Stochastic Subspace Identification Validation
of PV Inverter Operation Improvement
with Optimally–Tuned Controllers
Ali Arzani1, Student Member, IEEE, Paranietharan Arunagirinathan1, Student Member, IEEE,
Ganesh K. Venayagamoorthy1,2, Senior Member, IEEE
1
Real-Time Power and Intelligent Systems Laboratory, Clemson University, SC, USA
2
School of Engineering, University of KwaZulu–Natal, Durban, South Africa
{aarzani, parunag}@g.clemson.edu and gkumar@ieee.org
Abstract — Recent literature present enhanced operation of
power electronics interfaces (PEI) through application of
controller heuristic self-tuning techniques in the time-domain. For
switch mode Photovoltaic (PV) inverters, this results in optimal
adjustment of PEI controller gains, leading to transient energy
reduction when PV system is subject to perturbations. In this
study, with injecting active power measurements at point of
common coupling and during large perturbations in irradiance, an
empirical measurement based eigenvector estimation theory i.e.
Stochastic Subspace Identification method (SSI) is used to analyze
the SSI results in the frequency domain. The PV-VSIs in a grid-
connected MW-scale PV plant are operational with manual- and
heuristic-tuned controllers, implemented in both stationary and
synchronous reference frames. The SSI results in frequency
domain are compared with time-domain to conclude the
effectuality of the SSI empirical approach in validating
improvement in PV inverter operation with heuristic-tuned PV-
VSI controllers’ parameters in time-domain.
Index Terms— PV-inverter controller tuning, grid dynamics,
frequency-domain analysis, stochastic subspace identification
I. INTRODUCTION
Grid integration of renewable energy sources (RES), brings
with itself operational challenges, mainly due to power
fluctuations of renewables and rapid ramp up/down rate of zero-
inertia generators. Increasing PV penetration, has the potential
of causing adverse effects on the power grid. Voltage
sags/swells, harmonics injection, and flicker emission require
to be in compliance with present PV interconnection grid codes
i.e. IEEE 1547, in which is the de-facto standard for Distributed
Energy Resources (DER) grid integration. Thus, it is vital the
injected current (active power at unity power factor) under
small or large perturbations in irradiance, does not violate the
standard requirements and remain within acceptable norms.
This work is supported in part by US National Science Foundation (NSF)
under grant #1312260, #1408141, #1738902 and the Duke Energy
Distinguished Professor Endowment Fund. Any opinions, findings, and
conclusions or recommendations expressed in this material are those of the
author(s) and do not necessarily reflect the views of National Science
Foundation and Duke Energy.
978-1-7281-0316-7/18/$31.00 ©2018 IEEE
There are two main methods to model and analyze dynamic
systems, (1) analytical methods, founded on mathematical
modeling of the system, (2) data-driven techniques, which are
mainly based on observations and practical measurements at
input-output of the system. With system identification
techniques, one constructs mathematical models of complex
systems by utilizing physical characteristics of the system
incorporated with measured input-output data (data-driven
modeling). It becomes useful for a variety of applications,
including extracting simplified models for large systems, model
validations, and controller tunings [1]. System identification
techniques applied to large power systems reduces the
computation time compared to contemporary analytical
methods. Thus, measurement based procedures seem to be a
practical approach in such conditions, enabling one to utilize it
for comparing controller tuning effectiveness in frequency
domain.
Time-domain data-driven approaches for optimal tuning of
VSI controllers have been recently investigated by researchers
including in [3, 4] with applications in renewable energy
systems. In the time-domain approach investigated in [5], a
performance index is formulated, in which the amount of
injected PV system Transient Energy (T.E.) at Point of
Common Coupling (PCC) provides a viable measure of
assessing PV-VSI performance with heuristic-tuned controllers
compared to manual-tuned controllers in the time-domain
spectra. It shows that with sudden perturbations in injected PV
power, smooth and reliable operation of the PV-inverter is
dependent on its controller loops tuning. The time-domain
analyses of PV systems indicate that independent of size,
location, and inverter control scheme method, the operation
enhancement i.e. improvement in time-response with injected
perturbations has been achieved by implementing heuristic-
based controllers, in Fig. 1b and Fig. 1c. It has been shown in
[5] that the output response of the system in Fig. 1a, that is
assessed by rise-time, overshoot, and settling-time for injected
dc-link voltage, active and reactive power have improved with
tuning of each inverter control loops.
This paper illustrates the results already achieved in time-
domain in [5] through data-driven modeling and frequency
domain analysis of system electromechanical modes at point of
 PMU AREA1 PMU AREA2
PMU G3
PMU G1
7 9
8 10
G1 1 5 6 110 km 110 km 11 3 G3

~ ~
10 km 25 km
25 km 10 km

20 kV 230 kV PMU
230kV
12
PV Plant
PMU G2 PMU G4 210 MW
2 20 kV 20 kV 4
11kV
13.8kV
AGC Area 1
~ G2 ~ G4
AGC Area 2

AREA 1 AREA 2

PEI
DC-Source

0.48kV / 13.8kV
Lf
DC-DC Converter

Cf PCC
VSI MV Grid
PV-Array DC-Link

Grid Synchron iza tion

Grid Monitorin g

MPPT DC-Link Re gulation

Voltage Step-Down Reactive Power Set

Input-Side Controller CC-SPWM

Power Qua lity

Grid-Side Controller
PV-System Control Functions

(a)

Fig. 1. PV plant structure (a) Single-line diagram of the PV plant, (b) PV-VSI grid-side self-tuning control schemes in dq− and (c) abc−reference frames
PV system connection, considering the PV-VSI as a black-box The measured data is divided into two segments, namely past
i.e. only input-output measurements of the PV-VSI are of and future. The block Hankel matrix of the past (Ypast) and
interest. This is performed based on applying a stochastic future (Yfuture) output data arrays is defined by (2). While the
system identification approach [1] on the system with MW- Hankel matrix of past and future input data arrays i.e. Upast and
scale PV plants in a transmission system. Evidently, Ufuture is determined similar to (2), with replacing Y that is ω
information about critical modes and damping ratios are with u.
defining questions in operating the power system. System
identification has been used as an alternative data-driven 𝑌𝑌𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑌𝑌0|𝑖𝑖−1
𝐻𝐻 = � �=� �
technique for performing modal analysis on simulated models. 𝑌𝑌𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑌𝑌𝑖𝑖|2𝑖𝑖−1
SSI has been applied to power systems for cases where only
certain modes are of interest, e.g. for system stability analysis 𝑦𝑦(0) 𝑦𝑦(1) … 𝑦𝑦(𝑗𝑗 − 1)
and with Power System Stabilizer (PSS) tuning [6, 7]. Prony ⎛ 𝑦𝑦(1) 𝑦𝑦(2) … 𝑦𝑦(𝑗𝑗) ⎞
and Matrix Pencil are other traditional methods of power ⎜ … … … … ⎟
system modal analysis. Fourier analysis is extended through ⎜ 𝑦𝑦(𝑖𝑖 − 1) 𝑦𝑦(𝑖𝑖) … 𝑦𝑦(𝑖𝑖 + 𝑗𝑗 − 2) ⎟
Prony, by directly calculating oscillation frequency and = ⎜ − − − − − − − − − − − − − ⎟ (2)
⎜ 𝑦𝑦(𝑖𝑖) 𝑦𝑦(𝑖𝑖 + 1) … 𝑦𝑦(𝑖𝑖 + 𝑗𝑗 − 1) ⎟
damping ratio of the modal component present in the analyzed ⎜ 𝑦𝑦(𝑖𝑖 + 1) 𝑦𝑦(𝑖𝑖 + 2) … 𝑦𝑦(𝑖𝑖 + 𝑗𝑗) ⎟
waveform. The authors in [8] have demonstrated that similar ⎜ … ⎟
… … ..
electromechanical modes are extracted utilizing either of the 𝑦𝑦(2𝑖𝑖 − 1) 𝑦𝑦(2𝑖𝑖) … 𝑦𝑦(2𝑖𝑖 + 𝑗𝑗 − 2)
aforementioned two conventional methods. In this study, SSI ⎝ ⎠
approach is used for the data window length and sampling time 𝑇𝑇
step, in determining mode damping and frequency. Section II 𝑊𝑊𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 = �𝑈𝑈𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑇𝑇 , 𝑌𝑌𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑇𝑇 � (3)
gives an overview of the SSI technique modeling. Section III
discusses the simulation results through applying this approach 𝑌𝑌𝑓𝑓𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢
𝑂𝑂𝑖𝑖 = (4)
to PV systems with manual-tuned controllers as well as PV 𝑈𝑈𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑊𝑊𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝
systems with heuristic tuned controller parameters. With the
grid having reached higher damping ratios under various where 𝑊𝑊𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 is the historical dataset and 𝑂𝑂𝑖𝑖 is an oblique
operating conditions of the grid-connected PV system, it is projection from Yfuture to Wpast along Ufuture that is performed in
concluded that the performance enhancement of the PV-VSI order to find the mapping from Wpast to Yfuture with the absence
with heuristic-tuned controllers have been demonstrated in of Ufuture. The mapping is necessary considering the fact that the
frequency domain. future output is affected by both Wpast and Ufuture.
Singular Value Decomposition (SVD) is applied to calculate
II. STOCHASTIC SUBSPACE IDENTIFICATION matrix rank and numerical representation, which is a well
understood robust and efficient technique from numerical linear
The representation of complex and non-linear systems algebra. It is applied as follows:
through state space is important in model based control system
design. State space representation has been used to model
𝑆𝑆 0 𝑉𝑉1𝑇𝑇
complex systems [9, 10]. A multi-input multi-output state space 𝑂𝑂𝑖𝑖 = 𝑈𝑈𝑈𝑈𝑈𝑈 𝑇𝑇 = [𝑈𝑈1 𝑈𝑈2 ] � 1 � � � = 𝐺𝐺𝑖𝑖 𝑋𝑋𝑖𝑖 (5)
0 0 𝑉𝑉2𝑇𝑇
identification method has been used for modal analysis and
optimization [11]. This research utilizes a stochastic subspace 𝑋𝑋𝑖𝑖 = 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝(𝐺𝐺𝑖𝑖 ). 𝑂𝑂𝑖𝑖 (6)
identification (SSI) method [1] to derive the system state-space
model, eliminating the need of first principle mathematical Gi= U1S11/2 (7)
modeling for all system components. In the following cases,
SSI is applied to (a) an input/output based model and (b) an
where S1 ∈ ℝ𝑟𝑟 is a diagonal matrix of non-zero singular-values,
output based model of the system. Once system matrices are
and U1 , U2 , V1 , V2 , are matrices obtained from the SVD, and
identified from either (a) or (b) approach, modal analysis is
pinv() is the Moore–Penrose pseudo-inverse. Each column of
performed to identify the dominant local and inter-area
Xi has the same dimension as state variable matrix x. It is the
electromechanical oscillation modes.
estimate of system states at each instance. Similar to finding Xi
using (3)–(7), Xi+1 can be realized with below submatrices
a. Input and output based model similar to (2):
Utility grid can be expressed as a discrete state-space model
by (1), in which column vectors x ∈ ℝ𝑛𝑛 , u ∈ ℝ𝑝𝑝 , and ω ∈ ℝ𝑚𝑚 ⎧ 𝑈𝑈𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 = 𝑈𝑈0|𝑖𝑖
are the system states, supplementary input(s), and system ⎪𝑈𝑈𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 = 𝑈𝑈𝑖𝑖+1|2𝑖𝑖−1
(8)
output(s) of interest i.e. speed deviations, respectively. T and k ⎨ 𝑌𝑌𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 = 𝑌𝑌0|𝑖𝑖
are sampling interval and sampling index, in this case T=16ms. ⎪ 𝑌𝑌𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 = 𝑌𝑌𝑖𝑖+1|2𝑖𝑖−1
⎩

𝑥𝑥(𝑘𝑘𝑘𝑘 + 𝑇𝑇) = 𝐴𝐴𝐴𝐴(𝑘𝑘𝑘𝑘) + 𝐵𝐵𝐵𝐵(𝑘𝑘𝑘𝑘) The estimated system state variables at every instance must
ω(𝑘𝑘𝑘𝑘) = 𝐶𝐶𝐶𝐶(𝑘𝑘𝑘𝑘) + 𝐷𝐷𝐷𝐷(𝑘𝑘𝑘𝑘) (1) satisfy (1). Applying another pseudo-inverse using equation (9),
the system sate-space space representation coefficient matrices
is estimated.
 𝑋𝑋𝑖𝑖+1 𝐴𝐴 𝐵𝐵 𝑋𝑋𝑖𝑖
� 𝑌𝑌 � = � �� �
𝑖𝑖|𝑖𝑖 𝐶𝐶 𝐷𝐷 𝑈𝑈𝑖𝑖|𝑖𝑖
Using this approach, the system sate-space space
representation coefficient matrices is estimated in two steps:
1. Small perturbation injection as system input, following
measurement of system output during a confined time-
window.
2. Estimation of system matrices using equations (1)–(9).
b. Output based model
Measurement of the output might be the only approach for
system modeling in some cases that injection of small
perturbations as inputs is not possible. Thus, system state-space
representation is in discrete form when there is no input. The
estimation of Xi and Xi+1 is the same as Section IIa, while the
past and future input submatrices will be eliminated forming
𝑇𝑇
𝑊𝑊𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 = �𝑌𝑌𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑇𝑇 � . Eventually, the coefficient matrices are
estimated according to (11).
𝑥𝑥 [𝑘𝑘𝑘𝑘 + 𝑇𝑇] = 𝐴𝐴𝐴𝐴[𝑘𝑘𝑘𝑘]
𝑦𝑦[𝑘𝑘𝑘𝑘] = 𝐶𝐶𝐶𝐶[𝑘𝑘𝑘𝑘]
𝑋𝑋𝑖𝑖+1
𝐴𝐴
� 𝑌𝑌 � = � � 𝑋𝑋𝑖𝑖
𝑖𝑖|𝑖𝑖 𝐶𝐶
Using this approach, the system sate-space representation
coefficient matrices is estimated in two steps:
1. Measurement of system output, when a disturbance has
occurred.
2. Estimation of system matrices similar to Section IIa.
c. Modal analysis based on system matrices
Once the matrices of the system have been specified, modal
analysis is performed to specify the oscillation modes and
controllability/observability factor. Eventually, the oscillatory
mode residue Ri that is a measure of mode sensitivity to
feedback among output and input is estimated with multiplying
the mode’s observability and controllability factors as in (16).
𝐴𝐴 = ψ1 Λ ψ2
η𝑚𝑚𝑚𝑚 = 𝐶𝐶𝑚𝑚 . ψ1𝑖𝑖
where:
(9)
ψ1ψ2= I
Λ= diag {λ1, λ2, ...λn}
Cm mth row of matrix C
Bn nth column of matrix B
ψ1i ith column of matrix ψ1
ψ2i ith row of matrix ψ2
η𝑚𝑚𝑚𝑚 mth input observability factor
𝜇𝜇𝑖𝑖𝑖𝑖 nth output controllability factor
fi oscillation frequency of mode i
p total inputs
q total outputs
III. RESULTS & DISCUSSION
In the transmission system case study, a 210MWp PV plant
with multiple parallel 52.5MWp PV systems is connected to a
HV substation of Kundur’s two-area four-machine test system
as shown in Fig. 2 of [12] with subtransient generator models
and equipped with Automatic Voltage Regulators (AVR) and
Power System Stabilizers (PSS).
The PV system subject to a instantaneous solar irradiance
(10)
increase from 250W/m2 to 750W/m2 (ΔS=+500W/m2) injects a
transient energy into the power grid. This type of energy from
(11) a utility-scale PV plant, can have adverse effects on the
interconnected power grid operations and its components. In
some conditions, when the T.E. is comparable in magnitude to
the nearby energy sources generation and sufficient damping is
unavailable, the power grid may move towards instability,
causing blackouts. Therefore, it is vital to minimize T.E.,
meaning having an increased damping ratio in the frequency-
domain through using heuristic-based PV-VSIs, optimizing
performance of PV-VSIs’ controllers.
In time-domain Fig. 2 indicates that through a multi-step
sequential tuning of PV-VSIs controller parameters in the PV
plant, the T.E. is minimized and the PV plant performance is
improved by 72.55% according to Table 6 in [5]. This approach
is implemented in four stages with the description and details
of each stage explained in [5]. It is evident that information
about oscillatory electromechanical modes and their
corresponding damping ratios is a defining question in
operating a power system. In another approach here, the output
based SSI model has been used to identify system modes during
irradiance step-changes through collecting active power
(12)
injection from PV to the grid at PCC (with utilizing waveform
data of Fig. 2). Fig. 3 provides such information for the case
(13) studies and the results have been given in Table I.

𝜇𝜇𝑖𝑖𝑖𝑖 = ψ2𝑖𝑖 . 𝐵𝐵𝑛𝑛 (14)

TABLE I. DOMINANT ELECTOMECHANICAL OSCILLATORY
|𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖(λ𝑖𝑖 )| MODES AT PV PLANT PCC USING SSI METHOD
𝑓𝑓𝑖𝑖 = (15)
2 𝜋𝜋 Manual PSO- PSO- PSO-
𝑝𝑝 𝑞𝑞 PI(1) PI(1,2) PI(1,2,3,4)
Local mode [Hz] ─ ─ ─ 1.03
𝑅𝑅𝑖𝑖 = � � η𝑚𝑚𝑚𝑚 . 𝜇𝜇𝑖𝑖𝑖𝑖 (16) interarea mode [Hz] 0.52 0.65 0.56 ─
𝑚𝑚=1 𝑛𝑛=1 Damping ratio [%] 6.37 2.4 2.46 75.41
 0.8

0.6
P(pu)

0.4 (a) Manual Controller

(b) PSO-PI(1)
0.2 (c) PSO-PI(1,2)
(d) PSO-PI(1,2,3,4)
0
0 1 2 3 4 5 6 7 8 9 10
Time(sec)
Fig. 2. 210MWp utility-scale PV-Plant injected active power perturbations impact on dominant inter-area and local system modes at PCC with respect to
sudden irradiance step-change from 250 W/m2 to 750 W/m2 (ΔS =+500 W/m2) for (a) all manual-tuned PV-VSIs, (b) one heuristic-tuned PV-VSI, (c) two
heuristic-tuned PV-VSI, (d) four heuristic-tuned PV-VSI

90
0.64852Hz
(a) Manual Controller 0.56358Hz
2.3983%
2.4565%
80 (b) PSO-PI(1)
(c) PSO-PI(1,2)

70 (d) PSO-PI(1,2,3,4)

60
Residue

50

40
0.51783Hz
6.3755%
30

20

10 1.0292Hz
75.4111%
0
0 0.2 0.4 0.6 0.8 1
Frequency (Hz)
Fig. 3. 210MWp utility-scale PV-Plant injected active power perturbations impact on dominant inter-area and local system modes at PCC with respect to
sudden irradiance step-change from 250 W/m2 to 750 W/m2 (ΔS =+500 W/m2) for (a) all manual-tuned PV-VSIs, (b) one heuristic-tuned PV-VSI, (c) two
heuristic-tuned PV-VSI, (d) four heuristic-tuned PV-VSI

It is observed that the oscillatory mode residue decreases and
the positive damping ratio increases from 6.38% in PV-VSIs
manual-tuned to 75.41% with all PV-VSIs heuristic-tuned. The
increase in positive damping provides better stability of the
interconnected power system, when the PV plant is under large
perturbation such as increase in irradiance or system faults.
The two power system areas are connected through tie-lines,
hence resulting in an observable inter-area rotor-angle mode
with a frequency of about 0.52Hz with manual-tuned
controllers. The inter-area frequency is removed when all
heuristic tuned PV-VSIs are operational. This contributes
towards increase in system stability margins and security. The
results obtained under this study verify the findings in time-
domain analysis of Fig. 2 represented in Table 7 of [5].
 IV. CONCLUSION
SSI represents various advantages such as no need of
disturbance injection in order to extract information from
measurement data and less computational time and handling
signals containing noise. The power system’s
electromechanical oscillatory modes are computed from
switching PV-inverter injected active power measurements at
point of common coupling and during large perturbations in
irradiance. The SSI method is used in order to identify the
nonlinear system state-matrix coefficients. Effect of controller
tuning of PV-VSIs in a utility-scale PV plant are studied in
frequency-domain. The PV-VSI is operational with manual-
tuned and heuristic-tuned controllers, implemented in both
stationary and synchronous reference frames. The results show
the effectiveness of the empirical approach in identifying the
state-matrix elements, thus making observable the affected
modes and verifying PV-VSI operation improvement with the
heuristic-tuned PV-VSI controllers.

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