With ambitions of reducing the environmental pollution, power systems integrate larger shares of Renewable Energy Sources (RES) to phase out conventional thermal and nuclear generators. Since RES (such as wind and solar power) are connected to the grid through power electronics devices, they do not inherently contribute to system inertia. With decreasing inertia, the Instantaneous Frequency Deviation (IFD), which follows a power unbalance, is significantly impacted. Frequency Containment Reserves (FCR) are designed to provide a fast dynamic response, counteract power imbalances and stabilize the frequency within a short time interval. Besides inertia, the significant factors affecting frequency behavior are the available amount of FCR and the capability of their fast and stable response. System operators define the list of requirements that a generating unit has to satisfy to participate in FCR. Generators, which are the major part of FCR, have different governors and turbines properties. This study assesses the dynamical performance of typical generators in both open-loop testing and closed-loop varying inertia systems. The goal is to evaluate if specific FCR requirements present a sufficient condition for the desired response, and which governor properties are capable of satisfying them. As an additional, and sometimes necessary, support to FCR, HVDC interconnections are utilized in the form of Emergency Power Control (EPC). This thesis investigates which of the EPC methods performs appropriately in terms of IFD improvement, closed-loop stability, and power and energy provided. The analysis is a continuation from the previous investigation on FCR, and mainly compare two EPC methods related to Nordic Power System (NPS) test case: ramp/step method which is currently implemented in the NPS, and droop frequency-based EPC, proposed by this study for the future operation in the NPS. Apart from ensuring a proper system frequency response, the influence of implemented HVDC supplementary active power control is analyzed to rotor angle stability. In further, this thesis presents a comprehensive analysis of the impact that proposed HVDC supplementary power control has on the linearized dynamics of power systems. By building a generic system, this analytical study is the first of its kind that includes both higher order generator dynamics, and local angle/frequency input of the controller. The methodological approach here analytically formulates the impact the HVDC supplementary control has mainly on the generator synchronizing and damping torque components. The positive impact of the droop frequency-based HVDC power support is highlighted using both single and multi-machine systems. In that way, the implementation of desired droop frequency-based HVDC control to mainly improve system frequency is motivated furthermore. It shows that a proper HVDC supplementary control may impose the various positive impacts for future variable and low inertia scenarios, and ensure a proper power system sustainability. / <p>QC 20200907</p> / multiDC - Advanced Control and Optimization Methods for AC and HVDC Grids

Voltage Impasse Region (VIR) is a phenomenon in power systemswhose dynamics are describe by a set of Differential AlgebraicEquations (DAE). VIR denotes a state-space area where voltagecausality is lost, i.e. the Jacobian of the algebraic part of DAEis singular. In a Time Domain Simulation (TDS) once system trajectoriesenter VIR, TDS experiences non-convergence of the solution.Then, there is no reason to continue with the simulation. Thisis why it is important to understand the mechanisms that introduceVIR. It is known that VIR appears in relation to static, non-linearload models. However, it remained unknown what the cumulativeeffect of several static, non-linear loads would be.This master thesis has further expanded the concept of VIRby carrying out a structured study on how the load modelling affectsVIR. For this purpose, this thesis proposes a quasi-dynamicmethodology to map VIR in the relative rotor angle space. Themethodology introduces a new discrete index called Voltage ImpasseRegion Flag (VIRflag), which allows to determine if the algebraicequations of DAE are solvable or not and, thus, to locate VIR.A test system is used to test the proposed quasi-dynamic approach.The VIRflag was first used to map VIR for various load combinations.Then, the relationship between TDS non-convergence issuesand the intersection of a trajectory with VIR is examined toverify the proposed methodology.The proposed method has been proved to be efficient in the determinationof VIR regardless of the number of non-linear loads inthe power system. Among the static exponential load models, theConstant Power (CP) load component has been identified as theone with the largest influence on VIR appearance and shape. TheConstant Current (CC) loads induce ”smaller" VIR areas and theConstant Impedance (CI) load can only alter the shape of VIR inthe presence of non-linear load models. / VIR (Voltage Impasse Regions) är ett fenomen i kraftsystem varsdynamiska förlöp beskrivs av differential-algebraiska ekvationer(DAE). VIR betecknar ett område i tillståndsrummet där går förlorad,dvs Jakobianen av den algebraiska delen av DAE är singulärI tidsdomän-simuleringar (TDS) när en trajektoria träffar VIR,konvergerar TDS inte till en lösning. Då finns ingen anledning attfortsätta med simuleringen. Därför är det viktigt att förstå mekanismernasom introducerar VIR. Det är känt att VIR är relateradetill statiska, icke-linjära lastmodeller. Det var dock okänt vadden kumulativa effekten av flera statiska, icke-linjära belastningarskulle vara.Denna uppsats har vidareutvecklat begreppet VIR genom attgenomföra en strukturerad studie om hur lastmodellering påverkarVIR. För detta ändamål föreslår denna avhandling en kvasidynamiskmetod för att kartlägga VIR i det relativa rotorvinkelrummet.Metoden introducerar ett nytt diskret index som heterVoltage Impasse Region Flag (VIRflag), vilket gör det möjligt attbestämma om den algebraiska delen av DAE är lösbar eller inteoch därmed lokalisera VIR. Ett används för att testa det föreslagnakvasi-dynamiska tillvägagångssättet. VIRflag användes först för attkartlägga VIR för olika belastningskombinationer. Därefter granskasförhållandet mellan konvergensproblem i TDS och korsningenmellan en trajektoria och VIR för att verifiera den föreslagna metoden.Den föreslagna metoden har visat sig vara effektiv vid bestämningav VIR, oberoende av antalet icke-linjära belastningar. Bland destatiska exponentiella belastningsmodellerna har konstanteffektlast(CP) haridentifierats som den som har störst inflytande påVIR;s form. Den konstantströmlasten (CC) inducerar mindre"VIRområdenoch konstantimpedanslasten (CI) kan endast ändra formenav VIR i närvaro av icke-linjära belastningsmodeller.

Secure operation of electric power grids fundamentally relies on their dynamical stability properties. For the third-order model, a paradigmatic model that captures voltage dynamics, three routes to instability are established in the literature: a pure rotor angle instability, a pure voltage instability, and one instability induced by the interplay of both. Here, we demonstrate that one of these routes, the pure voltage instability, requires infinite voltage amplitudes and is, thus, nonphysical. We show that voltage collapse dynamics nevertheless exist in the absence of any voltage instabilities.

The enhancement of the reliability, security, and resiliency of electric power systems depends on the availability of fast, accurate, and robust dynamic state estimators. These estimators should be robust to gross errors on the measurements and the model parameter values while providing good state estimates even in the presence of large dynamical system model uncertainties and non-Gaussian thick-tailed process and observation noises. It turns out that the current Kalman filter-based dynamic state estimators given in the literature suffer from several important shortcomings, precluding them from being adopted by power utilities for practical applications. To be specific, they cannot handle (i) dynamic model uncertainty and parameter errors; (ii) non-Gaussian process and observation noise of the system nonlinear dynamic models; (iii) three types of outliers; and (iv) all types of cyber attacks. The three types of outliers, including observation, innovation, and structural outliers are caused by either an unreliable dynamical model or real-time synchrophasor measurements with data quality issues, which are commonly seen in the power system. To address these challenges, we have pioneered a general theoretical framework that advances both robust statistics and robust control theory for robust dynamic state and parameter estimation of a cyber-physical system. Specifically, the generalized maximum-likelihood-type (GM)-estimator, the unscented Kalman filter (UKF), and the H-infinity filter are integrated into a unified framework to yield various centralized and decentralized robust dynamic state estimators. These new estimators include the GM-iterated extended Kalman filter (GM-IEKF), the GM-UKF, the H-infinity UKF and the robust H-infinity UKF. The GM-IEKF is able to handle observation and innovation outliers but its statistical efficiency is low in the presence of non-Gaussian system process and measurement noise. The GM-UKF addresses this issue and achieves a high statistical efficiency under a broad range of non-Gaussian process and observation noise while maintaining the robustness to observation and innovation outliers. A reformulation of the GM-UKF with multiple hypothesis testing further enables it to handle structural outliers. However, the GM-UKF may yield biased state estimates in presence of large system uncertainties. To this end, the H-infinity UKF that relies on robust control theory is proposed. It is shown that H-infinity is able to bound the system uncertainties but lacks of robustness to outliers and non-Gaussian noise. Finally, the robust H-infinity filter framework is proposed that leverages the H-infinity criterion to bound system uncertainties while relying on the robustness of GM-estimator to filter out non-Gaussian noise and suppress outliers. Furthermore, these new robust estimators are applied for system bus frequency monitoring and control and synchronous generator model parameter calibration. Case studies of several different IEEE standard systems show the efficiency and robustness of the proposed estimators. / Ph. D. / The enhancement of the reliability, security, and resiliency of electric power systems depends on the availability of fast, accurate, and robust dynamic state estimators. These estimators should be robust to gross errors on the measurements and the model parameter values while providing good state estimates even in the presence of large dynamical system model uncertainties and non-Gaussian thick-tailed process and observation noises. There are three types of gross errors or outliers, namely, observation, innovation, and structural outliers. They can be caused by either an unreliable dynamical model or real-time synchrophasor measurements with data quality issues, which are commonly seen in the power system. The system uncertainties can be induced in several ways, including i) unknowable system inputs, such as noise, parameter variations and actuator failures, to name a few; ii) unavailable inputs, such as unmeasured mechanical power, field voltage of the exciter, unknown fault location; and iii) inaccuracies of the model parameter values of the synchronous generators, the loads, the lines, and the transformers, to name a few. It turns out that the current Kalman filter-based dynamic state estimators suffer from several important shortcomings, precluding them from being adopted by power utilities for practical applications. To address these challenges, this dissertation has proposed a general theoretical framework that advances both robust statistics and robust control theory for robust dynamic state and parameter estimation. Specifically, the robust generalized maximum-likelihood-type (GM)- estimator, the nonlinear filter, i.e., unscented Kalman filter (UKF), and the H-infinity filter are integrated into a unified framework to produce various robust dynamic state estimators. These new estimators include the robust GM-IEKF, the robust GM-UKF, the H-infinity UKF and the robust H-infinity UKF. Specifically, the GM-IEKF deals with the observation and innovation outliers but achieving relatively low statistical efficiency in the presence of non-Gaussian system process and measurement noise. To address that, the robust GM-UKF is proposed that is able to achieve a high statistical efficiency under a broad range of non-Gaussian noise while maintaining the robustness to observation and innovation outliers. A reformulation of the GM-UKF with multiple hypothesis testing further enables it to handle three types of outliers. However, the GM-UKF may yield biased state estimates in presence of large system uncertainties. To this end, the H-infinity UKF that depends on robust control theory is proposed. It is able to bound the system uncertainties but lacks of robustness to outliers and non-Gaussian noise. Finally, the robust H-infinity filter framework is proposed that relies on the H-infinity criterion to bound system uncertainties while leveraging the robustness of GM-UKF to filter out non-Gaussian noise and suppress outliers. These new robust estimators are applied for system bus frequency monitoring and control and synchronous generator model parameter calibration. Case studies of several different IEEE standard systems show the efficiency and robustness of the proposed estimators.

O presente trabalho propõe, como inovação, o limite superior para a energia da saída do sistema em malha fechada como índice de desempenho a ser usado no projeto de controladores robustos para amortecer oscilações eletromecânicas de baixa freqüência em sistemas de potência. A saída do sistema em malha fechada é especificada de forma que a energia da saída corresponda ao valor acumulado do desvio da energia cinética do sistema. O índice de desempenho proposto mostrou-se adequado ao problema de oscilações eletromecânicas. Tal índice de desempenho é utilizado na formulação de uma metodologia sistemática de projeto. O problema de controle é estruturado na forma de desigualdades matriciais lineares, permitindo a obtenção de uma solução numérica para o problema. A obtenção da solução do problema de controle proposto (energia da saída como índice de desempenho) exige menos dispêndio computacional, quando comparado com o tradicional fator de amortecimento mínimo na forma de posicionamento regional de pólos. Tal característica pode ser significativa para o tempo computacional requerido pelo projeto de controladores envolvendo modelos sistemas de potência de ordem elevada. O projeto de controladores de amortecimento robustos, baseados em modelos multimáquinas que dispensem a hipótese de existência de um barramento infinito, constitui a segunda parte da pesquisa proposta. Os problemas inerentes à hipótese do barramento infinito são resolvidos pelo uso de duas abordagens que não adotam tal hipótese. A primeira abordagem adotada refere-se ao uso de um modelo multimáquinas com o ângulo de uma das máquinas do sistema como referência angular. A segunda alternativa proposta é a incorporação do sistema primário de controle de velocidade no modelo multimáquinas referente à primeira alternativa. Além de resolver o problema referente ao uso do barramento infinito, o presente trabalho também propõe análises da influência da hipótese de tal barramento no projeto de controladores de amortecimento. A influência da hipótese do barramento infinito no projeto dos controladores é delineada por meio dos fundamentos expostos e dos resultados obtidos com as diferentes alternativas utilizadas / The present work proposes, as innovation, an upper bound for the output energy of the closed loop system to be used as a performance index in the design of robust controllers to damp low-frequency electromechanical oscillations in electric power systems. The output of the closed loop system is specified so that the output energy corresponds to the accumulated value of the kinetic energy deviation of the closed loop system. The performance index used in the procedure has shown to be suitable to the oscillation problem. The proposed performance index is used in the formulation of a systematic design methodology. The control problem is structured in the form of linear matrix inequalities, allowing a numerical solution to the control problem. The adopted performance index is less costly in terms of computational effort when compared with the traditional minimum damping ratio (performance index usually accepted in power system as small signal stability margin) via regional pole placement in the LMI formulation. This characteristic may be significant to the computational time required for the controller design involving large power system models. The robust damping controller design, based on multimachine models without the infinite-bus assumption, constitutes the second part of this research proposal. The problems inherent to the infinte-bus assumption are solved by means of two approaches which do not use such assumption. The first proposed approach refers to the use of a multimachine model adopting one machine angle of the system as angular reference. The second adopted approach is the incorporation of the primary speed control in the multimachine model regarding to the first approach. Besides solving the problem regarding to the use of infinite-bus assumption, the present work also proposes analyses of such assumption influence in the design of damping controllers. The influence of such assumption, in the design of the controllers, is outlined by means of exposed fundamentals and results obtained with the proposed approaches

O presente trabalho propõe, como inovação, o limite superior para a energia da saída do sistema em malha fechada como índice de desempenho a ser usado no projeto de controladores robustos para amortecer oscilações eletromecânicas de baixa freqüência em sistemas de potência. A saída do sistema em malha fechada é especificada de forma que a energia da saída corresponda ao valor acumulado do desvio da energia cinética do sistema. O índice de desempenho proposto mostrou-se adequado ao problema de oscilações eletromecânicas. Tal índice de desempenho é utilizado na formulação de uma metodologia sistemática de projeto. O problema de controle é estruturado na forma de desigualdades matriciais lineares, permitindo a obtenção de uma solução numérica para o problema. A obtenção da solução do problema de controle proposto (energia da saída como índice de desempenho) exige menos dispêndio computacional, quando comparado com o tradicional fator de amortecimento mínimo na forma de posicionamento regional de pólos. Tal característica pode ser significativa para o tempo computacional requerido pelo projeto de controladores envolvendo modelos sistemas de potência de ordem elevada. O projeto de controladores de amortecimento robustos, baseados em modelos multimáquinas que dispensem a hipótese de existência de um barramento infinito, constitui a segunda parte da pesquisa proposta. Os problemas inerentes à hipótese do barramento infinito são resolvidos pelo uso de duas abordagens que não adotam tal hipótese. A primeira abordagem adotada refere-se ao uso de um modelo multimáquinas com o ângulo de uma das máquinas do sistema como referência angular. A segunda alternativa proposta é a incorporação do sistema primário de controle de velocidade no modelo multimáquinas referente à primeira alternativa. Além de resolver o problema referente ao uso do barramento infinito, o presente trabalho também propõe análises da influência da hipótese de tal barramento no projeto de controladores de amortecimento. A influência da hipótese do barramento infinito no projeto dos controladores é delineada por meio dos fundamentos expostos e dos resultados obtidos com as diferentes alternativas utilizadas / The present work proposes, as innovation, an upper bound for the output energy of the closed loop system to be used as a performance index in the design of robust controllers to damp low-frequency electromechanical oscillations in electric power systems. The output of the closed loop system is specified so that the output energy corresponds to the accumulated value of the kinetic energy deviation of the closed loop system. The performance index used in the procedure has shown to be suitable to the oscillation problem. The proposed performance index is used in the formulation of a systematic design methodology. The control problem is structured in the form of linear matrix inequalities, allowing a numerical solution to the control problem. The adopted performance index is less costly in terms of computational effort when compared with the traditional minimum damping ratio (performance index usually accepted in power system as small signal stability margin) via regional pole placement in the LMI formulation. This characteristic may be significant to the computational time required for the controller design involving large power system models. The robust damping controller design, based on multimachine models without the infinite-bus assumption, constitutes the second part of this research proposal. The problems inherent to the infinte-bus assumption are solved by means of two approaches which do not use such assumption. The first proposed approach refers to the use of a multimachine model adopting one machine angle of the system as angular reference. The second adopted approach is the incorporation of the primary speed control in the multimachine model regarding to the first approach. Besides solving the problem regarding to the use of infinite-bus assumption, the present work also proposes analyses of such assumption influence in the design of damping controllers. The influence of such assumption, in the design of the controllers, is outlined by means of exposed fundamentals and results obtained with the proposed approaches

We address the question of performance of large-scale networks with distributed feedback control. We consider networked dynamical systems with single and double integrator dynamics, subject to distributed disturbances. We focus on two types of problems. First, we consider problems modeled over regular lattice structures. Here, we treat consensus and vehicular formation problems and evaluate performance in terms of measures of “global order”, which capture the notion of network coherence. Second, we consider electric power networks, which we treat as dynamical systems modeled over general graphs. Here, we evaluate performance in terms of the resistive power losses that are incurred in maintaining network synchrony. These losses are associated with transient power flows that are a consequence of “local disorder” caused by lack of synchrony. In both cases, we characterize fundamental limitations to performance as networks become large. Previous studies have shown that such limitations hold for coherence in networks with regular lattice structures. These imply that connections in 3 spatial dimensions are necessary to achieve full coherence, when the controller uses static feedback from relative measurements in a local neighborhood. We show that these limitations remain valid also with dynamic feedback, where each controller has an internal memory state. However, if the controller can access certain absolute state information, dynamic feedback can improve performance compared to static feedback, allowing also 1-dimensional formations to be fully coherent. For electric power networks, we show that the transient power losses grow unboundedly with network size. However, in contrast to previous results, performance does not improve with increased network connectivity. We also show that a certain type of distributed dynamic feedback controller can improve performance by reducing losses, but that their scaling with network size remains an important limitation. / <p>QC 20160504</p>