A fuzzy variable structure controller for STATCOM

Stella Morris *, P.K. Dash, K.P. Basu

Multimedia University, Selangor, Malaysia
Received 24 January 2002; received in revised form 26 September 2002; accepted 9 October 2002
Abstract
Two new variable structure fuzzy control algorithms are presented in this paper for controlling the reactive component of the
STATCOM current in a power system. The control signal is obtained from a combination of generator speed deviation and
STATCOM bus voltage deviation fed to the variable structure fuzzy controller. The parameters of these fuzzy controllers can be
varied widely by a suitable choice of membership functions and parameters in the rule base. Simulation results for typical single-
machine and multimachine power systems subject to a wide range of operating condition changes confirm the efficiency of the new
controllers.
# 2002 Elsevier Science B.V. All rights reserved.
Keywords: Multimachine; Power systems; Generator; STATCOM; Fuzzy controller
1. Introduction
In recent years, various types of FACTS devices
(UPFC, STATCOM, TCSC, SVC, etc.) have been
studied for their use in the existing power systems with
a view to improve the flexibility, controllability and to
enhance system stability. Reactive power compensation
is an important issue in electrical power systems [1/5]
and STATCOM plays an important role in controlling
the reactive power flow to the power network and hence
the system voltage fluctuations and angle stability. One
of the most important advantage of the STATCOM is
its behavior during the voltage collapse at the bus where
it is located as it supplies almost a constant reactive
power without being affected by voltage variation across
it.
Normally the STATCOM comprises a voltage source
shunt converter connected through a transformer and
filter across a load bus where the voltage is to be
regulated. The shunt converter is usually modeled as a
controllable voltage source generated by the inverting
action of the converter with a DC voltage applied
through a charged capacitor. The converter controls
the current injected to the power system and as the
energy exchanges by the STATCOM is limited by the
capacitor stored energy, only reactive power can be
exchanged in steady state.
In essence, the desired reactive power exchange is
achieved by a reactive current component I
s
to maintain
DC capacitor voltage constant. However, certain
amount of real power flows into the STATCOM and
the real component of the STATCOM current provides
the losses in the resistive elements of the converter and
maintains the capacitor voltage. The STATCOM, there-
fore, is modeled as a controllable active and reactive
current source; the active part I
t
is obtained from the
DC link voltage error through a PI controller and the
reactive part through a time delay unit.
The control of active and reactive components of
STATCOM current are normally achieved through a PI
controller. However, these controllers suffer from in-
adequacies of providing a robust control and transient
stability enhancement over a wide range of power
system operating conditions. Hence other state feedback
control methods have been considered in reference [4],
which provide superior performance in comparison to
the PI controller. Both the pole placement technique and
linear quadratic regulator are based on a small signal
linearized model of the power system including STAT-
COM and hence are suboptimal in nature. Thus, there is
the need of a nonlinear controller to stabilize the
* Corresponding author.
E-mail address: stella.morris@mmu.edu.my (S. Morris).
Electric Power Systems Research 65 (2003) 23/34
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PII: S 0 3 7 8 - 7 7 9 6 ( 0 2 ) 0 0 2 1 2 - 2
inherently nonlinear power system under dynamic
operating conditions. The fuzzy logic approach [7,8]
on the other hand, provides a model free approach for
STATCOM control and can be effective over the entire
range of power system operation. Furthermore, the
fuzzy logic approach allows the knowledge from experi-
ences to be incorporated to the control scheme as a set
of linguistic rules and membership functions. Also
multimachine simulation studies under fault conditions
have been included in this paper to highlight the
effectiveness of this new controller.
In this paper, a new fuzzy variable structure control
algorithm is used, in which there is a fuzzy controller
derived from a sliding surface and a supervisory control
which is designed to satisfy the sliding conditions. This
new controller is able to compensate the effects of
uncertainties, disturbances and unmodeled system dy-
namics. This is verified by performing simulation studies
on a single-machine infinite-bus power system subjected
to wide range of operating conditions like faults and
mechanical torque changes, etc.
2. System model
In order to illustrate the performance of the power
system with a current controlled STATCOM detailed
models of exciter, turbine control loops are omitted and
the transient emf in the quadrature axis, e
?
q
, and
mechanical power input, P
m
, remain constants. The
single-machine infinite-bus power system shown in Fig.
1 comprises a synchronous generator connected to the
infinite-bus through a double-circuit transmission line.
The STATCOM is located at a bus between the
generator and the infinite-bus.
An equivalent circuit is shown in Fig. 2, where both
active and reactive components of the STATCOM
current are shown.
The differential and algebraic equations of the power
system are given by
v0v
0
'pd (1)
where, p0/d/dt (differential operator)
pv0
pf
H
(P
m
(P
e
) (2)
pI
s
0
1
t
s
(I
s0
(I
s
)'
k
s
t
s
u (3)
pI
t
0
1
t
1
(I
t0
(I
t
)'
k
1
t
1
(V
dc0
(V
dc
) (4)
pV
dc
0
vC
V
dc
fjV
m
jjI
t
j((I
2
t
'I
2
s
)R
s
g(
vCV
dc
R
dc
(5)
where, I
t
and I
s
are active and reactive components of
the STATCOM current, respectively and V
dc
is the DC
capacitor voltage.
In the above equations k
s
, and k
1
are gains and t
s
and
t
1
are time constants of the STATCOM current control
loop; R
dc
and C are resistance and capacitance of the
DC link capacitor; R
s
is the shunt converter transformer
resistance. The electrical power output P
e
of the
generator is given by:
P
e
0
E?
q
V
m
x?
d
'x
1
sinu'
V
2
m
2
_
x?
d
(x
q
(x?
d
'x
1
)(x
q
'x
1
)
_
(6)
and STATCOM bus voltage V
m
and angle u
m
are
V
m
0

(V
2
md
'V
2
mq
)
_
(7)
where
V
md
0
(x
1
'x
q
)V
b
sind 'x
2
(I
s
sinu
m
(I
t
cosu
m
)(x
1
'x
q
)
x
1
'x
2
'x
q
(8)
V
mq
0
(x
1
'x?
d
)V
b
cosd 'e?
q
x
2
'x
2
(I
s
cosu 'I
t
sinu)(x
1
'x?
d
)
x
1
'x
2
'x?
d
(9)
The symbols used above have the usual meaning as in
the single-machine infinite-bus power system and Fig. 1. Single-machine innite-bus power system.
Fig. 2. Equivalent circuit with real and reactive components of the
STATCOM currents.
S. Morris et al. / Electric Power Systems Research 65 (2003) 23/34 24
u0tan
(1
_
V
md
V
mq
_
(10)
3. Derivation of variable structure fuzzy controller
Recently, combinations of fuzzy control and variable
structure controller (VSC) approaches have achieved
superior performance [9/15]. Briefly, for instance,
Hwang and Lin [13] developed a non-adaptive fuzzy
controller, and Wu and Liu [14] used the switching
manifold as a reference, where sliding modes are used to
determine the optimal values of parameters in fuzzy
control rules. Othani and Yoshimura [15] also presented
a fuzzy control law using the concept of sliding mode,
where fuzzy rules are tuned by learning.
For designing a linear sliding mode current controller
for STATCOM, a linearized model of the system
equations is developed in the form
e
e
D

I
s
_
_
_
_
0
0 1 0
a
1
0 a
2
0 0 a
3
_
_
_
_
e
e
DI
s
_
_
_
_
'
0
0
b
_
_
_
_
u (11)
where a
1
, a
2
, a
3
, b depend on power system operating
condition and machine and line parameters.
A time varying sliding surface is defined to track the
speed error (Dv0/v(/v
0
) of the generator. However, if
the speed is not available at the STATCOM bus due to
its location away from the generator, the bus angle u
m
is
used. In either case, the sliding surface s is defined as
s0 e'l
1
e (12)
where error, e0/d(/d
0
, or e0/v(/v
0
, or e0/u
m
(/u
m ref
,
l
1
/0.
Another definition of s also could be
s0l
2
e'l
1
e'(I
s0
(I
s
); l
2
0 (13)
The parameters l
1
and l
2
are obtained from the
principles of sliding mode control design using pole
placement technique as follows:Eq. (13) is rewritten as
s0l
2
e'l
1
e'DI
s
(14)
For the existence of sliding mode,
s00; and s sB0 (15)
Thus with s0/0, DI
s
is eliminated from Eq. (13) and
substituted in Eq. (11) to yield
e
e
_ _
0
0 1
a
1
(a
3
l
1
a
2
(a
3
l
2
_ _
e
e
_ _
(16)
which is of the form

X0AX (17)
The characteristic equation of the A matrix is
designed to have two eigenvalues p
1
and p
2
, which are
found as
p
1
'p
2
0a
3
l
2
(a
2
p
1
p
2
0a
3
l
1
(a
1
g (18)
By suitably choosing the values of p
1
and p
2
, the
constants l
1
and l
2
are found as
l
1
0
p
1
p
2
'd
1
d
3
l
2
0
p
1
'p
2
'd
2
d
3
g (19)
where d
1
, d
2
, and d
3
depend on power system operating
condition and machine and line parameters.
After evaluating l
1
and l
2
, s is rewritten from Eq.
(13) as
s0l
1
e'l
2
e'D

I
s
0l
1
e'l
2
e'a
3
D

I
s
'bu (20)
The reachability condition for the sliding mode
control is used to obtain u; since
s0(h sgn s; s sB0; and h0 (21)
The control u is obtained as
u0
1
b
f(h sgn s(l
2
e(l
1
e(a
3
DI
s
g (22)
Due to sgn(s) term in the control law there is the
possibility of undesirable chattering and hence fuzzy
control is used.
In designing fuzzy sliding mode control scheme, the
fuzzy controller employs two inputs: the sliding signal s
and the rate of change of the sliding signal s: This fuzzy
controller has only one control output u. The value of s
is not obtained easily due to system uncertainties and
hence an approximation is used as
s0
s(k) (s(k (1)
h
(23)
where h is a small positive constant (h0/0.01).
Another alternative is to use a first order filter given
in Fig. 3 to obtain s:
s
1
0
s (s
1
T
f
(24)
/ s
1
replaces s in the calculations(T
f
is a small positive
constant, T
f
0/0.1).
Based on the chosen membership functions, the fuzzy
control rules are written as
Fig. 3. Representation of rst order lter.
S. Morris et al. / Electric Power Systems Research 65 (2003) 23/34 25
R1 : If s is P and is P then u is NB:
R2 : If s is P and is N then u is NS:
R3 : If s is N and is P then u is PS:
R4 : If s is N and is N then u is PB:
In the above rule base K is a scaling factor to be
suitably chosen to limit s and K s values to lie within (/
L and '/L. the membership functions for positive and
negative sets are given by
m
P
(s)0
0 sB(L
s 'L
2L
(L0s0L
1 sL
_

_
m
N
(s)0
1 sB(L
(s 'L
2L
(L0s0L
0 sL
_

_
(25)
where P and N stand for positive and negative sets; PB,
NB, PS, NS stand for positive big, negative big, positive
small, and negative small fuzzy sets, respectively. The
value of K is 1/50.
Similar positive and negative sets are used for the
fuzzification of the input K s: Fig. 4(a) shows the
membership functions of s and/K s: For the control
output u, the membership functions are shown in Fig.
4(b).
The maximum values of the output sets PB, PS, NB,
NS are u
1
, u
2
, u
3,
and u
4
, respectivelywhere
u
1
0(L; u
2
0(
L
10
; u
3
0
L
10
; u
4
0L (26)
From the fuzzy rule base it can be understood for
rule-1, the system states are above the sliding surface
and are moving away from the sliding surface. Hence
the control action needs to be negative and big enough
to turn the system states downwards. In a similar way
rules 2, 3, and 4 can be interpreted in terms of the sliding
mode control strategy.Using Zadehs rules for antece-
dent part of the rule base (m
A
and m
B
0/m
A
)/m
B
) and
general defuzzification formula, the output u is obtained
as
u0

4
j01
(m
j
)
g
u
j

(m
j
)
g
0W
T
U (27)
where U0[u
1
u
2
u
3
u
4
] is the consequent vector, in
which u
j
is the output of the j th rule, m
j
is the
membership value of the j th rule, and W0
[w
1
w
2
w
3
w
4
] with
w
j
0
(m
j
)*
g

(m
j
)*
g
; j 01; 2; 3; 4: (28)
In the above formulation, if g0/1, we get the centroid
defuzzifier. The fuzzy controller, if properly tuned will
result in minimizing the error terms e and e in Eq. (13)
when u is replaced by u
f
. However, the uncertainty in the
bus voltage variation V
m
or due to unmodeled dynamics
of E?
q
might introduce an error in the STATCOM
current reference I
s ref
and hence s s will not become
zero to guarantee the sliding of the states of the power
system to the origin. Hence the total current control of
the STATCOM will comprise of a fuzzy control u
f
and a
supervisory control term u
s
in the form as
u0u
f
'u
s
The supervisory control is chosen by following the
power rate reaching law and boundary layer approach
as
u
s
0K
s
_
s
e
(s
i
_
b
sgn (s); b0 (29)
Due to the power rate reaching law, this control
ensures the higher reaching speed when states are far
away from the switching manifold and reduces the rate
when the states are near the manifold. The result is a fast
reaching and low chattering reaching mode [9]. The
boundary layer is automatically constructed from the s
values between sets Big and Small.
The above expression is motivated by boundary layer
approach in reducing chattering. The value of d
i
is
chosen using a fuzzy rule base as follows:
Fig. 4. (a,b) Membership function.
S. Morris et al. / Electric Power Systems Research 65 (2003) 23/34 26
If s is Big; d
i
is Big
If s is Small; d
i
is Small
The membership function of the fuzzy sets Big and
Small are
m
Big
(s)01(e
(as
m
Small
(s)0e
(as
(30)
Fig. 5 shows the membership grades for the sets Big
and Small. The constants a, b, and K
s
are chosen as a0/
2, b0/0.2, K
s
0/0.05.
The control block diagram for both reactive and
active current controller are shown in Fig. 6(a) and (b),
respectively.
A simple condition for stability can be established for
this control law by using the sliding mode relation
s s00/
Thus
s s0sfl
1
e'l
2
e'a
3
(I
s0
(I
s
)'b(u
f
'u
s
)gB0 (31)
Knowing the bounds of e; e; the maximum value of u
f
can be estimated. Further since u
f
is obtained from
s and s; the fuzzy control will tend to make both s 0 0;
and s 0 0 and hence stability will be achieved. This is
verified from actual nonlinear simulations of a power
system.
4. Takagi sugeno fuzzy controller
In comparison to the conventional Mamdani type
fuzzy controller presented in Section 3, a Takagi Sugeno
(TS) fuzzy control scheme [6,7] is presented in this
section to provide a wide range of variation of the
nonlinear gain of the current controller for STATCOM.
The simplified TS rules are shown to parameterize the
characteristics of the gain variation and consequently an
infinitely large number of gain variation characteristics
can be produced. The inputs to the TS fuzzy controller
are the sliding surface s and its derivative s: The
membership values m
P
(s) and m
N
(s) or m
P
(/ s) and m
N
(/ s)
are obtained using similar membership functions given
in Eq. (25). The following fuzzy rule base is used:
R1 : If s is P
and K s is P then u
1
0K
1
(s'lK s)
R2 : If s is P and K s is N then u
2
0K
2
u
1
R3 : If s is P and K s is P then u
3
0K
3
u
1
R4 : If s is P and K s is N then u
4
0K
4
u
1
In the above rule base, the computation of the
strength of the antecedent part of the rule with an
AND operator is performed by multiplication of
membership values m(s))/m(/ s); respectively for each
rule.
The effective control u is obtained using a centroid
defuzzifier
u0

4
i01
m
i
u
i
m
1
'm
2
'm
3
'm
4
(32)
which when simplified yields
u0(s'lK s)K
eff
(33)
and
K
eff
0
K
1
(m
1
'K
2
m
2
'K
3
m
3
'K
4
m
4
)
m
1
'm
2
'm
3
'm
4
(34)
The value of l, K, K
1
, K
2
, K
3
, and K
4
are chosen as l0/
0.2, K0/1/50, K
1
0/1, K
2
0/0, K
3
0/0, and K
4
0/0.5,
respectively for this study.
5. Simulation results
5.1. A. single-machine innite-bus power system with
STATCOM
The single machine infinite-bus system shown in Fig.
1 is considered for simulation studies. The various
transient disturbances due to faults and mechanical
power changes are created to study the performance of
the variable structure fuzzy controller (VSFC), VSFC
with supervisory control, and VSC with Takagi Sugeno
(TS) fuzzy control for STATCOM placed at bus no.3 of
the power system. The power system data is given in the
Appendix A. The conventional PI controller is used for
comparison. The control output from the PI controller
is obtained as
u0
_
K
p
'
K
i
S
_
f(V
m ref
(V
m
)'K
w
Dvg (35)
where the PI gains are optimized using ITAE criterion
as K
p
0/0.1, K
i
0/0.1, and K
w
0/10.The values of K, L,
l
1
, b, and h are chosen as 1/50, 50, 0.2, 0.2, and 0.01,
respectively. Fig. 5. Membership grades for the sets Big and Small.
S. Morris et al. / Electric Power Systems Research 65 (2003) 23/34 27
5.1.1. Case 1
The operating power level of the generating system is
P0/0.8, Q0/0.6 and a 3-phase fault of 0.1 s duration is
simulated on bus no.3. In this condition, the voltage
across the STATCOM bus suddenly goes to zero and
hence there is a significant rise in swing angle d from
nearly 808 to 1358. The transient response of the PI
controller, VSFC with a supervisory control, and VSC
with TS fuzzy control are shown in Fig. 7. From the
figure it is observed that the VSFC with a supervisory
control and VSC with TS fuzzy produce significant
improvement in damping of the electromechanical
oscillations of the generator in comparison to the
conventional PI controller. In comparison to the con-
ventional Mamdani type fuzzy controller with a super-
visory control, the TS fuzzy controller provides
significant damping and reduces the overshoot in nearly
1.5 s. The terminal voltage of the generator and the DC
voltage across the STATCOM capacitor are also
damped fast with these two fuzzy controllers.
The power level of the generating system is then
increased to P0/1.0 and Q0/0.4 and the reactance is
decreased from 0.7 to 0.5 pu. A 3-phase fault of 0.1 s.
duration is simulated at bus no.2 (near the infinite-bus).
The performance of PI controller, VSC, and VSFC with
supervisory control are shown in Fig. 8. Here, since the
power level is high the load angle swings to nearly 1408
and to maintain the stability the reactance of the line
was decreased. From Fig. 8 it can be observed that the
VSFC performs well in reducing the system oscillations.
The conventional PI controller, on the other hand,
shows large oscillations and takes more time to damp
out the system oscillations. Thus an uncertain reactance
change condition is handled very well by the fuzzy
controller.
Another loading condition which produces severity in
transient oscillations by changing the operating power
levels to P0/0.8, Q0/(/0.2 and reducing the line
reactance from 0.7 to 0.6 is shown in Fig. 9. A 3-phase
fault of 0.1 s duration is simulated at bus no.2 (near the
infinite bus). The VSFC with supervisory control per-
forms very well in producing significant damping to the
electromechanical oscillations of the system. The per-
formance of the PI regulator is very oscillatory.
Fig. 6. (a) Control block diagram for reactive current controller. (b) Control block diagram for active current controller.
Fig. 7. Transient response with P0/0.8, Q0/0.6.
S. Morris et al. / Electric Power Systems Research 65 (2003) 23/34 28
5.1.2. Case 2
A 3-phase fault of 0.1 s duration is simulated on line
no.2 at bus no.3 of the power system. The operating
power level is taken P0/0.8, Q0/0.2. The performance
of the PI controller, VSC, and VSC with TS fuzzy
control are shown in Fig. 10. The performance of both
the VSC and the VSC with TS fuzzy control are found
to provide significant damping to the system oscilla-
Fig. 8. STATCOM performance with P0/1.0, Q0/0.4
Fig. 9. Transient performance with negative reactive power (P0/0.8, Q0/-0.2).
S. Morris et al. / Electric Power Systems Research 65 (2003) 23/34 29
tions. However, the VSC exhibits larger overshoot in the
first swing and takes a little more time than TS fuzzy
control scheme for the STATCOM.
Now the transmission line with reactance x
21
(x
21
0/
0.3) is removed from the power system for a duration of
1 s and its transient response is depicted in Fig. 11. It is
seen from the response that the effect of uncertainty is
very well controlled by the proposed controller.
5.1.3. Case 3
The mechanical torque input to the generator is
increased by 30% for 0.5 s and then brought to normal
and after 4 s, the torque input is reduced by 30% for 0.5
s. The operating power level is taken as P0/0.8, Q0/0.6.
The transient performance of the VSFC with super-
visory control, and VSC with TS fuzzy control shown in
Fig. 12 are found to be quite satisfactory in reducing
Fig. 10. STATCOM performance with P0/0.8, Q0/0.2.
Fig. 11. Transient response with P0/0.8, Q0/0.2.
S. Morris et al. / Electric Power Systems Research 65 (2003) 23/34 30
transient excursions in the states of the power system
line load angle, terminal voltage and DC voltage for the
STATCOM. The performance of the PI controller is
very oscillatory.
5.1.4. Case 4
To take care of the unmodeled dynamics of the
generator voltage E
?
q
behind the transient reactance,
the value of E
?
q
is increased by 50% and the system
oscillations are depicted in Fig. 13. The proposed
controller is practically immune to the increase in the
value of E
?
q
and damping is achieved very fast.
5.2. B. Multimachine power system operating with
STATCOM
To verify the performance of the proposed variable
structure fuzzy supervisory controller, a two-area four-
generator power system of Fig. 14 is considered. This
system has been specially designed for fundamental
studies of inter-area oscillations due to power flow
from one area to the other area. Each generator of the
multimachine system is equipped with an ordinary
voltage regulator and a power system stabilizer (PSS)
for damping local mode oscillations during transient
conditions due to faults. The PSS alone cannot provide
sufficient damping to the inter-area oscillations and
hence the STATCOM is used at the bus 8 to provide
extra damping during system oscillations. In this study a
third order synchronous machine model is used and the
system equations are given in the Appendix A. The
system data is given in Ref. [16]. The STATCOM is
modeled as before providing real and reactive current
injections at the STATCOM bus. The sliding surface s
used in this case takes the form
s0c
1
Du
78
'c
2
D

u
78
'DI
s
(36)
Here u
78
(u
7
(/u
8
0/phase angle difference between the
bus 7 and bus 8) is obtained in the following way.
The active and reactive power flowing in the line 7/8
towards bus 8 are given by:
P
78
0
V
7
V
8
sinu
78
x
78
(37)
Fig. 12. Transient response with P0/0.8, Q0/0.6.
Fig. 13. Transient response with P0/0.8, Q0/0.6.
S. Morris et al. / Electric Power Systems Research 65 (2003) 23/34 31
Fig. 14. Multi-machine power system with STATCOM.
Fig. 15. Local and inter-area mode of oscillations.
Fig. 16. DC voltage variation. Fig. 17. STATCOM bus voltage variation.
S. Morris et al. / Electric Power Systems Research 65 (2003) 23/34 32
Q
78
0
V
7
V
8
cosu
78
x
78
(
V
8

2
x
78
(38)
x
78
0/reactance in the line 7/8.V
7
, and V
8
are bus 7 and
bus 8 voltages, respectively. u
78
is now calculated as
u
78
0tan
(1
_
P
78
=
_
Q
78
'
V
8

2
x
78
__
(39)
Measurement of P
78
, Q
78
and V
8
yields the value of
u
78
. In Eq. (36) D signifies the small changes in the
values of the variables. The constants c
1
and c
2
are
chosen as, c
1
0/2.3, c
2
0/1.3, for best stability perfor-
mance of the multimachine power system.
5.2.1. Case 1
Taking generator-3 as reference and pre-disturbance
loading conditions in p.u. as P
1
0/0.44, Q
1
0/0.20, P
2
0/
0.66, Q
2
0/0.26, P
3
0/1.57, Q
3
0/0.21, P
4
0/0.33, Q
4
0/
0.22, a 3-phase fault is created on the middle of one of
the transmission line connecting bus-9 and bus-10 and
cleared after 0.1 s. The local mode and inter-area mode
of oscillations are presented in Fig. 15. From the figure
it is clearly found that the system oscillation are damped
much faster using fuzzy supervisory control VSFC in
comparison to conventional PI control. Figs. 16 and 17
show the variation of voltage across the DC capacitor
and the variation of STATCOM bus voltage, V
8
,
respectively. It is seen from the figures that the over-
shoots and the settling time are well controlled by the
proposed controller.
5.2.2. Case 2
The power loadings of the generators are then
changed to P
1
0/0.55, Q
1
0/0.20, P
2
0/0.55, Q
2
0/0.26,
P
3
0/1.37, Q
3
0/0.15, P
4
0/0.55, Q
4
0/0.22. A three-
phase fault of 100 ms duration is simulated at the
middle of one of the transmission line connecting Bus-7
and Bus-8. Fig. 18 shows the local mode and inter-area
mode of oscillation. Both the modes of oscillations are
damped very well and overshoots reduced fast with
VSFC with supervisory control.
6. Conclusion
The paper presents new variations of the fuzzy control
scheme for the control of STATCOM current. The
parameters of fuzzy reactive current controller are
adapted by using a sliding surface similar to the sliding
mode control instead of the error and its derivative.
Further, the parameters of the sliding surface can also
be varied by using a pole-placement technique. These
new fuzzy controllers for STATCOM provide a wide
range of gain variations for controlling the electrome-
chanical oscillations of a single-machine infinite-bus and
multimachine power systems. The new controllers are
found to provide significant improvement in damping
electromechanical oscillations of both the single and
multimachine power systems over a wide range of
operating conditions.
Fig. 18. Local and inter-area mode of oscillations.
S. Morris et al. / Electric Power Systems Research 65 (2003) 23/34 33
Appendix A: Parameters of the studied system (in per unit
unless indicated specially)
Single-machine infinite-bus data
Generator x
?
d
0/0.22, x
q
0/x
d
0/1.96 (for nonsali-
ent pole machine case), D0/0, 2H0/
6.7 s
Transformer x
T
1
0/x
T
2
0/0.1
Transmission
line
x
1
0/0.2, x
2
0/0.6/2
STATCOM I
s max
0/0.5, I
s min
0/(/0.5, I
s0
0/0, t
s
0/
0.02 s, k
s
0/1.0, k
1
0/10, t
1
0/0.02
Multi-machine data. Generator data
Gen. K
e
t
e
H t
d0
x
d
x
q
x
d
1 30 0.05 6.5 8 1.8 1.7 0.3
2 10 0.05 6.5 8 1.8 1.7 0.3
3 10 0.05 6.175 8 1.8 1.7 0.3
4 10 0.05 6.175 8 1.8 1.7 0.3
Power system stabilizer
u
pss
0K
d
(st
q
=(1'st
q
))((1'st
3
)=(1'st
2
))Dv
K
d
00:24; t
q
00:4; t
3
00:03; t
2
00:01
The value of p
1
and p
2
for best stability performance
of the single-machine infinite-bus power system are
chosen as
VSC p
1
0/24, p
2
0/7
VSC with TS fuzzy p
1
0/2.6, p
2
0/50
VSC with supervisory control p
1
0/2.7, p
2
0/52
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