Tutorial: Introduction To Modal Analysis: Francisco M. Gonzalez-Longatt, DR - SC Manchester, UK, November, 2009

All rights reserved. No part of this publication may be reproduced or distributed in any form without permission of the author.
Copyright 2009. http:www.fglongatt.org.ve
Tutorial:
Introduction to Modal
Analysis
Francisco M. Gonzalez-Longatt, Dr.Sc

Manchester, UK, November, 2009
Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009
1/63
This tutorial is a simple theoretical introduction to modal

analysis
Francisco M. Gonzalez-Longatt, Dr.Sc
fglogatt@fglongatt.org.ve
Manchester, 28th October 2009
2/63
Tutorial:
Introduction to Modal Analysis
Introduction to Modal Analysis in Power

System
1. Introduction
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Small signal stability is the ability of the power system to

maintain synchronism when subjected to small
disturbances [1].
A disturbance is considered to be small if the equations
that describe the resulting response of power system
may be linearized for the purpose of analysis.
Instability that result can be of two forms [1]:
Steady increase in generator rotor angle due to lack
synchronizing torque,
Rotor oscillation of increasing amplitude due to lack of sufficient
damping torque.
[1] P. Kundur, Power System Stability and Control. New York: McGraw- Hill, 1994.
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1. Introduction: Small Signal Stability
Te
Stable
TS Positive TD
TDPositive
TS
Te
TD
Instable
Non-oscillatory
TS Negative
TDPositive
0
TS
(a) With constant field voltage

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Te
Stable
TS Positive TD
TDPositive
TS
Instable
TS Positive
TD Negative
TD
TS
Te
(b) With excitation control

6/63
ln today's practical power systems, the small-signal

stability problem is usually one of insufficient damping of
system oscillations.
Small signal inherent analysis using linear techniques
provides valuable information about the dynamic
characteristics of the power system and assists its
design.
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2. Fundamental
Concepts of Small
Signal Stability
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The behaviour of a dynamic system, such as a power

system, may be described by a set of n first order nonlinear ordinary differential equations.
This can be written using vector-matrix notation [1]:
x = f (x,u, t )
where:
x1
x
x = 2

xn
u1
u
2
u=

ur
f1
f
2
f=

fn
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2. State-Space Representation
x1
x
x = 2

xn
u1
u
u = 2

ur
f1
f
f = 2

fn
The column vector x is deferred to as the state vector.

xi are referred as state variables.
The column vector u is the vector of inputs to the
system.
u are the external signal that influence the performance
of the system.
t denote time
x is the derivate of a state variable respect to time.
10/63
2. State Space Representation
The system is called autonomous if the derivatives of

the stated variables are not explicit functions of time.
x = f (x,u)
The output variables can be observed in the system.

These may be expressed in terms of the state variables
and the inputs variables [1]:
y = g(x,u)
where:
y1
y
y= 2

y m
g1
g
2
g=

g r
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y1
y
y= 2

y m
g1
g
g = 2

g r
The column vector y is the vector of outputs

g is a vector of non-linear factions relating state and
input variables to output variables.
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The concept of state is fundamental to the state-space

approach.
The state of a system represents the minimum amount
of information about the system at any instant in time t0
that is necessary so that its future behaviour can be
determined without the input before t0.
Any set of n linearly independent system variables may
be used to describe the state of the system state
variables [1].
State variables form a minimal set of dynamic variables
that, along with the inputs to the system, provide a
complete description of the system behaviour
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2.1. State Concept
The system state may be represented in a n-dimensional

Euclidean space, called state space.
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2.1. State-Space Concept
Those points where all derivatives of state variables are

simultaneously zero [1].
x1 = 0
x = 0
2
x =

x n = 0
They define the points on the trajectory with zero

velocity.
This system is at rest since all the variables are constant
and unvarying with time.
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2.2. Equilibrium (or singular) points
The equilibrium or singular point must therefore satisfy

the equation:
x = 0 = f (x 0 ) = 0
where x0 is the state vecto x at the equilibrium point.
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2.2. Equilibrium (or singular) points
Linear system: stability is entirely independent of the

input.
State of a stable system with zero input will always
return to the origin of the state space, independent of the
finite initial state.
Non-linear system: Stability depends on the type and
magnitude of input and the initial state.
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2.3. Stability of a Dynamic System
Classification of stability of non-linear system, depending

on the region of state space in which the state vector
ranges:
Local stability or stability in the small.

Finite stability.
Global stability or stability large.
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2.4. Classification of Stability
The system is locally stable about equilibrium point if,

when subjected to small perturbation, it remain within a
small region surrounding the equilibrium point.
If, a t increase, the system return to the original state, it
is said to be asymptotically stable in the small.
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2.4.a. Local Stability
If the state of a system remains within a finite region R, it

is said to be stable within R.
If, further, the state of the system returns to the original
equilibrium point form any point within R, it is
asymptotically stable within the finite region R.
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2.4.b. Finite Stability
The system is said to be globally stable if R include the

entire finite space.
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2.4.c. Global Stability
3. Linealization
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Let x0 be the initial state vector and u0 the input vector

corresponding to the equilibrium point [2] ,[3].
x 0 = f (x 0 ,u0 ) = 0
Let include a perturbation from the above state
x = x 0 + x
u = u0 + u
where the prefix denote a small deviation.

As the perturbations are assumed to be small, the
nonlinear functions f(x,u) can be expressed in terms of
Taylors series expansion.
23/63
3. Linearization
The original equations are [1]-[3]:
x = f (x,u, t )
y = g(x,u)
The lienarized forms are:
x = Ax + Bu
y = Cx + Du
x is the state vector of dimension n

y Is the output vector of dimension m
u is the input vector of dimension r
A is state of plant matrix of size nxn
B is the control or input matrix of size nxr
C is the output matrix of size mxn
D is the (feedforward) matrix which defines the proportion of
inputs which appears directly in the output, size nxr
24/63
3. Linearization
x = Ax + Bu
y = Cx + Du
Taking the Laplace transform the state equations in the
frequency domain are obtained:
sx x (0 ) = Ax (s ) + Bu(s )
y(s ) = Cx (s ) + Du(s )
25/63
3. Linearization
Block diagram of the state-space representation [1]-[3]

D
x +
u
B
1 x
I
s
+
C
+ y
26/63
3. Linearization
The initial conditions are x(0) assumed zero.

The solution of the state equations can be obtained [1]:
adj (sI A )
[x(0) + Bu(s )] + Du(s )
y(s ) = C
det (sI A )
The Laplace transform of x and y are seen to have
two components:
(i) Dependent on the initial conditions and

(ii) Dependent on the inputs.
These are the Laplace transforms of the free and zerostate components of the state and output vectors
27/63
3. Linearization
The poles of x and y are the roots of the equation:
det (sI A ) = 0
The values of s which satisfy this conditions are known

as eigenvalues of matrix A [1]-[3].
The equation [1],[2]:
det (sI A ) = 0
is referred as he characteristic equation of matrix A.
28/63
3. Linearization
4. Eigenvalues and
Eigenvectors
29/63
The eigenvalues of a matrix are given by the values of

the scalar parameter which there exist non-trivial
solutions to the equation [1]:
(A I) = 0
For a non-trivial solution [2]:
det (sI A ) = 0
Expansion of the determinant give the characteristic
equation.
The n solution of = 1, 2, n are the eigenvalues of A
[2].
30/63
4. Eigenvalues
For every eigenvalue i, there is an eigenvector i which

satisfies:
Ai = i i
i is called the right eigenvector of the state matrix A

associated with the eigenvalue i.
Each right eigenvector is a column vector with the length
equal to the number of the states.
The right eigenvector is called mode shape.
31/63
4. Eigenvectors
Left eigenvector associated with the eigenvalue i is the

n-row vector which satisfies:
i A = i i
The right eigenvector describes how each mode of
oscillation is distributed among the system states.
It indicates on which system variables the mode is
more observable.
The left eigenvector, together with the systems initial
state, determines the amplitude of the mode.
A left eigenvector carries mode controllability
information.
32/63
4. Eigenvectors
The left eigenvector indicates on which system

variables the mode is more observable.
The right eigenvector is called mode shape.
33/63
4. Eigenvectors
5. Eigenvalues and
stability
34/63
The stability of the system is determined by the

eigenvalues i.
Real eigenvalues: Non oscillatory mode.
Negative real eigenvalue represent a decaying mode.
Magnitude define the decay.
Positive real eigenvalues represent aperiodic instability.
Complex eigenvalues: Occurs in conjugate pair, and

each pairs correspond a oscillatory mode.
35/63
5. Eigenvalues and Stability
For a complex pairs of eigenvalues [1]:
= j
The frequency of oscillation (f) in Hz is given by [1]:
f =
2
This represents the actual or damped frequency (f).

T he damping ratio () is given by:
+
2
The damping ratio determines the rate of decay of the

amplitude of the oscillation [1]-[2].
36/63
Eigenvalues
= j
Trajectory
Type of singularity
z1
z2
(a) Stable focus
z2
(b) Unstable focus
z1
X
37/63

Trajectory
Type of singularity
Eigenvalues
= j
j
z1
X
z2
(f) Vortex
z1
z2
(g) Saddle
38/63
Eigenvalues
= j
Trajectory
Type of singularity
z1
z2
(c) Stable focus
z2
(d) Unstable focus
z1
39/63
6. Indexes
40/63
Numerous indices, can be calculated from eigenvectors

such as [4]:
Participation factors,
Transfer function residues and
Mode sensitivities.
Those are very useful in system analysis and controller
design.
41/63
6. Indexes
The Participation matrix (P), combine the right and left

eigenvectors [1]:
P = [p1 p 2 p n ]
where
p1i 1i 1i
p
p1 = 2i = 2i 2i

pni ni ni
where ki is the kth element in the ith row of the the left
eigenvector i, and ki is the kth element in the ith column
of the right eigenvector i [4].
42/63
6.1. Participation factors
The participation factor pki is a measure of the relative

participation of the kth state variable in the ith mode, and
vice versa.
pki = ki ki
The sensitivity of a particular eigenvalue i to the
changes in the diagonal elements of the state matrix A.
i
pki =
akk
pki = ki ki
43/63
6.1. Participation factors
6.2. Controllability and observability

The system response in presence of input is given as:
x = Ax + Bu
y = Cx + Du
Expressing in terms of the transform ed variables Z:
x = z
where is the modal matrix of A.

Then yield to:
z = Ax + Bu
y = Cz + Du
44/63
The state equations in the normal form (decoupled) may

therefore [1], [4]:
z = z + B' u
where:
y = C' z + Du
B' = 1B
C' = C
They are the modal controllability (B) and modal
observability matrices (C).
45/63
If the ith row of matrix B is zero, the inputs have not

effect on the ith mode.
ith mode is said to be uncontrollable [1]
B' = 1B
Mode controllability matrix
If the ith row of matrix C determines whether or not

variable zi contribute to the formation of outputs.
If the ith Coolum of matrix C is zero, then the
corresponding mode is unobservable [1].
C' = C
Mode observability matrix
46/63
For small-signal stability analysis of power systems, this

primarily is related on the eigenvalue of the state matrix.
For control design the open-loop transfer function
between specific variables is useful [4].
Consider transfer function between the variables y and
u:
x = Ax + bu
y = cx
Let asume y is not direct function of u (D = 0)
y (s )
G (s ) =
u (s )
1
(
)
(
)
G s = c sI A b
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6.3. Residues
G(s) can be factorized [1], [2], [4]:
(
s z1 )(s z2 ) (s zl )
G (s ) = K
(s p1 )(s p2 ) (s pn )
Using partial fractions:
R1
R2
Rn
G (s ) =
+
++
s p1 s p2
s pn
where and Ri is known as the residue of G(s) function at
pole pi.
y (s )
G (s ) =
u (s )
G(s ) = c[sI ] b
1
48/63
6.3. Residues
Since is a diagonal matrix [4]:
Rj
G (s ) =
j =1 s j
n
Ri = ci i b
This equation gives the residues in terms of eigenvalues.
49/63
6.3. Residues
7. References
50/63
[1] P. Kundur, Power System Stability and Control. New

York: McGraw- Hill, 1994.
[2] J. Arrillaga and C.P. Arnold, Computer Modelling of
Electrical Power Systems, John Wiley & Sons, 1983.
[3] P.M. Anderson and A.A. Fouad, Power System Control
and Stability, The Iowa State University Press, 1977.
[4] R.Sadikovic, Use of FACTS Devices for Power Flow
Control and Damping of Oscillations in Power Systems.
PhD Thesis in Swiss federal Institute of Technology,
Zurich, 2006.
51/63
7. References
Please visit:
http://www.fglongatt.org.ve
Comments and suggestion are welcome:
fglongatt@fglongatt.org.ve
52/63

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All rights reserved. No part of this publication may be reproduced or distributed in any form without permission of the author.

Copyright 2009. http:www.fglongatt.org.ve

Francisco M. Gonzalez-Longatt, Dr.Sc

This tutorial is a simple theoretical introduction to modal

Introduction to Modal Analysis in Power

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

Small signal stability is the ability of the power system to

1. Introduction: Small Signal Stability

1. Introduction: Small Signal Stability

(a) With constant field voltage

1. Introduction: Small Signal Stability

(b) With excitation control

ln today's practical power systems, the small-signal

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

1. Introduction: Small Signal Stability

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

The behaviour of a dynamic system, such as a power

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

The column vector x is deferred to as the state vector.

2. State Space Representation

The system is called autonomous if the derivatives of

The output variables can be observed in the system.

2. State Space Representation

The column vector y is the vector of outputs

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

2. State Space Representation

The concept of state is fundamental to the state-space

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

2.1. State Concept

The system state may be represented in a n-dimensional

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

2.1. State-Space Concept

Those points where all derivatives of state variables are

They define the points on the trajectory with zero

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

2.2. Equilibrium (or singular) points

The equilibrium or singular point must therefore satisfy

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

2.2. Equilibrium (or singular) points

Linear system: stability is entirely independent of the

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

2.3. Stability of a Dynamic System

Classification of stability of non-linear system, depending

Local stability or stability in the small.

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

2.4. Classification of Stability

The system is locally stable about equilibrium point if,

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

2.4.a. Local Stability

If the state of a system remains within a finite region R, it

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

2.4.b. Finite Stability

The system is said to be globally stable if R include the

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

2.4.c. Global Stability

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

Let x0 be the initial state vector and u0 the input vector

where the prefix denote a small deviation.

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009

The original equations are [1]-[3]:

The lienarized forms are:

x is the state vector of dimension n

Dr. Francisco M. Gonzalez-Longatt, fglongatt@ieee.org .Copyright 2009