1.

Introduction

Stability of a power system has been and continues to be of major concern in system operation. In general terms, power system stability refers to that property of the power system which enables the system to maintain an equilibrium operating point under normal conditions and to attain a state of equilibrium after being subjected to a disturbance. As primarily synchronous generators are used for generating power in grid, power system stability is generally implied by the ability of the synchronous generators to remain in synchronism or in step. On the other hand, if the synchronous generators loose synchronism after a disturbance, then the system is called unstable. The basic concept of synchronism can be explained as follows. In the normal equilibrium condition, all the synchronous generators run at a constant speed and the difference between the rotor angles of any two generators is constant. Under any disturbance, the speed of the machines will deviate from the steady state values due to mismatch between mechanical and electrical powers (torque) and therefore, the difference of the rotor angles would also change. If these rotor angle differences (between any pair of generators) attain steady state values (not necessarily the same as in the pre-disturbance condition) after some finite time, then the synchronous generators are said to be in synchronism. On the other hand, if the rotor angle differences keep on increasing indefinitely, then the machines are considered to have lost synchronism. Under this out of step condition, the output power, voltage etc. of the generator continuously drift away from the corresponding pre-disturbance values until the protection system trips the machine. Any disturbance small or large can affect the synchronous operation. The disturbance can be divided into two categories (a) small and (b) large. (a) Steady-state or Small signal stability A power system is steady state stable for particular steady state operating condition if, following a disturbance, it reaches a steady state operating condition which is identical or close to pre-disturbance condition. (b) Transient stability A power system is transiently stable for a particular steady-state operating condition and for a particular(large) disturbance or sequence of disturbances, if following that disturbance(s) it reaches an acceptable steady-state operating condition. While steady-state stability is a function only of the operating condition, transient stability is a function of both operating condition and the disturbance(s). A power system is mathematically described by a set of non-linear differential equations. Since, analytical solution does not exist even for a simple system, it has been the practice to numerically solve the system equations. This is computationally intensive, particularly in view of the fact that, even for a given system configuration with a specified operating point, the transient stability is a function of the disturbance.