx, x2 = DP and m1 = m2 = 7, the membership functions
are selected and labeled Gaussian membership functions: Negative Big (NB), Negative Medium (NM), Negative Small (NS),
Zero (ZR), Positive Small (PS), Positive Medium (PM), Positive
Big (PB), linguistic variables respectively.
 Construct the fuzzy basis functions from the input membership
functions

Fig. 1. The proposed indirect adaptive fuzzy sliding mode PSS.

K. Saoudi, M.N. Harmas / Electrical Power and Energy Systems 54 (2014) 425431

429

The simplied schematic diagram of the proposed power system stabilizer and the interconnection of the techniques used are
illustrated in Fig. 1.
5. Test system
In this paper, the two-area four-machine test power system
model [1] shown in Fig. 2 is selected for testing the performance
of the proposed PSS. This model consists of two fully symmetrical
areas linked together by two transmission lines of 220 km length.
Each area contains two identical synchronous generators rated
20 kV/900 MVA. All generators are connected through transformers to the 230 kV transmission line and equipped with identical
speed governors and turbines, exciters, AVR, and PSS. Under normal conditions, the Area 1 transmits 400 MW active power to the
Area 2. This power system is typically used to study the low frequency electromechanical oscillations in a large interconnected
system. The data corresponding to the machines, exciters, transmission lines, and loads are given in [1]. The set of non-linear differential equations describing the dynamics of the ith machine in
the above multi machine system are presented in [2].

Fig. 3. Conguration of one generator equipped with supplementary controller.

6. Simulation results
The four machine power system model shown in Fig. 2 was selected to assess performance and effectiveness of the proposed
controllers. Performance obtained with the proposed indirect
AFSMPSS is compared to those obtained using a conventional
(CPSS) [1], using a fuzzy power system stabilizer (FPSS) and using
an indirect adaptive fuzzy power system stabilizer (AFPSS), under
different operating conditions. A schematic diagram representation of one generator is shown in Fig. 3. A stabilizer consisting of
a stabilizer gain KPSS, washout time constant Tw and lead-lag compensators with time constants T1, T2, T3, T4, and a limiter is used as
a conventional (CPSS) for comparison purposes. The stabilizer
transfer function is given by:

U PSS K PSS

sT W
1 sT 1 1 sT 3
Dx
1 sT W 1 sT 2 1 sT 4

37

6.1. Performance evaluation and comparison

A nonlinear simulation of the power system model is carried
out under the following severe fault.
Case 1: The performance of the proposed indirect AFSMPSS is
evaluated by applying a six-cycle three-phase fault short circuit
at the middle of one tie transmission line between bus-7 and
bus-8. The system response under this disturbance is shown
in Fig. 4 with different stabilizers. The proposed stabilizer effectively exhibits and conrms superior performance in improving
the damping of oscillations compared to the indirect AFPSS,
FPSS and CPSS.

Fig. 4. System response to three-phase fault at the middle of one tie line between
buses 7 and 8 (case 1): (a) local mode of oscillations (b) inter-area mode of
oscillations.

Fig. 2. Two area four machine test power system.

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K. Saoudi, M.N. Harmas / Electrical Power and Energy Systems 54 (2014) 425431

Fig. 5. System response to single phase fault on area 2 (case 2): (a) local mode of
oscillations and (b) inter-area mode of oscillations.

6.2. Robustness assessment

To assess the robustness of the proposed indirect AFSMPSS, the
following disturbances are applied and system performance
evaluated.
Case 2: The system response to a large disturbance, a single
phase to ground fault on Area 2 (line 910) applied for 6 cycles
is shown in Fig. 5.
Case 3: A 20% pulse disturbance in the reference voltage of Generator 1 for 200 ms has been applied and system response is
shown in Fig. 6.
From Figs. 5 and 6, the performance efcacy of the proposed
indirect AFSMPSS is clear. It can be easily concluded that the proposed PSS achieves better robustness and has satisfactory response
to small as well as to large signal disturbances. To further assess
P
robustness of the proposed PSS, performance index (JP = t|Dxi1|) is used to compare between the different PSSs considered. It
is worth mentioning that the lower value of this index, the better
is the system response in terms of time-domain characteristics. Table 2 shows the values of performance index for all cases of disturbances. So, the proposed indirect AFSMPSS has clearly improved
the system performance by reducing the speed deviations under
the following types of disturbances: three-phase fault short circuit,

Fig. 6. System response due to step change in voltage reference of generator 1 (case
3): (a) local mode of oscillations and (b) inter-area mode of oscillations.

Table 2
P
The performance index (JP = t|Dxi1|).
CPSS

FPSS

IAFPSS

IAFSMPSS

Case 1

Gen2-1
Gen3-1

0.071983
0.35037

0.076493
0.38126

0.044369
0.19403

0.035746
0.12249

Case 2

Gen2-1
Gen3-1

0.14192
0.93253

0.12834
0.82547

0.074704
0.5524

0.061625
0.38032

Case 3

Gen2-1
Gen3-1

0.13105
0.20213

0.13763
0.25829

0.12593
0.1544

0.11393
0.098554

single phase to ground fault and step change in the reference voltage which all are rejected by the proposed stabilizer.
7. Conclusion
In this paper, a new an indirect adaptive fuzzy sliding mode
power system stabilizer for damping low frequency oscillations
in a multi-machine power system is presented. Design of this controller is based on fuzzy logic systems to approximate the unknown system functions present in the power system model and
a robust (PI) term controller is used to eliminate chattering due
to the sliding mode control signal. An adaptation algorithm was
derived based on the Lyapunov synthesis to provide strong robust-

K. Saoudi, M.N. Harmas / Electrical Power and Energy Systems 54 (2014) 425431

ness as well as global power system stability. A two-area four-machine power system was used to illustrate the performance of the
proposed control strategy. Simulation results show the effectiveness and the robustness of the proposed approach in damping local
and inter-area modes oscillations while improving greatly the system stability under large disturbances and severe faults comparatively to other considered power system stabilizers.
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