15.3. Prove Eq. (15.47).

15.4. Consider the voltages at the two nodes labeled CD and @ in the circuit of Fig.
15.7 to be state variables. Using the ammeters and voltmeters connected as shown
in Fig. 15.l and their readings given in Example 15.1, determine the weighted
least-squares estimates of these node voltages. Using the result, determine the
source voltages V1 and V2 and compare the results with those of Example 15.1.
Also, calculate the expected value of the sum of squares of the measurement
residuals using Eq. (15.46) and check your answer using Eq. (15.47).

15.6. Five ammeters numbered A 1 to A 5 are used in the de circuit of Fig. 15.8 to
determine the two unknown source currents / 1 and /2 . The standard deviations
of the meter errors are 0.2 A for meters A 2 and A 5 and 0.1 A for the other
three meters. The readings of the five meters are 0.12, "l.18, 3.7, 0.81, and
7.1 A,
respectively.
(a) Determine the weighted least-squares estimates of the source currents /1
and /2

PROBLEMS

689

FIGURE 15.8

DC circuit with five ammeters.

= 0.01, check for the presence

of bad data in the measurements.
(c) Eliminate any bad data detected in part (b) and find the weighted least-squares
estimates of the source currents using the reduced data set.
(d) Apply the chi-square test for a = 0.01 to the results of part (c) to check if the
result is statistically acceptable.
(b) Using the chi-square test of Eq. (15.49) for a

15.7. Redo Prob. 15.6 when the unknowns to be determined are not the source
currents
but, rather, the voltages at the three nodes labeled CD, @,and
in Fig. 15.8.
15.8. Consider the circuit of Fig. 15.8 for which accuracy of the ammeters and their
readings are the same as those specified in Prob. 15.6. As in Prob. 15.7,
the
voltages at the three nodes labeled CD, Cl), and (]) are to be estimated without
first finding the source currents.

(a) Suppose

that meters A 4 and A 5 are found to be out of order, and

therefore only three measurements z 1 = 0.12, z 2 = 1.18, and z 3 = 3.7 are
available. Determine the weighted least-squares estimates of the nodal
voltages and the estimated errors el, ez, and e3.
(b) This time suppose meters A 2 and A 5 arc out of order and the
remaining three meters arc working. Using three measurements z 1 = 0.12,
z 3 = 3.7, and z 4 = 0.81, can the nodal voltages be estimated without
finding the source
currents first? Explain why by examining the matrix G.

15.9. Suppose that the two voltage sources in Exar.lple 15.l have been replaced
with new ones, and the meter readings now show z 1 = 2.9 A, z 2 = 10.2 A, z 3 =
5.1 V, and z 4 = 7.2 V.
(a) Determine the weighted leasl-s uares estimates of the new source voltages.
(b) Using the chi-square test for a = 0.005, detect bad data.
(c) Eliminate the bad data and determine again the weighted least-squares
estimates of the source voltages.
(d) Check your result in part (c) again using the chi-square test.
15.10.Five wattm ters are installed on the four-bus system of Fig. 15.9 to measure
line real power Hows, where per-unit reactances of the lines are X 12 = 0.05, X 13
= 0.1,

690

CHAPTER 15 STATE ESTIMATION OF POWER SYSTEMS

60MW

40MW

.................... @

---..-@

70MW

50MW

FIGURE 15.9
Four-bus network.

X23 = 0.04, X 24
that

0.0625, and X34

0.08. Suppose that the meter readings show

z 1 = P
unit

12

0.34 per

z2 = P
unit

13

0.26 per

z
z

=PD= 0.17 per unit

4 =

unit z

P24 = -0.24 per

5 =

P34

-0.22

per unit
where the variances of the measurement errors in per unit are given by

(a) Apply the de power-How method of Sec. 9.7 to this network with bus

CD as

reference and determine the corresponding H matrix. Then, compute the

weighted least-squares estimates of the phase angles of the bus voltages in
radians.
(b) Using the chi-square test for a = 0.01, identify two bad measurements.
Between the two bad measurements one is not worse than the other as far as

PROBLEMS

691

accuracy is concerned. Explain why. If both bad measurements are eliminated

simultaneously, would it be possible to estimate the states of the system?
(c) For the two bad measurements identified in part (b), determine the relation
ship between the two error estimates in terms of the reactances of the
corresponding two lines.
(d) Eliminate one of the bad measurements :dentified in part (b) and determine
the weighted least-squares estimates of the phase angles of the bus voltages
using the reduced data set. Do the same for the other bad measurement. By
comparing the two results, identify the buses at which the estimated phase
angles are equal in the two cases.

15.11.

In the four-bus system of Prob. 15.10 suppose that the variance of the
measure ment error for z 5 is (0.05) 2 and that all the other data remain the
same. Qualitatively describe how the newly estimated values 24 and i 5 of the
measure ments will differ from those obtained in Prob. 15.10. Verify your
answer by recalculating the weighted least-squares estimates of the phase angles
(in radians) of the bus voltages and the corresponding i.
15.12.Suppose that a line of impedance j0.025 per unit is added between buses
and

CD

@ in the network of Fig. 15.9, and that a wattmeter is installed on this line at
bus CD. The variance of the measurement error for this added w attmeter is
assumed to be the same as that of the others. The meter readings now show
Z1

= P12 = 0.32 per unit

Zz

P13

= 0.24 per unit

Z3

P23

= 0.16 per unit

Z4

P24

= -0.29 per unit

Z5

P34

= -0.27 per unit

z6

P14

0.05 per unit

(a) Find the H matrix that describes the de power flow with bus

CD as reference

and compute the weighted least-squares estimates of the phase angles of

the bus voltages in radians.
(b) Using the chi-square test for a = 0.01, eliminate any bad data and
recompute the weighted least-squares estimates of the phase angles of the
bus voltages.
Check your result again using the chi-sq.iare test for a = 0.01.
15.13.In the four-bus system described in Prob. 15.12 suppose that the wattmeter on
line
CD-@ is out of order and that the readings of the remaining five
wattmeters
are the same as those specified in Prob. 15.12.
(a) Apply the de power-flow analysis with bt:.s
as reference and determine the
H matri.x. Then, compute the weighted least-squares estimates of the phase angles of the bus voltages in radians.
(b) Using the chi-square test for a = 0.01, identify two bad measurements.
Eliminate one of them and compute the weighted least-squares estimates of
the bus-voltage phase angles. Restore the eliminated bad measurement and
remove the second one before recompt:ting the estimates of the bus-voltage
'

CD

692

CHAPTER 15 STATE ESTIMATION OF POWER SYSTEMS

phase angles. Compare the two sets of results and identify the buses at which
the estimated angles are equal in the two cases. Does the presence of line
CD-@ (but with no line measurement) affect the identification of those
buses? Compare the identified buses with those identified in Prob. 15.lO(d).
15.14.

Three voltmeters and four wattmeters are installed on the three-bus system of
Fig. 15.10, where per-unit reactances of the lines are X 12 = 0.1, X 13 = 0.08, and
Xi.1 = 0.05. The per-unit values of the three voltmeter measurements arc z 1
=

IVil = 1.01, z 2 = IV2 1=1.02, and z 3 = IV1, 1=0.98. The readings of the
two
unit wattmeters measuring MW generation at buses Q) and @ are z 4 = 0.48 per
and z = 0.33 per unit, respectively. The measurement of the wattmeter on line
CD- 3 at bus CD shows z6 = 0.41 per unit and that of the wattmeter on line
@- 3 at bus @ is z 7 = 0.38 per unit. The variances of the measurement
errors arc given in per unit as

a}

o-f

o-{

(0.02)

0-42 - U52 - (J62 - <I72 -

(a) Use bus

CD

1\ 0 .05) 2

as reference to find expressions for the elements of the matrix

W: Wattmeter
Vm : Voltmeter

FIGURE 15.10
Three-bus network.

PROBLEMS

6?3

H k> and those of the measurement errors e k> in terms of state variables, as
done in Example 15.5.

(b) Using the initial value of

per unit for all bus voltages, find the values
of the state variables that will be obtained at the end of the first iteration of
the weighted least-squares state-estimation process.

to.LQ:_

15.15.Application of the weighted least-squares state estimation to the three-bus system

with all the measurements described in Prob. 15.14 yields the following
estimates of the states:

I V1 I =

1.0109 per unit

I V2 I

1.0187 per unit

52 = -0.0101 radians

IV3 I

0.9804 per unti

o3 =

-0.0308 radians

The sequence of dfagonal elements in the covariance matrix R' is 0.8637 X 10-6,
0.1882 x 10-s, 0.2189 x 10-6, 0.7591 x 10-3, 0.8786 x 10-3, 0.1812 x 10-2 ,
and
0.1532 x 10-2 . Find the estimates of the measurement errors e; and the corre
sponding standardized errors.
15.16.Solve Prob. 15.14 when the two wattmeters installed on lines

CD-Q) and @-

are replaced with two varmeters and their readings are 0.08 and 0.24 per
unit, respectively.
15.17.Suppose that real and reactive power flows are measured at both ends of each
of the five lines in the four-bus system of Fig. 15.9 using ten wattmeters
and ten varmeters. The voltage magnitude is measured at bus @ only, and
bus injected
powers are not measured at all.
(a) Determine the structure of Hx by writing the partial derivative form of
its nonzero elements, as shown in Example 15.8. Assume that line-flow
measure
ments are ordered in the following sequence: CD-0, CD-@, 0-@,
0-, and@-@ (and the same sequence also in reverse directions).
(b) Suppose that the clements of the Y bus of the network are given by

Y..IJ =G--+1B..
= IY-1
le ..
IJ
I)
I}

(c)

and that the total charging susccptance of line CD-(]) is B;i. Write out
nonlinear functions which express the measured quantities P21 and Q21 in
terms of state variables.
In terms of state variables write out the expressions, similar to those given in
Example 15.8, for the nonzero elements in the rows of the matrix H.
corresponding to measurements P21 and Q 21
15.18.The method of Example 15.8 based on measurements of only line flows (plus
a voltage measurement at one bus) is applied to the three-bus system of Fig.
15.10 using
three wattmeters
and three
varmeters. The per-unit values
of the

694

CHAPTER 15

STATE ESTIMATION OF POWER SYSTEMS

measurements are

IV1 I = 1.0

= -0.101

Z1

Z2

= P12 = 0.097

z6 = Q13

0.048

Z3

= P 13 = 0.383

Z7

0.276

Z4

= P23 = 0.427

Z5

Q12

Q23

where the variances of all the measurements arc (0.02) 2 . The per-unit rcactanccs
of the lines arc as specified in Prob. 15.14. Using bus
as reference and
flat-start values, find the values of the state variables that will be obtained at the
end of the first iteration of the weighted least-squares slate estimation.

CD

\_