Chaper 3 - C B Bangal

CHAPTER 3
MODELLING OF POWER SYSTEMS FOR AGC WITH

INTEGRAL CONTROL AND OPTIMAL CONTROL
3.1
INTRODUCTION
For AGC studies it is necessary to obtain appropriate models of the
interconnected power systems. In present research work, models of the following

types of power systems have been considered for AGC studies [3-4, 6-8, 11, 35-42].
1) Two area thermal-thermal (non reheat)

2) Two area thermal-thermal (reheat)
3) Two area thermal-hydro
4) Three area thermal-thermal-hydro
The models of above mentioned interconnected power systems with integral

control scheme, state space modeling of these power systems to design optimal
controllers and stability studies of these power system models have been dealt with
in this chapter. The discrete versions of these power system models have also been
obtained.
The models of above mentioned interconnected power systems have been

used subsequently in Chapter 5 for illustrating the application of artificial neural
networks as controllers for AGC.
30
3.2.1 MODEL OF A TWO AREA THERMAL-THERMAL (NON REHEAT)

POWER SYSTEM WITH INTEGRAL CONTROLLER
Perturbed model of a two area thermal-thermal (non reheat) power system
with conventional integral controller scheme is shown in Fig. 3.1.
B1
1
----R1
8
+ ACE1
-KT
+
1
----S
u1
+
AREA 1
(THERMAL NON REHEAT)
2
3
Steam Turbine
Non Reheat
Governor
1
-----------1 + sTg1
Load
Disturbance
PD1
(d1)
Pg1
x3
1
Pt1 +
-----------x2
1 + sTt1
Integral Controller
Power System
Ptie(1,2)
f 1
x1
+
2T
0
-----
x7
TIE LINE
Kp1
-----------1 + sTp1
7
-1
6
9
+
ACE2
-KT
1
----S
u2
Integral Controller
B2
Governor
Steam Turbine
Non Reheat
1
-----------1 + sTg2
1
-----------1 + sTt2
1
----R2
-1
Pg2
x6
4
Power System
Pt2 +
AREA 2
x5
Kp2
-----------1 + sTp2
f 2
x4
Load
PD2 Disturbance
(d2)
Fig. 3.1: Two area thermal-thermal (non reheat) system with integral controller
The system state equations with reference to transfer function blocks from 1
to 7 (equations for x1 to x7 ) are same as in state space model of the same power
system (Section 3.3.1, Fig. 3.5). With integral control, the equations for control inputs
u1 & u 2 are as given below:

Area 1 (Block 8):
u1 = K T ( ACE1 ) = K T ( B1 x1 + x7 )
Area 2 (Block 9):
u 2 = K T ( ACE 2 ) = K T ( B2 x 4 x7 )
31
3.2.2 MODEL OF A TWO AREA THERMALTHERMAL (REHEAT) POWER

SYSTEM WITH INTEGRAL CONTROLLER
Perturbed model of a two area thermal-thermal (reheat) power system with
conventional integral controller scheme is shown in Fig. 3.2.
AREA 1
(THERMAL)
1
----R1
B1
1
-KT
---S
Steam
Reheater Stage Turbine
Pt1
Pg1 1+sKr1Tr1 Pr1
1
1
+
---------------------------------
1+sTg1 x4 1 + sTr1
x3 1+sTt1 x2
Governor
Integral Controller
ACE1
PD1
u1
+
Power System
10
20
Ptie(1,2)
x9
TIE LINE
Kp1 f 1
---------1+sTp1 x1
9
-1
1
-KT
---S
Steam
Reheater Stage
Turbine
Pt2
Pg2 1+sKr2Tr2 Pr2
1
1
+
---------------------------------1+sTg2 x8 1 + sTr2 x7 1+sTt2 x6
u2
+
11
1
----R2
B2
-1
Governor
Integral Controller
+
ACE2
AREA 2
(THERMAL)
Power System
Kp2
f 2
---------1+sTp2 x5
PD2
Fig. 3.2: Two-area thermal-thermal (reheat) power system with integral controller
to 9 (equations for x1 to x9 ) are same as in the state space model of the same power

Area 1 (Block 10):
u1 = K T ( ACE1 ) = K T ( B1 x1 + x9 )
Area 2 (Block 11):
u 2 = K T ( ACE 2 ) = K T ( B2 x5 x9 )
32
3.2.3 MODEL OF A TWO AREA THERMALHYDRO POWER SYSTEM WITH

INTEGRAL CONTROLLER
Perturbed model of a two area thermal-hydro power system with
B1
AREA 1
(THERMAL NONREHEAT)
2
3
Steam Turbine
1
----R1
Integral Controller
+
ACE1
1
----S
-KT
1
-----------1 + sTg1
1
Power System
Non Reheat
Governor
u1
PD1
Pg1
x3
1
Pt1 +
-----------1 + sTt1
x2
f 1
x1
+
2To
-----s
Ptie(1,2)
TIE LINE
Kp1
-----------1 + sTp1
x8
8
-1
Integral Controller
ACE2
-KH
1
----S
u2
+
10
Governor
stage 1
Governor
stage 2
Water Turbine
1
PG1 1+sT2 PG2 1 - sTw Ptw
-------------------------------1 + sT1
x7 1 + sT3 x6 1+0.5sTw +
1
----R2
B2
-1
x5
AREA 2
(HYDRO)
Power System
Kp2
-----------1 + sTp2
f 2
x4
PD2
Fig. 3.3: Two area thermal-hydro power system with integral controller

Area 1 (Block 9):
u1 = K T ( ACE1 ) = K T ( B1 x1 + x8 )
Area 2 (Block 10):
u 2 = K H ( ACE 2 ) = K H ( B2 x 4 x8 )
33
3.2.4 MODEL OF A THREE AREA THERMALTHERMAL-HYDRO POWER

SYSTEM WITH INTEGRAL CONTROLLER
Perturbed model of a three area thermal-thermal-hydro power system with
B1
AREA 1
1
----R1
14
+
ACE1
-KT
1
----S
1
-----------1 + sTg1
Steam Turbine
Non Reheat
Governor
u1
PD1
2
3
1
Pt1 +
-----------1 + sTt1
x2
Pg1
x3
TIE LINE
B2
6
ACE2
-KT
1
----S
u2
1
-----------1 + sTg2
1
----R3
16
+
ACE3
-KH
1
----S
u3
+
2T13
2T12
12 ------------
x12
11 ------------
x11 +
Steam Turbine
Non Reheat
Pg2
x6
Governor
stage 1
f 2
x13
x4
+
+
a12 = -1
PD3
9
Governor
stage 2
Kp2
-----------1 + sTp2
13 ------------
Ptie(2)
AREA 3
(HYDRO)
10
2T23
Power System
1
Pt2 +
-----------1 + sTt2
x5
PD2
TIE LINE
B3
Kp1
------------ f 1
1 + sTp1
x1
Ptie(1)
5
Governor
15
AREA 2
1
----R2
Power System
Water Turbine
1 - sTw Ptw +
1
PG1 1 + sT2 PG2
------------------------------------1 + sT1 x10 1 + sT3
x9 1 + 0.5 sTw x8
TIE LINE
Ptie(3)
Power System
Kp3
-----------1 + sTp3
a13 = -1
f3
x7
+
+
a23 = -1
Fig. 3.4: Three area thermal-thermal-hydro power system with integral controller
system (Section 3.3.4, Fig. 3.8). With integral control, the control inputs u1 , u 2 & u 3 are:
Area 1 (Block 14):
u1 = K T ( ACE1 ) = K T ( B1 x1 + x11 + x12 )

Area 2 (Block 15):
u 2 = K T ( ACE 2 ) = K T ( B2 x 4 x11 + x13 )
Area 3 (Block 16):
u 3 = K H ( ACE 3 ) = K H ( B3 x7 x12 x13 )
34
3.3
STATE SPACE REPRESENTATION OF POWER SYSTEM MODELS FOR

OPTIMAL CONTROL
3.3.1 STATE SPACE MODEL OF TWO AREA THERMAL-THERMAL (NON

REHEAT) POWER SYSTEM
For the two area thermalthermal (non reheat) power system, the state space model
with full state feedback (9 state feedback) has been developed as shown in Fig. 3.5.
B1
ACE1
u1
1
---S
PD1
AREA 1
(THERMAL)
1
----R1
x8
1
-----------1 + sTg1
Pg1
x3
d1
1
Pt1 +
-----------x2
1 + sTt1
Kp1
------------ f 1
1 + sTp1 x1
1
----S
Ptie(1,2)
x7
TIE LINE
+
2T0
7
-1
-1
ACE2
u2
1
---S
6
+
x9
1
-----------1 + sTg2
x6
Kp2
-----------1 + sTp2
f 2
x4
d2
1
----R2
B2
Pg2
1
Pt2 +
-----------x5
1 + sTt2
PD2
AREA 2
(THERMAL)
Fig. 3.5: State space model of two area thermal-thermal (non reheat) power system
Different variables have been defined as:
State Variables:
x1 = f1
x2 = Pt1
x3 = Pg1
x 7 = Ptie (1, 2 )
x8 = ACE1 dt
Control inputs:
u1 and u 2
Disturbance inputs:
d1 = PD1
x 4 = f 2
x5 = Pt 2
x9 = ACE 2 dt
and
35
d 2 = PD 2
x 6 = Pg 2
State equations:
From the transfer function blocks labeled from 1 to 9 (Fig. 3.5);
For block 1:
x1 + TP1 x1 = K P1 ( x 2 x7 d 1 )
i.e., x1 =
K
K
K
1
x1 + P1 x 2 P1 x 7 P1 d1
TP1
TP1
TP1
TP1
For block 2:
x 2 + Tt1 x 2 = x3
i.e., x 2 =
1
1
x2 +
x3
Tt1
Tt1
For block 3:
x3 + Tg 1 x3 =
i.e., x3 =
1
x1 + u1
R1
1
1
1
x1
x3 +
u1
R1Tg 1
Tg 1
Tg 1
For block 4:
x 4 + TP 2 x 4 = K P 2 ( x 5 + x 7 d 2 )
i.e., x 4 =
K
K
K
1
x 4 + P 2 x5 + P 2 x 7 P 2 d 2
TP 2
TP 2
TP 2
TP 2
For block 5:
x5 + Tt 2 x5 = x6
i.e., x5 =
1
1
x5 +
x6
Tt 2
Tt 2
For block 6:
x6 + Tg 2 x6 =
i.e., x6 =
1
x4 + u 2
R2
1
1
1
x4
x6 +
u2
R2Tg 2
Tg 2
Tg 2
36
For block 7:
x7 = 2T 0 x1 2T 0 x 4
For block 8:
x8 = B1 x1 + x7
For block 9:
x9 = B2 x 4 x 7
Above equations are arranged in vector matrix form called as the State Equation:
x = Ax + Bu + d ,
where, A(99) is State Matrix, B(92) is Control Matrix & (92) is Disturbance
Matrix
The matrices A, B and
1
T P1
0
A=
K P1
TP 1
1
Tt 1
1
R1Tg 1
are:
0
1
Tt 1
1
Tg 1
K P1
0 0
0 0
1
TP 2
KP2
2T 0
B1
0
0
0
0
1
R 2 Tg 2
2T 0
0
B2
TP 2
1
Tt 2
KP2
TP 2
0
0
1
Tt 2
1
Tg 2
0
0
TP 1
0 0
0 0
0 0
0 0
0
1
0 0
0 0
0 0
; B=
0
0
1
Tg 1
0
0
0
0
1
Tg 2
0
0
0
0
0
0
0
K P1
T P1
0
0
0
0
=
The State Vector x (91), Control Vector u (21) and the Disturbance Vector
d (21) are:
x = [x1
x2
x3
x4
x5
x6
x7
x8
37
x9 ]
u=
u1
u2
0
0
0
0
K P2
TP 2
0
0
0
0
0
0
0
0
0
;
d=
d1
d2
DESIGN OF OPTIMAL CONTROLLER

In optimal control, the control inputs are chosen as a linear combination of
feedback from all the nine system states ( x1 , x 2 , ........ , x9 ) as given below:
u1 = k11 x1 + k12 x 2 + .......... + k19 x9
u 2 = k 21 x1 + k 22 x 2 + .......... + k 29 x9
where, K (29) is the feedback gain matrix given by;
K=
k11
k12
k13
k14
k15
k16
k17
k18
k19
k 21
k 22
k 23
k 24
k 25
k 26
k 27
k 28
k 29
The system State Equation is:

. (For a step load change of a constant magnitude, .d = 0)
x = Ax + Bu
The output equation is:

y = Cx + Du
However, for a feedback control system, the matrix D is assumed zero.

Hence; y = Cx
where C (2 9) is the Output Matrix.
Finally, the state space model of the system under consideration takes a form as;
x = Ax + Bu and y = Cx
The control inputs are linear combinations of system states given by;
u = Kx
Determination of the Feedback Gain Matrix (K):

The design of an optimal controller is to determine the feedback matrix K in
such a way that a certain Performance Index (PI) is minimized while transferring the
system from an initial arbitrary state x (0) 0 to origin in infinite time i.e., x( ) = 0 .
Generally the PI is chosen in quadratic form as:
1
PI =
2
(x
Q x + u T R u dt
38
where, Q is a real, symmetric and positive semi-definite matrix called as state

weighting matrix and R is a real, symmetric and positive definite matrix called as
control weighting matrix.
The matrices Q and R are determined on the basis of following system requirements.
1) The excursions (deviations) of ACEs about steady values are minimized. In this
model, these excursions are;
ACE1 = B1 f 1 + Ptie (1, 2 ) = B1 x1 + x 7 and
2) The excursions of
ACE 2 = B2 f 2 Ptie (1, 2 ) = B2 x 4 x 7
ACE dt about steady values are minimized. In this model,
these excursions are x8 & x9 .

3) The excursions of control inputs u1 and u 2 about steady values are minimized.
Under these considerations, the PI takes a form;
1
PI =
2
[(B x
1 1
+ x 7 ) + (B 2 x 4 x 7 ) + (x8 ) + (x 9 ) + (u1 ) + (u 2 ) dt
1
i.e., PI =
2
[B
This gives the matrices Q (99) and R (22) as:

B12
0
0
0
Q= 0
0
B1
0
0
0 0
0 0
0
0
0
0
0
0
0
x1 + 2 B1 x1 x 7 + 2 x 72 + B2 x 42 2 B2 x 4 x 7 + x82 + x 92 + u1 + u 2 dt
0
0
0
0
0 B 22
0
0
0
0
0 B2
0
0
0
0
0 0
0 0
0
0
0
0
0
0
0
B1
0
0
0
0 B2
0
0
0
0
0
2
0
0
0
0
0 0
0 0
0
0
0
0
0
1
0
0
0
0
0
0
0
1
R=
The matrices A, B, Q & R are known.

The optimal control is given by u = Kx
K is the feedback gain matrix given by;
K = R 1 B T S
39
1 0
0 1
where, S is a real, symmetric and positive definite matrix which is the unique
solution of matrix Riccati Equation:
AT S + SA SBR 1 B T S + Q = 0
The closed loop system equation is;
x = Ax + B( Kx) = ( A BK ) x = AC x
The matrix AC = ( A BK ) is the closed loop system matrix. The stability of closed
loop system can be tested by finding eigenvalues of AC .
SYSTEM ANALYSIS USING MATLAB
After substituting values of parameters as given in Appendix - I, the state equations
and the matrices A, B, Q & R are:
x1 = 0.05 x1 + 6[x 2 x7 d1 ]
x 2 = 2.5 x 2 + 2.5 x3
x3 = 5.2083x1 12.5 x3 + 12.5u1
x 4 = 0.05 x 4 + 6[x5 + x7 d 2 ]
x5 = 2.5 x5 + 2.5 x6
x6 = 5.2083x 4 12.5 x6 + 12.5u 2
x7 = 0.44422 x1 0.44422 x 4
x8 = 0.425 x1 + x7
x9 = 0.425 x 4 x7
40
0.05
0
2.5
2.5
5.2083
0
12.5
0
0
0
A=
0
0
0.4442
0
0
0
0
0
0
0.425
0
0
0
0
0
0.180625 0 0
0
0 0
Q=
0
0
0
0
0
0.05
0
0
6
0
0
0
6 0 0
0
2.5
2.5
5.2083
0
12.5
0.4442
0
0
0
0.425
0
0
0
0
0 0
0 0
0
0
0.425
0
0
0
6
0 0
0 0
0 0
0
0
0
0 0 ;
0 0
0 0
B=
1 0 0
1 0 0
0
12.5
0
0
0
0
0
0
0
0
12.5
0
0
0
0
0
0 0
0 0
0 0
0
0 0
0
0 0
0 0 0.180625 0 0 0.425 0 0
0 0
0
0 0
0
0 0 ;
0
0.425
0 0
0 0
0
0.425
0 0
0 0
0
2
0 0
0 0
0
0
0 0
0 0
0
0
0 0
0 0
0
0
1 0
0 1
R=
1 0
0 1
MATLAB program to obtain S, K & Ac:
(MATLAB 6 software has been used to design the optimal controllers).

A = [-0.05 6 0 0 0 0 -6 0 0; 0 -2.5 2.5 0 0 0 0 0 0; -5.20833 0 -12.5 0 0 0 0 0 0; 0 0 0 -0.05 6 0
6 0 0; 0 0 0 0 -2.5 2.5 0 0 0; 0 0 0 -5.20833 0 -12.5 0 0 0; 0.44422 0 0 -0.44422 0 0 0 0 0;
0.425 0 0 0 0 0 1 0 0; 0 0 0 0.425 0 0 -1 0 0]
B = [0 0; 0 0; 12.5 0; 0 0; 0 0; 0 12.5; 0 0; 0 0; 0 0]
Q = [0.180625 0 0 0 0 0 0.425 0 0; 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0 0; 0 0 0 0.180625 0 0 0.425 0 0; 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0 0; 0.425 0 0 -0.425 0 0 2 0 0; 0 0 0 0 0 0 0 1 0; 0 0
0 0 0 0 0 0 1]
R = [1 0; 0 1]
S = care(A,B,Q,R)
K = inv(R)*B'*S
Ac = A-B*K
41
eig(S)
eig(A)
eig(Ac)
Output of the MATLAB program:
0.1797
0.2122
0.0338
0.0462
S = 0.0398
0.005
0.425
0.1025
0.3305
0.2122
0.0338
- 0.0462 0.0398
0.005
0.1025
0.3869
0.0664 0.0398 0.0571 0.0092
0.0664
0.0123 0.005 0.0092 0.0016
0.0398 0.005 0.1797
0.2122
0.0338
0.0571 0.0092 0.2122
0.3689
0.0664
0.0092 0.0016 0.0338
0.0664
0.0123
0.0673 0.0219 0.1025 0.0673
0.0219
0.4615
0.08
0
0.0226 0.008
0.008
0
0.3305
0.4615
0.08
0.0226
0.3305
0.0673 0.4615 0.008

0.08
0
0.0219
0.1025 0.0226 0.3305
0.0673 0.008 0.4615
0.0219
0
0.08
0.6086
0.1527 0.1527
0.1527
1.854
0.0088
0.1527 0.0088
1.854
Matrix S is found to be real, positive definite & symmetric. Its all eigenvalues are
real and positive:
K=
0 ; 0 ; 0.0045 ; 0.0287 ; 0.2385 ; 0.3482 ; 0.656 ; 2.0516 ; 2.111
0.4226 0.8294 0.1538 0.063 0.1156 0.02 0.2737 1 0

0.063 0.1156 0.02 0.4226 0.8294 0.1538 0.2737 0 1
Hence the control inputs:

u = 0 . 4226 x 0 . 8294 x 0 . 1538 x + 0 . 063 x + 0 . 1156 x + 0 . 02 x + 0 . 2737 x x
1
1
2
3
4
5
6
7
8
u
= 0 . 063 x + 0 . 1156 x + 0 . 02 x 0 . 4226 x 0 . 8294 x 0 . 1538 x 0 . 2737 x x

1
2
3
4
5
6
7
9
The closed loop system matrix AC is:

- 0.05
0
6
2.5
0
2.5
10.4908 10.3673 14.423

0
0
0
AC =
0
0
0
0.7871
0.4442
0.425
1.4444
0
0
0.2504
0
0
0
0
0
0
0
0
6
0
0
0
0
0
0.7871
0.05
0
1.4444
6
2.5
0.2504
0
2.5
3.4208
6
0
12.5
0
0
0
0
0
0
0
0
12.5
0
0
10.4908 10.3673 14.423 3.4208

0.4442
0
0
0
0
0
0
1
0.425
42
The eigenvalues of open loop system matrix (state matrix) A are:

0; 0; -13.068; -13.052; -0.38+3.189i; -0.38-3.189i; -0.991+2.262i; -0.991-2.262i; -1.2376
Two eigenvalues are zero and remaining have negative real parts indicating that, the
system is marginally stable before applying the optimal control strategy.
The eigenvalues of closed loop system matrix AC are:
-13.0594; -13.0758; -1.034+3.4078i; -1.034-3.4078i; -1.4791+2.5810i; -1.4791-2.581i;
-1.3521; -0.7439; -0.6887
All eigenvalues of AC have negative real parts indicating that the system is
asymptotically stable after applying optimal control strategy.
3.3.2 STATE SPACE MODEL OF TWO AREA THERMAL-THERMAL

(REHEAT) POWER SYSTEM
The state space model of two area thermalthermal (reheat) power system,
with full state feedback (11 state feedback) has been developed as shown in Fig. 3.6.
B1
10
+
ACE1
AREA 1
(THERMAL REHEAT)
1
----R1
1
---S
u1
x10
PD1
d1
Pt1
1
1
Pg1 1+sKr1Tr1 Pr1
+
---------------------------------x3 1+sTt1 x2
1+sTg1 x4 1 + sTr1
2To
------s
Ptie(1,2)
x9
TIE LINE
1
Kp1
f 1
---------1+sTp1 x1
+
9
-1
-1
B2
11
+
ACE2
1
---S
u2
x11
1
----R2
Pt2
1
1
Pg2 1+sKr2Tr2 Pr2
+
---------------------------------x7 1+sTt2 x6
1+sTg2 x8 1 + sTr2
5
Kp2
f 2
---------1+sTp2 x5
d2
AREA 2
(THERMAL REHEAT)
PD2
Fig. 3.6: State space model of two area thermal-thermal (reheat) power system
43
State Variables:
x1 = f1
x2 = Pt1
x3 = Pr1
x 4 = Pg 1
x7 = Pr2
x8 = Pg 2
x 9 = Ptie (1, 2 )
x10 = ACE1 dt
Control inputs:
u1 and u 2
Disturbance inputs:
d1 = PD1
and
d 2 = PD 2
State equations:
For block 1:
x1 + TP1 x1 = K P1 ( x 2 x9 d 1 )
K
K
K
1
i.e., x1 =
x1 + P1 x 2 P1 x9 P1 d1
TP1
TP1
TP1
TP1
For block 2:
x2 + Tt1 x2 = x3
1
1
i.e., x2 =
x2 +
x3
Tt1
Tt1
For block 3:
x3 + Tr1 x3 = x4 + Kr1Tr1 x4
i.e., x3 =
1
1
1
1
1
x3 +
x4 + Kr1
x1
x4 +
u1
Tr1
Tr1
R1Tg1
Tg1
Tg1
i.e., x3 =
Kr1
Kr
1
1 Kr1
x1
x3 +
x4 + 1 u1
R1Tg1
Tr1
Tr1 Tg1
Tg1
For block 4:
x4 + Tg1 x4 =
i.e., x4 =
x 5 = f 2
1
x1 + u1
R1
1
1
1
x1
x4 +
u1
R1Tg1
Tg1
Tg1
For block 5:
x5 + TP 2 x5 = K P 2 ( x6 + x9 d 2 )
K
K
K
1
x5 + P 2 x 6 + P 2 x9 P 2 d 2
i.e., x5 =
TP 2
TP 2
TP 2
TP 2
For block 6:
x6 + Tt 2 x6 = x7
1
1
i.e., x6 =
x6 +
x7
Tt 2
Tt 2
44
x 6 = Pt 2
x11 = ACE2 dt
For block 7:
x7 + Tr2 x7 = x8 + Kr2Tr2 x8
i.e., x7 =
1
1
1
1
1
x7 +
x8 + Kr2
x5
x8 +
u2
Tr2
Tr2
R2Tg 2
Tg 2
Tg 2
i.e., x7 =
Kr2
Kr
Kr
1
1
x5
x7 +
2 x8 + 2 u 2
R2Tg 2
Tr2
Tr2 Tg 2
Tg 2
For block 8:
x8 + Tg 2 x8 =
i.e., x8 =
1
x5 + u 2
R2
1
1
1
x5
x8 +
u2
R2Tg 2
Tg 2
Tg 2
For block 9:
x9 = 2T 0 x1 2T 0 x5
For block 10:

x10 = B1 x1 + x9
For block 11:

x11 = B2 x5 x9
The matrices A (1111) and B (112) are:

1
T
P1
0
Kr
1
R Tg
1 1
1
R Tg
1 1
0
P1
T
P1
1
Tt
1
0
0
1
Tt
1
1
Tr
1
0 0
0 0
0 0
P2
P2
T
P2
0 0
0 0
0 0
A=
0 0
Kr
1
1
Tr Tg
1
1
1
Tg
1
2T 0
B
1
0
0
0
0
0
0
0
1
T
P2
0
Kr
2
R Tg
2 2
1
R Tg
2 2
2T 0
0
B
2
P1
T
P1
T
P2
1
Tt
2
K
1
Tt
2
1
Tr
2
Kr
1
2
Tr
Tg
2
2
1
Tg
2
0
0
0
0
0
0
0
0
0
45
;B=
0 0
0 0
1
1
0 0
0 0
0
0
K
r1
Tg
1
1
Tg
1
0
0
0
0
Kr
2
Tg
2
1
Tg
2
0
0
0
0
0
0
0
0
0
0
State Vector (x) = [x1
x2
x3
x4
x5
x6
x7
x8
x9
x10
u1
Control Vector (u) =
u2

The control inputs are:
u1 = k11 x1 + k12 x 2 + .......... + k110 x10 + k111 x11
u 2 = k 21 x1 + k 22 x 2 + .......... + k 2 10 x10 + k 211 x11
where, K =
k11
k12
k13
k14
k15
k16
k17
k18
k19
k110
k111
k 21
k 22
k 23
k 24
k 25
k 26
k 27
k 28
k 29
k 210
k 2 11
Hence, u = Kx
The system state equation is:
x = Ax + Bu
y = Cx
1
PI =
x T Qx + u T Ru dt
20
PI =
PI =
1
2
1
2
[(B x
1 1
+ x9 ) + (B2 x5 x 9 ) + (x10 ) + (x11 ) + (u1 ) + (u 2 ) dt
[B
2
2
x1 + 2 B1 x1 x 9 + 2 x 92 + B 2 x 52 2 B 2 x 5 x 9 + x10
+ x11
+ u1 + u 2 dt
This gives the symmetric matrices Q (1111) and R (22) as:
46
x11 ]
B1
Q=
0 0 0
0 0 0
B1
0 0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2
B2
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0 B2
0
0
0
0
0
0
0
0
0
0
0
0
0
0
B1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0 B2
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
0
1
0
0
2
0
0
R=
1 0
0 1

x1 = 0.05 x1 + 6[x 2 x9 d1 ]
x 2 = 2.5 x 2 + 2.5 x3
x3 = 1.73437 x1 0.1x3 4.0625 x 4 + 4.1625u1
x4 = 5.2083x1 12.5 x4 + 12.5u1

x5 = 0.05 x5 + 6[x6 + x9 d 2 ]
x6 = 2.5 x6 + 2.5 x7
x7 = 1.73437 x5 0.1x7 4.0625 x8 + 4.1625u 2
x8 = 5.2083 x5 12.5 x8 + 12.5u 2
x9 = 0.44422 x1 0.44422 x5
x10 = 0.425 x1 + x9
x11 = 0.425 x5 x9
47
A=
0.05
2.5
2.5
0 0
1.73437
5.2083
0
0
0
0
0
0
0
0
0
0
0
0
0 0
0 0
4.1625
12.5
0
0
0.05
0 0
2.5
2.5
0 0 ;
0
0
0
0
0
0
0
0
1.73437
5.2083
0
0
0
0
0 0
0 0
0
0
4.1625
12.5
0.44422
0.44422
0 0
0.425
0
0
0
0
0
0
0
0
0.425
0
0
0
0
0
0
1 0 0
1 0 0
0
0
0
0
0.1 4.0625
0
12.5
0.180625 0 0 0
Q=
0
0
0
0
0
0
0
0.425
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0 0.180625
0
0
0
0
0
0
0 0.425
0 0 0
0 0 0
0
0
0.1 4.0625
0
12.5
0 0 0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
6 0 0
0.425
0
0
0
0
0
0
0 0.425
0
0
0
0
0
0
0
2
0 0 0
0 0 0
0
0
B=
0 0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
R=
1 0
0 1
1 0
0 1
A = [-0.05 6 0 0 0 0 0 0 -6 0 0; 0 -2.5 2.5 0 0 0 0 0 0 0 0; -1.734375 0 -0.1 -4.0625 0 0 0 0 0 0

0; -5.20833 0 0 -12.5 0 0 0 0 0 0 0; 0 0 0 0 -0.05 6 0 0 6 0 0; 0 0 0 0 0 -2.5 2.5 0 0 0 0; 0 0 0 0
-1.734375 0 -0.1 -4.0625 0 0 0; 0 0 0 0 -5.20833 0 0 -12.5 0 0 0; 0.44422 0 0 0 -0.44422 0 0 0
0 0 0; 0.425 0 0 0 0 0 0 0 1 0 0; 0 0 0 0 0.425 0 0 0 -1 0 0]
B = [0 0; 0 0; 4.1625 0; 12.5 0; 0 0; 0 0; 0 4.1625; 0 12.5; 0 0; 0 0; 0 0]
Q = [0.180625 0 0 0 0 0 0 0 0.425 0 0; 0 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0
0 0 0 0 0; 0 0 0 0 0.180625 0 0 0 -0.425 0 0; 0 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0 0 0 0; 0 0 0
0 0 0 0 0 0 0 0; 0.425 0 0 0 -0.425 0 0 0 2 0 0; 0 0 0 0 0 0 0 0 0 1 0; 0 0 0 0 0 0 0 0 0 0 1]
R = [1 0; 0 1]
S = care(A,B,Q,R)
48
K = inv(R)*B'*S
Ac = A-B*K
eig(A)
eig(S)
eig(Ac)

0.4122
0.6208
0.6626
0.1815 0.0621 0.0095
0.1163
0.0366 0.0283
0.6283
0.0186
0.6208
1.2533
1.7307
0.4893 0.0095 0.0238
0.1752
0.0581 0.8116
1.0729
0.0436
0.6626
1.7307
14.348 4.5859 0.1163
0.1752
0.1815 0.4893 4.5859 1.4697 0.0366 0.0581
0.4894
0.15
0.15
0.0457
0.6626
1.7307
0.1815
0.4893
0.0621 0.0095
S = 0.0095 0.0238
0.1163
0.1752
0.0366
0.0581
0.1163
0.1752
0.0366 0.0581
0.4894
0.15
0.15
0.0457
0.0283 0.8116
0.6283
1.0729
1.0713 0.2909
2.8284 0.8619
0.0283
0.0186
0.8116
0.0436
0.5304
0.6283
1.0729
0.0186
0.0436
0.4122
0.6208
0.6208
1.2523
1.0713 2.8284 0.5304

0.2909 0.8619 0.1766
0.0283
0.8116
0.0186
0.0436
0.6283
1.0729
0.6626
1.7307
14.348 4.5859 1.0713 0.5304 2.8284
0.1815 0.4893 4.5859 1.4697 0.2909 0.1766 0.8619
0.1766
1.0713 0.2909 2.7592 0.3311 0.3311

0.5304 0.1766 0.3311 2.5523 0.2827
2.8284
0.8619
0.3311
0.2827
2.5523
The matrix S has been real, positive definite & symmetric. Its eigenvalues are:
0; 0; 0; 0.0293; 0.5654; 0.6722; 2.1545; 2.5134; 3.117; 16.6845; 17.094
All the eigenvalues of matrix S are real and positive.
The feedback gain matrix K has been obtained as:
K=
0.4896 1.0873 2.3995 0.7172

0.026
0.0026 0.1621
0.053
0.026
0.0026 0.1621
0.053
0.4896 1.0873 2.3995 0.7172
0.823 1 0
0.823
0 1
Hence the control inputs are:
u1 = 0.4896x1 1.0873x2 2.3995x3 + 0.7172x4 0.026x5 0.0026x6 0.1621x7 + 0.053x8 + 0.823x9 x10
u2 = 0.026x1 0.0026x2 0.1621x3 + 0.053x4 0.4896x5 1.0873x6 2.3995x7 + 0.7172x8 0.823x9 x11
49
The closed loop control matrix AC has been obtained as:

0.05
0
2.5
2.5
0.1083
0.0108
0.6749
0.2208
3.4258
4.1625
11.3278 13.5918 29.9935 3.5355 0.3253
0.0323
2.0269
0.663
1.2877
12.5
2.5
2.5
3.7721
0
A =
C
4.5261 10.0878 1.0773

0
0.05
0.1083
0.0108
0.6749
0.2208
3.7721
3.4258
4.1625
0.3253
0.0323
2.0269
0.663
11.3278 13.5918 29.9935 3.5355 10.2877
12.5
0.4442
0.4442
0.425
0.425
4.5261 10.0878 1.0773
The eigenvalues of open loop system matrix A are:

0; 0; -12.6985; -12.6923; -0.1716+2.5868i; -0.1716-2.5868i; -2.0178; -1.0223+0.7052i;
-1.0223-0.7052i; -0.0968; -0.4068
Two eigenvalues are zero and remaining have negative real parts indicating that, the
system is marginally stable before applying the optimal control strategy.

-12.6995; -12.6933; -0.4538+2.6334i; -0.4538-2.6334i; -2.0199; -1.1766+1.0781i;
-1.1766-1.0781i; -0.839; -0.2703+0.1338i; -0.2703-0.1338i; -0.2937
The real parts of all the eigenvalues of AC are negative indicating that, the system is
asymptotically stable after applying the optimal control strategy.
3.3.3 STATE SPACE MODEL OF TWO AREA THERMAL-HYDRO POWER

SYSTEM
State space model of two area thermalhydro power system with full state feedback
(10 state feedback) has been developed as shown in Fig. 3.7.
50
B1
AREA 1
(THERMAL)
1
----R1
+
ACE1
1
----S
x9
1
-----------1 + sTg1
d1
u1
PD1
Pg1
x3
Kp1
-----------1 + sTp1
1
----S
Ptie(1,2)
TIE LINE
1
Pt1 +
-----------x2
1 + sTt1
x8
f 1
x1
+
2T0
8
-1
-1
ACE2
10
1
----S
u2
+
x10
1
PG1 1+sT2 PG2 1 - sTw
-------------------------------1 + sT1
x7 1 + sT3 x6 1+0.5sTw
Ptw
+
x5
4
Kp2
f 2
-----------1 + sTp2 x4
d2
1
----R2
B2
PD2
AREA 2
(HYDRO)
Fig. 3.7: State space model of two area thermal-hydro power system
State Variables:
x1 = f1
x2 = Pt1
x 3 = Pg 1
x 7 = PG1
x8 = Ptie (1, 2 )
x9 = ACE1 dt
Control inputs:
x 4 = f 2
x10 = ACE 2 dt
u1 and u 2
Disturbance inputs:
d1 = PD1
and
State equations:
For block 1:
x1 + TP1 x1 = K P1 ( x 2 x8 d 1 )
i.e., x1 =
K
K
K
1
x1 + P1 x 2 P1 x8 P1 d 1
TP1
TP1
TP1
TP1
For block 2:
x2 + Tt1 x2 = x3
i.e., x2 =
x 5 = Ptw
1
1
x2 +
x3
Tt1
Tt1
51
d 2 = PD 2
x 6 = PG 2
For block 3:
x3 + Tg 1 x3 =
i.e., x3 =
1
x1 + u1
R1
1
1
1
x1
x3 +
u1
R1Tg 1
Tg 1
Tg 1
For block 4:
x 4 + TP 2 x 4 = K P 2 ( x 5 + x8 d 2 )
i.e., x 4 =
K
K
K
1
x 4 + P 2 x5 + P 2 x8 P 2 d 2
TP 2
TP 2
TP 2
TP 2
For block 5:
x5 + 0.5Twx5 = x 6 Twx 6
x5 =
x5 =
1
1
x5 +
x6 2 x6
0.5Tw
0.5Tw
T2
T
T
2
2
1
1
x5 +
x6 2
x4
x6 +
2 x7 + 2 u 2
Tw
Tw
R2 T1T3
T3
T3 T1T3
T1T3
i.e., x5 =
2T2
2T2
2T
2
2
2
2
x4
x5 +
+
x6 +
x7 2 u 2
R2 T1T3
Tw
Tw T3
T1T3 T3
T1T3
For block 6:
x 6 + T3 x 6 = x 7 + T2 x 7
T
1
1
x6 = x6 + x7 + 2 x7
T3
T3
T3
x6 =
T
1
1
1
1
1
x6 +
x7 + 2
x 4 x7 + u 2
T3
T3
T3
R2T1
T1
T1
2 x
i.e., x6 =
x6 +
2 x7 + 2 u 2
4
R2T1T3
T3
T3 T1T3
T1T3
For block 7:
1
x4 + u 2
R2
x 7 + T1 x 7 =
i.e., x 7 =
1
1
1
x4 x7 + u 2
R2T1
T1
T1
For block 8:
x 8 = 2 T
x1 2 T
x4
52
For block 9:
x 9 = B1 x1 + x8
For block 10:

x10 = B2 x 4 x8
The matrices A(1010) and B(102) are:

1
T
P1
0
1
R Tg
1 1
0
A=
P1
T
P1
1
Tt
1
0
0
0
1
Tt
1
1
Tg
1
0
2T 0
B
1
0
0
0
0
0
0
0
0 0
0 0
P2
T
P2
0 0
0 0
0 0
0 0
0
1
1
0 0
0 0
0 0
0
P2
T
P2
2
Tw
1
T
P2
2T
2
R TT
213
T
2
R TT
213
1
R T
21
2T 0
0
B
2
1
T
3
0
0
0
0
0
0
Control Vector (u) =
x2
x3
x4
x5
x6
0
0
1
Tg
1
0
0 0
2T
2 2
TT
T
13
3
T
1
2
T
TT
3
13
1
T
1
0
0
0
2
2
+
Tw T
3
State Vector (x) = [x1
P1
T
P1
0
x7
B=
0
0
0
0
x8
x9
u1
u2

u1 = k11 x1 + k12 x 2 + .......... + k110 x10
u 2 = k 21 x1 + k 22 x 2 + .......... + k 2 10 x10
where, K =
k11
k 21
k12
k 22
k13
k 23
k14
k 24
k15
k 25
k16
k 26
k17
k 27
k18
k 28
k19
k 29
hence, u = Kx
The system state equation is:
x = Ax + Bu
y = Cx
53
k110
k 2 10
0
0
0
0
2T
2
TT
13
T
2
TT
13
1
T
1
0
0
0
x10 ]
To determine the Feedback Gain Matrix (K):
PI =
1
x T Qx + u T Ru dt
20
PI =
1
2
PI =
1
2
[(B x
+ x8 ) + (B2 x 4 x8 ) + (x9 ) + (x10 ) + (u1 ) + (u 2 ) dt
1 1
[B
2
+ u1 + u 2 dt
x1 + 2 B1 x1 x8 + 2 x82 + B 2 x 42 2 B 2 x 4 x8 + x 92 + x10

B12
Q=
0 0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
B 22
0
0
0
B1
0
0
0
0
0
0
0
0
0 B2
0
0
0
0
0 0 0
B1
0 0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0 B2
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
1
0
2
0
0
R=
1 0
0 1

x1 = 0.05 x1 + 6[x 2 x8 d1 ]
x 2 = 2.5 x 2 + 2.5 x3
x3 = 5.2083x1 12.5 x3 + 12.5u1
x 4 = 0.05 x 4 + 6[x5 + x8 d 2 ]
x5 = 0.0008778 x 4 2 x5 + 2.2 x6 0.1979 x7 0.002106u 2
x6 = 0.000439x 4 0.1x6 + 0.09894x7 + 0.001053u 2
x7 = 0.008555 x 4 0.02053x7 + 0.02053u 2
54
x8 = 0.44422 x1 0.44422 x 4
x9 = 0.425 x1 + x8
x10 = 0.425 x 4 x8
A=
0.05
6
0
0
2.5
2 .5
5.2083
0
12.5
0
0
0
0
0
0
0
0
0
0.05
0.0008778
0
0
0
6
2
0
0
0.44422
0.425
0
0.000439
0.008555
0.44422
0
0.425
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0.180625 0 0
Q=
0 0 0
0
0
0
0
0.1979
6
0
0
6
0
0
0
0
0
0
0
0
0
0
0
0.1 0.09894
0
0.02053
0
0
0
0
0
0
0
0
0
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2.2
0.425
0
0
0
0
0
0
0
0
0
0 0.180625
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0 0.425
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0.425
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
1
0
2
0
0
0
0
0
0
0
0.001053
0.02053
0
0
0
0 0
0
0
0
0
0
0
0.425
0
0
B=
0
0
0
0
12.5
0
0
0
0
0.002106
R=
1 0
0 1
A = [-0.05 6 0 0 0 0 0 -6 0 0; 0 -2.5 2.5 0 0 0 0 0 0 0; -5.2083 0 -12.5 0 0 0 0 0 0 0; 0 0 0 -0.05 6 0 0 6

0 0; 0 0 0 0.0008778 -2 2.2 -0.1979 0 0 0; 0 0 0 -0.000439 0 -0.1 0.09894 0 0 0; 0 0 0 -0.008555 0 0 0.02053 0 0 0; 0.44422 0 0 -0.44422 0 0 0 0 0 0; 0.425 0 0 0 0 0 0 1 0 0; 0 0 0 0.425 0 0 0 -1 0 0]
B = [0 0; 0 0; 12.5 0; 0 0; 0 -0.002106; 0 0.001053; 0 0.02053; 0 0; 0 0; 0 0]
Q = [0.180625 0 0 0 0 0 0 0.425 0 0; 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0 0 0; 0 0 0 0.180625 0 0 0 0.425 0 0; 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0 0 0; 0.425 0 0 -0.425 0 0 0 2 0 0; 0 0
0 0 0 0 0 0 1 0; 0 0 0 0 0 0 0 0 0 1]
R = [1 0; 0 1]
55
S = care(A,B,Q,R)
K = inv(R)*B'*S
Ac = A-B*K
eig(A)
eig(S)
eig(Ac)

0.3
0 .3
0.3
0 .5
0 .1
0 .1
0 .1
0 .1
0.4
0 .5
S=
0.6
0 .9
0.2 0.3
0.6
0 .6
0.3
0 .4
0.2
0 .3
0.1
0 .1
0 .4
0 .2
0.6
0.6
0 .3
0 .2
0.1 0.1 0.5

0.9
0 .3
0.6
0 .4
0 .3
0
0
0.1
0.2
0
0 .1
0.1
0
2
0
1 .2
3.3
27.7
9 .8
2.7
3 .1
0.1 3.3 9.5
84.4
29.7
8 .7
6
8.8
0.2 27.7 84.4 1152.5 520.3 75.3 76
90
0
9.8 29.7 520.3 396.9 24.1 26.7 34.7
5.4
0.1 2.7 8.7
75.3
24.1
8.9
7.7
0.1 2 6
76 26.7 5.4
7.7
6 .4
0
3.1 8.8
90
34.7
7 .7
6 .4
9 .8
0; 0; 0; 0.3; 0.5; 1.5; 2.5; 7.3; 135.9; 1439.2

K=
0.6597 1.1572 0.2095 0.1842 0.9205 1.9204 0.5813 0.9674 0.7877 0.616
0.0052 0.0059 0.0009 0.224 0.6794 11.7167 8.6338 0.5555 0.616 0.7877
u1 = 0.6597x1 1.1572x2 0.2095x3 0.1842x4 0.9205x5 1.9204x6 + 0.5813x7 0.9674x8 0.7877x9 0.616x10
u2 = 0.0052x1 + 0.0059x2 + 0.0009x3 0.224x4 0.6794x5 11.7167x6 8.6338x7 0.5555x8 + 0.616x9 0.7877x10
56
The closed loop system matrix AC has been obtained as:

0.05
0
2.5
2.5
0
0
0
0
0
0
0
13.4543 14.4648 15.1187 2.3025 11.5056 24.0053 7.2665 12.0926 9.8466 7.7003
0
0
0
0.5
06
0
0
6
0
0
0
0
0
0.0013 1.9986
2.2247 0.1797 0.0012 0.0013 0.0017
AC =
0
0
0
0.0007 0.0007 0.1123 0.0898 0.0006 0.0006 0.0008
0.0001
0.4442
0.425
0
0.0001
0
0
0
0
0
0
0
0.0132 0.0139
0.4442
0
0
0
0.425
0
0.2405 0.1978 0.0114

0
0
0
0
0
1
0
0
1
0.0126
0
0
0
0.0162
0
0
1

0; 0; -13.06; -0.4002+2.8873i; -0.4002-2.8873i; -0.6199+1.2494i; -0.6199-1.2494i;
-0.0601+0.0207i; -0.0601-0.0207i; -2.0001
Two eigenvalues are zero and the remaining have negative real parts indicating that,
the system is marginally stable before applying the optimal control strategy.

-13.0676; -1.0386+3.1050i; -1.0386-3.1050i; -0.9071+1.4148i; -0.9071-1.4148i;
-2.0001; -0.7583; -0.0778+0.1130i; -0.0778-0.1130i; -0.1545
The real parts of all the eigenvalues of AC are negative indicating that, after
applying the optimal control strategy, the system is asymptotically stable.
3.3.4 STATE SPACE MODEL OF THREE AREA THERMAL-THERMALHYDRO POWER SYSTEM

The state space model of three area thermalthermal-hydro power system with full
state feedback (16 state feedback) has been developed as shown in Fig. 3.8.
57
B1
+
ACE1
1
-----------1 + sTg1
x14
14
x3
u2
1
----S
1
-----------1 + sTg2
x15
15
x6
u3
1
----S
x16
Governor
Governor
Kp2
-----------1 + sTp2
10
13
f 2
2T23
-----------s
x13
x4
Ptie(2)
a12 = -1
d3
PD3
Water Turbine
1
PG1 1 + sT2 PG2 1 - sTw Ptw
+
------------------------------------1 + sT1
x10 1 + sT3 x9 1 + 0.5 sTw x8
16
x12
Power System
1
Pt2 +
-----------x5
1 + sTt2
2T13
-----------s
d2
AREA 3
(HYDRO)
1
----R3
ACE3
Pg2
12
2T12
-----------s
x11 +
Steam Turbine
Non Reheat
B3
11
PD2
Governor
ACE2
f 1
x1
Kp1
-----------1 + sTp1
Ptie(1)
AREA 2
1
----R2
+
Power System
1
Pt1 +
-----------x2
1 + sTt1
Pg1
B2
PD1
Steam Turbine
Non Reheat
Governor
u1
1
----S
d1
AREA 1
1
----R1
Power System
Kp3
-----------1 + sTp3
a13 = -1
f3
x7
+
Ptie(3)
a23 = -1
Fig. 3.8: State space model of three area thermal-thermal-hydro power system
State Variables:
x1 = f1
x2 = Pt1
x3 = Pg1
x 4 = f 2
x5 = Pt 2
x7 = f 3
x8 = Ptw
x9 = PG 2
x10 = PG1
x11 = P tie (1, 2 ) x12 = P tie (1,3)
x13 = P tie ( 2,3)
x14 = ACE1 dt
Control inputs:
u1 , u 2 and u 3
Disturbance inputs:
x15 = ACE 2 dt
d1 = PD1 , d 2 = PD 2
State equations:
For block 1:
x1 + TP1 x1 = K P1 ( x2 x11 x12 d1 )
i.e., x1 =
1
K
K
K
K
x1 + P1 x2 P1 x11 P1 x12 P1 d1
TP1
TP1
TP1
TP1
TP1
58
x6 = Pg 2
x16 = ACE 3 dt
and d 3 = PD 3
For block 2:
x2 + Tt1 x2 = x3
i.e., x2 =
1
1
x2 +
x3
Tt1
Tt1
For block 3:
x3 + Tg1 x3 =
i.e., x3 =
1
x1 + u1
R1
1
1
1
x1
x3 +
u1
R1Tg1
Tg1
Tg1
For block 4:
x4 + Tp2 x4 = Kp2 [x5 + x11 x13 d 2 ]

i.e., x4 =
1
Kp
Kp
Kp
Kp
x4 + 2 x5 + 2 x11 2 x13 2 d 2
Tp2
Tp2
Tp2
Tp2
Tp2
For block 5:
x5 + Tt 2 x5 = x6
i.e., x5 =
1
1
x5 +
x6
Tt 2
Tt 2
For block 6:
1
x4 + u2
R2
1
1
1
i.e., x6 =
x4
x6 +
u2
R2Tg 2
Tg 2
Tg 2
For block 7:
x6 + Tg 2 x6 =
x7 + Tp3 x7 = Kp3 [x8 + x12 + x13 d3 ]

i.e., x7 =
1
Kp
Kp
Kp
Kp
x7 + 3 x8 + 3 x12 + 3 x13 3 d 3
Tp3
Tp3
Tp3
Tp3
Tp3
For block 8:
x8 + 0.5Twx8 = x9 Twx9
i.e., x8 =
2T2
2
2
2
2T2 2
2T
x7
x8 +
+
x9 +
x10 2 u3
R3T1T3
Tw
Tw T3
T1T3 T3
T1T3
59
For block 9:
x9 + T3 x9 = x10 + T2 x10
i.e., x9 =
T2
1
1
T
T
x7 x9 +
2 x10 + 2 u3
R3T1T3
T3
T3 T1T3
T1T3
For block 10:
x10 + T1 x10 =
i.e., x10 =
1
x7 + u3
R3
1
1
1
x7 x10 + u3
R3T1
T1
T1
For block 11:

x11 = 2T12 x1 2T12 x4
For block 12:
x12 = 2T13 x1 2T13 x7

For block 13:
x13 = 2T23 x4 2T23 x7

For block 14:
x14 = B1 x1 + x11 + x12
For block 15:
x15 = B2 x4 x11 + x13

For block 16:
x16 = B3 x7 x12 x13
60
The matrices A (1616) and B (163) are:
Kp
1
Tp
1
1
Tt
1
1
Tp
1
0
1
R Tg
1 1
0
1
Tt
1
1
Tg
1
2T
12
2T
13
0
2T
12
0
B
1
0
2T
23
0
B
2
0
0
0
0
0
0 0 0
0 0 0
1
Tp
3
2T
2
R TT
313
T
2
R TT
313
1
RT
31
0
Kp
3
Tp
3
2
Tw
Kp
3
Tp
3
Kp
3
Tp
3
0 0 0
2
2
+
Tw T
3
0 0 0
0 0 0
0 0 0
2T
13
2T
23
0
0
0
0
0
0
0
0
0
Kp
2
Tp
2
1
Tt
2
0
0
1
Tp
2
0
0
0 0 0
Kp
2
Tp
2
B=
Kp
2
Tp
2
0
2T
2
TT
1 3
T
2
TT
1 3
1
T
1
0
0
0 0 0
0
0
0
0
1
Tg
2
0
0 0 0
0
0
0
0
0
0
1
Tg
1
0
0
0 0 0
A=
Kp
1
Tp
1
1
R Tg
2 2
1
Tt
2
1
Tg
2
Kp
1
Tp
1
2T
2 2
TT T
13 3
T
1
2
T TT
3 13
1
T
1
0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
B
3
0 0 0
61
1
T
3
State Vector (x) =
[x1
x2
x3
x4
x5
x6
x7
x8
x9
x10
x11
x12
x13
x14
x15
x16 ]
u1
Control Vector (u) = u 2

u3
u1 = k11 x1 + k12 x 2 + .......... + k115 x15 + k116 x16

u 2 = k 21 x1 + k 22 x 2 + .......... + k 215 x15 + k 216 x16
u 3 = k 31 x1 + k 32 x 2 + .......... + k 315 x15 + k 316 x16
where,
K11 K12
K = K 21 K 22
K 31 K 32
K13 K14
K 23 K 24
K15
K 25
K16
K 26
K17
K 27
K18
K 28
K19
K 29
K110
K 210
K111 K112
K 211 K 212
K113 K114
K 213 K 214
K115
K 215
K116
K 216
K 33
K 35
K 36
K 37
K 38
K 39
K 310
K 311
K 313
K 315
K 316
K 34
K 312
K 314
Hence, u = Kx
The system state equation:
x = Ax + Bu
The output equation:

y = Cx
1
PI =
x T Qx + u T Ru dt
20
PI =
1
(B1 x1 + x11 + x12 )2 + (B2 x4 x11 + x13 )2 + (B3 x7 x12 x13 )2 + x142 + x152 + x162 + u12 + u2 2 + u32 dt
20
PI =
1
2
[B
2
2
x1 + 2 B1 x1 x 9 + 2 x 92 + B 2 x 52 2 B 2 x 5 x 9 + x10
+ x11
+ u1 + u 2 dt
62

B1
0
Q=
0 0
0 0
0
0
0 0
0 0
0
0
0 0 0
0 0 0
0
0
0 0
0 0
0
2
B2
0 0
0 0
0
0
0
0
0 0
0 0
0
0
0 0
0 0
0
0
0
0
0 0
0 0
0
0
0 0
0 0
B3
0
B1
0
0
0
0 0 0
0 0 0
0 0 0
0
0 0 0 B2
0
0
0
B2
0 0 0
0 0 0
0 0 0
0 0 0
0
0
0
0
0
0
0 0 0
0 0 0
0 0 0
0 0 0
0
0
B3
0
B3
0
0 0 0
0 0 0
0
0
0 0
0 0
0
0
0 0
0 0
0
0
0 0 0
0 0 0
0
0
0
0
0
0
0 0 0
0 0 0
B1
B1
0 0 B2
0 0
0
0 0
0
0 0 B3
0 0 0
0 0 0
2
1
1
2
1
1
0 0 0
0 0 0
0
0
0 0
0 0
B2
0
0 0 B3
0 0
0
0 0 0
0 0 0
1
0
1
0
2
0
0 0 0
1 0 0
0
0
0 0
0 0
0
0
0 0
0 0
0 0 0
0 0 0
0
0
0
0
0
0
0 1 0
0 0 1
0
0
B1
0
1 0 0
; R= 0 1 0
0 0 1

x1 = 0.05 x1 + 6[x2 x11 x12 d1 ]

x 2 = 2.5 x 2 + 2.5 x3
x3 = 5.2083x1 12.5 x3 + 12.5u1
x 4 = 0.05 x 4 + 6[x5 + x11 x13 d 2 ]
x5 = 2.5 x5 + 2.5 x6
x6 = 5.2083x 4 12.5 x 6 + 12.5u 2
x7 = 0.05 x7 + 6[x8 + x12 + x13 d 3 ]
x8 = 0.000877 x7 2 x8 + 2.2 x9 0.19789 x10 0.002106u 3
x9 = 0.000438 x7 0.1x9 + 0.09894 x10 + 0.001053u 3
x10 = 0.008555 x7 0.02053 x10 + 0.02053u 3
x11 = 0.44422x1 0.44422x4

x12 = 0.44422 x1 0.44422 x7
63
x13 = 0.44422 x 4 0.44422 x7
x14 = 0.425x1 + x11 + x12

x15 = 0.425 x 4 x11 + x13
x16 = 0.425 x7 x12 x13
0.05
6
0
2.5
0
2.5
5.2083
0
12.5
0
0
0
A=
B=
0
0
0
0
0
0
0.4442
0.4442
0
0.425
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
12.5
0
0
0
0
0
0
0
0
0
0
0
12.5
0
0
0
0
0
0
0
0
0
0
0
0
0.002106
0.001053
0.020534
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0.05
0
0
0
6
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
6 6 0
0
0
0
0
0
0
6
0 6
0
2.5
2.5
0
0
0
0
0
5.2083
0
12.5
0
0
0
0
0
0
0
0
0.05
6
0
0
0
0
0
0
0.000877 2 2.2 0.19789 0
0.000438 0 0.1 0.09894
0
0
0
0
0
0
0
0.008555 0
0
0.02053 0
0.4442
0
0
0
0
0
0
0
0.4442
0
0
0
0
0
0
0
0.4442
0
0
0.4442
0
0
0
0
0
0
0
0
0
0
0
1
1
0.425
0
0
0
0
0
0
0
0
0
0.425
0
0
0
0
64
0
0
6
0
0
0
0
0
0
1
0
1
0
0
6
0
0
0
0
0
0
0
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0.180625 0 0
Q=
0 0
0 0 0 0.425
0.425
0 0 0
0 0
0 0
0 0 0
0 0 0
0 0
0 0
0 0 0
0 0 0
0 0 0.180625 0 0
0 0 0 0.425
0 0
0 0
0 0 0
0 0 0
0 0
0 0
0 0 0
0 0 0
0
0
0 0
0 0
0
0
0 0 0.180625 0 0 0
0 0
0
0 0 0
0
0
0 0
0 0
0 0 0
0 0 0
0 0
0 0
0 0 0
0 0 0
0.425
0 0
0.425 0 0
0 0 0
0 0 0
0.425
0 0
0 0
0.425 0 0 0
0 0 0
0 0
0.425
0 0
0.425 0 0 0
0 0 0
0 0
0 0
0 0 0
1 0 0
0
0
0 0
0 0
0
0
0 0
0 0
0
0
0 0 0
0 0 0
0
0
0
0
0
0
0 1 0
0 0 1
0.425 0 0 0
0.425 0.425 0 0 0
0
0
0 0 0
1 0 0
; R= 0 1 0
0 0 1

A = [-0.05 6 0 0 0 0 0 0 0 0 -6 -6 0 0 0 0; 0 -2.5 2.5 0 0 0 0 0 0 0 0 0 0 0 0 0; -5.2083 0 -12.5 0 0 0 0 0
0 0 0 0 0 0 0 0; 0 0 0 -0.05 6 0 0 0 0 0 6 0 -6 0 0 0; 0 0 0 0 -2.5 2.5 0 0 0 0 0 0 0 0 0 0; 0 0 0 -5.2083 0
-12.5 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 -0.05 6 0 0 0 6 6 0 0 0; 0 0 0 0 0 0 0.0008778 -2 2.2 -0.19789 0 0
0 0 0 0; 0 0 0 0 0 0 -0.00044 0 -0.1 0.0989 0 0 0 0 0 0; 0 0 0 0 0 0 -0.0085 0 0 -0.02053 0 0 0 0 0 0;
0.4442 0 0 -0.4442 0 0 0 0 0 0 0 0 0 0 0 0; 0.4442 0 0 0 0 0 -0.4442 0 0 0 0 0 0 0 0 0; 0 0 0 0.4442 0 0
-0.4442 0 0 0 0 0 0 0 0 0; 0.425 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0; 0 0 0 0.425 0 0 0 0 0 0 -1 0 1 0 0 0; 0 0 0
0 0 0 0.425 0 0 0 0 -1 -1 0 0 0]
B = [0 0 0; 0 0 0; 12.5 0 0; 0 0 0; 0 0 0; 0 12.5 0; 0 0 0; 0 0 -0.0021; 0 0 0.001; 0 0 0.0205; 0 0 0; 0 0 0;
0 0 0; 0 0 0; 0 0 0; 0 0 0]
Q = [0.1806 0 0 0 0 0 0 0 0 0 0.425 0.425 0 0 0 0; 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0; 0 0 0 0.1806 0 0 0 0 0 0 -0.425 0 0.425 0 0 0; 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0.1806 0 0 0 0 -0.425 -0.425 0 0 0; 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0; 0.425 0 0 -0.425 0 0 0 0 0 0 2 1 -1 0 0 0; 0.425 0
0 0 0 0 -0.425 0 0 0 1 2 1 0 0 0; 0 0 0 0.425 0 0 -0.425 0 0 0 -1 1 2 0 0 0; 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0
0; 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0; 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1]
R = [1 0 0; 0 1 0; 0 0 1]
S = care(A,B,Q,R)
65
K = inv(R)*B'*S
Ac = A-B*K
eig(S)
eig(A)
eig(Ac)
0.0065
0.0256
0.0045
0.0065
0.2081
0.1682
0.0229
0.2081
0.2807
0.4038
0.0697
0.2807
0.1259 0.0938
0.1472 0.1472
0.0238 0.0306
0.1259 0.0938
0.3639
0.1326
0.0039
0.2702
0.2702
0.2453
0.0345
0.3639
0.3591
0.4486
0.0747
0.0112
0.0112
0.027
0.0053
0.3591
0.1404
0.1707
0.0281
0.1404
0.0292
0.0335
0.0062
0.315
0.5081 0.0889 0.0256
0.0057
0.0062
0.001
0.0479
0.0889
0.0161 0.0045
0.0065 0.0256 0.0045 0.0065 0.0256 0.0045 0.9933
0.2081 0.1682
0.0229
0.2081 0.1682
0.0229
2.4631
0.1682
0.0229
2.4631
7.2592
0.4038
0.0697
22.3254
68.2068
0.1472
0.0238
8.7647
26.3456
0.2453
0.0345
1.3623
4.7813
0.1326
0.0039
1.3623
4.7813
0.027
0.0053
1.0514
3.1732
0.4486
0.0747
1.0514
3.1732
0.1707
0.0281
3.0003
8.6409
0.2807
0.4038
0.0697
0.2807
0.4038 0.0697 22.3254
0.1259 0.1472 0.0238 0.1259 0.1472 0.0238 8.7647
0.0938 0.1127 0.0306 0.0938 0.1127
0.0306
0
0.3639
0.1326
0.0039
0.2702
0.2453 0.0345 1.3623
0.2702
0.2453
0.0345
0.3639
0.1326
0.0039 1.3623
68.2068
26.3456
0
4.7813
4.7813
956.4577 462.4112
0
40.2933 40.2933 40.9299 40.9299 94.1133
462.4112 373.3328
0
13.9247 13.9247 15.3565 15.3565 38.3068
0
0
0.1358
0
1.9065 2.903
2.903
0.1358
40.2933 13.9247
2.903
1.5
6.3095 1.7076 1.8434 5.1382
40.2933 13.9247 2.903 6.3095
1.5
1.8434 1.7076 5.1382
0.2896
0.315
0.0479
0.0142
S=
0.315
0.5081
0.0889
0.0292
0.3591 0.4486
0.0112 0.027
0.1404
0.1707
0.0479
0.0889
0.0161
0.0057
0.0142
0.0292
0.0057
0.2896
0.0292
0.0335
0.0062
0.315
0.0057
0.0062
0.001
0.0479
0.1127
0.0306
0
0
0.0747 0.0112 0.027 0.0053 1.0514 3.1732 40.9299 15.3565 0.1358 1.7076 1.8434
3.908
0.0053 0.3591 0.4486 0.0747 1.0514 3.1732 40.9299 15.3565 0.1358 1.8434 1.7076 2.0688
0.0281 0.1404
0.1707
0.0281 3.0003 8.6409
94.1133 38.3068
0
5.1382 5.1382 4.4593
2.0688 4.4593
3.908
4.4593
4.4593 12.2554
0; 0; 0; 0; 0; 0; 0.4; 0.4; 0.6; 1.1; 1.7; 2.1; 2.7; 6.6; 122; 1230.8

K=
0.5992 1.1107 0.2017
0.0717 0.0777 0.0129 0.0564 0.2863 0.8709 0.2976 0.3826 0.0483 0.4309 0.9337 0.0663 0.3517
0.0717 0.0777 0.0129
0.5992 1.1107
0.2017 0.0564 0.2863 0.8709 0.2976 0.3826 0.4309 0.0483 0.0663 0.9337 0.3517
0.0027 0.003 0.0005 0.0027 0.003 0.0005 0.1983 0.5975 10.3587 8.0975
0.3183 0.3183 0.3517 0.3517 0.8675
u1 = 0.5992x1 1.1107x2 0.2017x3 0.0717x4 0.0777x5 0.0129x6 + 0.0564x7 0.2863x8

0.8709x9 + 0.2976x10 + 0.3826x11 0.0483x12 0.4309x13 0.9337x14 + 0.0663x15 0.3517x16
u 2 = 0.0717 x1 0.0777 x 2 0.0129x3 0.5992x 4 1.1107 x5 0.2017 x6 + 0.0564x7 0.2863x8
0.8709x9 + 0.2976x10 0.3826x11 0.4309x12 0.0483x13 + 0.0663x14 0.9337 x15 0.3517 x16
u 3 = 0.0027 x1 + 0.003 x 2 + 0.0005 x3 + 0.0027 x 4 + 0.003 x 5 + 0.0005 x 6 0.1983 x 7 0.5975 x8
10.3587 x 9 8.0975 x10 0.3183 x12 0.3183 x13 + 0.3517 x14 + 0.3517 x15 0.8675 x16
66
The closed loop system matrix AC is:

0.05
2.5
0
2.5
0
12.6981 13.8837 15.0214 0.8966
A=
0
0.8966
0
0.971
0
0
0
0
0.05
0
0.971
0
0.1616
0
0.7052
0
0
2.5
2.5
0.1616 12.6981 13.8837 15.0214
0
0
0
0
0
0
0
0
0
3.7194
0
4.7825
0
0
3.579 10.8858
0
0
0.7052
0
0
3.579 10.8858
0.05
0.0013
6
1.9987
0
2.2218
0
0
3.7194
0
0.1808
0
0
0
4.7825 5.3861 0.6035
0
0
0
0
0
0.6035 5.3861 11.6718
6
0.0007
6
0.0007
0
0
0.8282
0
0.8282
0
4.3968
0
0
11.6718 4.3968
0
0.0007
0
0.0007
0
0.0018
0.0006 0.0006 0.1109
0.0003 0.0003
0.0004
0.0004
0.0009
0.0001
0.4442
0.0001
0
0
0
0.0001
0.4442
0.0001
0
0
0
0.0126 0.0123 0.2127 0.1868

0
0
0
0
0
0
0.0065 0.0065
0
0
0.0072
0
0.0072
0
0.0178
0
0.4442
0
0
0
0
0
0
0.4442
0
0
0
0
0.4442
0.4442
0
0
0
0
0
0
0
0
0
0
0
0
0.0904
0
0
0
0
0
0
0.425
0
0
0
0
0
0
0.425
0
0
0
0
0
0
0.425
0
0
0
0
0
0
1
0
0
1
1
1
0
0
0
0
0
0

0; 0; 0; -13.0601; -13.0445; -0.2686+3.602i; -0.2686-3.602i; -0.2372+3.1718i;
-0.2372-3.1718i; -0.7827+1.6214i; -0.7827-1.6214i; -1.4683; -2.0; -0.0843; -0.0362; 0
Four eigenvalues are zero and the remaining have negative real parts indicating
that, the system is marginally stable before applying the optimal control strategy.
-13.0677; -13.0514; -0.9698+3.8136i; -0.9698-3.8136i; -0.8646+3.3335i;
-0.8646-3.3335i; -1.1245+1.8141i; -1.1245-1.8141i; -1.685; -2; -0.7362; -0.7338;
-0.0741+0.1067i; -0.0741-0.1067i; -0.1492; 0
It can be seen that after applying optimal control, the system is asymptotically
stable.
3.4
EQUATIONS OF POWER SYSTEM MODELS IN DISCRETE FORM FOR

INTEGRAL CONTROL AND OPTIMAL CONTROL
State equations and control equations for power system models under consideration
have been obtained in sections 3.2.1 to 3.2.4 for integral control and in sections 3.3.1
to 3.3.4 for optimal control. For development of ANN controllers with MATLAB
programming, the power system equations are required in discrete time form, which
have been obtained as given below. The sampling time is 0.01 second and k denotes
the sample number (iteration number).
67
3.4.1 EQUATIONS FOR TWO AREA THERMAL-THERMAL (NON REHEAT)

POWER SYSTEM
Equations for Integral Control:
x1 (k + 1) = 0.9995 x1 (k ) + 0.06[x 2 (k ) x7 (k ) d1 (k )]
x 2 (k + 1) = 0.975 x 2 (k ) + 0.025 x3 (k )
x3 (k + 1) = 0.05208 x1 (k ) + 0.875 x3 (k ) + 0.125u1 (k )
x 4 (k + 1) = 0.9995 x 4 (k ) + 0.06[x5 (k ) + x 7 (k ) d 2 (k )]
x5 (k + 1) = 0.975 x5 (k ) + 0.025 x6 (k )
x6 (k + 1) = 0.05208 x 4 (k ) + 0.875 x6 (k ) + 0.125u 2 (k )
x7 (k + 1) = 0.0044422 x1 (k ) 0.0044422 x 4 (k ) + x 7 (k )
u1 (k + 1) = 0.00085 x1 (k ) 0.002 x7 (k ) + u1 (k )
u 2 (k + 1) = 0.00085 x 4 (k ) + 0.002 x7 (k ) + u 2 (k )
Equations for Optimal Control:
x1 (k + 1) = 0.9995 x1 (k ) + 0.06[x 2 (k ) x7 (k ) d1 (k )]
x 2 (k + 1) = 0.975 x 2 (k ) + 0.025 x3 (k )
x3 (k + 1) = 0.05208 x1 (k ) + 0.875 x3 (k ) + 0.125u1 (k )
x 4 (k + 1) = 0.9995 x 4 (k ) + 0.06[x5 (k ) + x 7 (k ) d 2 (k )]
x5 (k + 1) = 0.975 x5 (k ) + 0.025 x6 (k )
x6 (k + 1) = 0.05208 x 4 (k ) + 0.875 x6 (k ) + 0.125u 2 (k )
x7 (k + 1) = 0.0044422 x1 (k ) 0.0044422 x 4 (k ) + x 7 (k )
x8 (k + 1) = 0.00425 x1 (k ) + 0.01x7 (k ) + x8 (k )
x9 (k + 1) = 0.00425 x 4 (k ) 0.01x7 (k ) + x9 (k )
u (k + 1) = 0.4226 x (k ) 0.8294 x (k ) 0.1538 x (k ) + 0.063x (k ) + 0.1156 x (k )

1
1
2
3
4
5
+ 0.02 x (k ) + 0.2737 x (k ) x (k )
6
7
8
u (k + 1) = 0.063x (k ) + 0.1156 x (k ) + 0.02 x (k ) 0.4226 x (k ) 0.8294 x (k )
2
1
2
3
4
5
0.1538x (k ) 0.2737 x (k ) x (k )
6
7
9
68
3.4.2 EQUATIONS FOR TWO AREA THERMAL-THERMAL (REHEAT)

POWER SYSTEM
x1 (k + 1) = 0.9995 x1 (k ) + 0.06[x 2 (k ) x9 (k ) d1 (k )]
x 2 (k + 1) = 0.975 x 2 (k ) + 0.025 x3 (k )
x3 (k + 1) = 0.0173437 x1 (k ) + 0.999 x3 (k ) 0.040625 x 4 (k ) + 0.041625u1 (k )
x4 (k + 1) = 0.052083x1 (k ) + 0.875x4 (k ) + 0.125u1 (k )

x5 (k + 1) = 0.9995 x5 (k ) + 0.06[x6 (k ) + x9 (k ) d 2 (k )]
x6 (k + 1) = 0.975 x6 (k ) + 0.025 x7 (k )
x7 (k + 1) = 0.0173437 x5 (k ) + 0.999 x7 (k ) 0.040625 x8 (k ) + 0.041625u 2 (k )
x8 (k + 1) = 0.052083x5 (k ) + 0.875 x8 (k ) + 0.125u 2 (k )
x9 (k + 1) = 0.0044422 x1 (k ) 0.0044422 x5 (k ) + x9 (k )
u1 (k + 1) = 0.00085 x1 (k ) 0.002 x9 (k ) + u1 (k )
u 2 (k + 1) = 0.00085 x5 (k ) + 0.002 x9 (k ) + u 2 (k )
x1 (k + 1) = 0.9995 x1 (k ) + 0.06[x 2 (k ) x9 (k ) d1 (k )]
x 2 (k + 1) = 0.975 x 2 (k ) + 0.025 x3 (k )
x3 (k + 1) = 0.0173437 x1 (k ) + 0.999 x3 (k ) 0.040625 x 4 (k ) + 0.041625u1 (k )
x4 (k + 1) = 0.052083x1 (k ) + 0.875x4 (k ) + 0.125u1 (k )

x5 (k + 1) = 0.9995 x5 (k ) + 0.06[x6 (k ) + x9 (k ) d 2 (k )]
x6 (k + 1) = 0.975 x6 (k ) + 0.025 x7 (k )
x7 (k + 1) = 0.0173437 x5 (k ) + 0.999 x7 (k ) 0.040625 x8 (k ) + 0.041625u 2 (k )
x8 (k + 1) = 0.052083x5 (k ) + 0.875 x8 (k ) + 0.125u 2 (k )
x9 (k + 1) = 0.0044422 x1 (k ) 0.0044422 x5 (k ) + x9 (k )
x10 (k + 1) = 0.00425 x1 (k ) + 0.01x9 (k ) + x10 (k )
69
x11 (k + 1) = 0.00425 x5 (k ) 0.01x9 (k ) + x11 (k )

u1 (k + 1) = 0.4896 x1 (k ) 1.0873 x 2 (k ) 2.3995 x3 (k ) + 0.7172 x 4 (k ) 0.026 x5 (k )
0.0026 x6 (k ) 0.1621x 7 (k ) + 0.053x8 (k ) + 0.823x9 (k ) x10 (k )
u 2 (k + 1) = 0.026 x1 (k ) 0.0026 x 2 (k ) 0.1621x3 (k ) + 0.053x 4 (k ) 0.4896 x5 (k )
1.0873x6 (k ) 2.3995 x7 (k ) + 0.7172 x8 (k ) 0.823x9 (k ) x11 (k )
3.4.3 EQUATIONS FOR TWO AREA THERMAL-HYDRO POWER SYSTEM

x1 (k + 1) = 0.9995 x1 (k ) + 0.06[x 2 (k ) x8 (k ) d1 (k )]
x 2 (k + 1) = 0.975 x 2 (k ) + 0.025 x3 (k )
x3 (k + 1) = 0.052083x1 (k ) + 0.875 x3 (k ) + 0.125u1 (k )
x 4 (k + 1) = 0.9995 x 4 (k ) + 0.06[x5 (k ) + x8 (k ) d 2 (k )]
x5 (k + 1) = 0.000008778 x 4 (k ) + 0.98 x5 (k ) + 0.022 x6 (k ) 0.001979 x7 (k ) 0.00002106u 2 (k )
x6 (k + 1) = 0.00000439 x 4 (k ) + 0.999 x 6 (k ) + 0.0009894 x7 (k ) + 0.00001053u 2 (k )
x7 (k + 1) = 0.00008555 x 4 (k ) + 0.9997947 x7 (k ) + 0.0002053u 2 (k )
x8 (k + 1) = 0.0044422 x1 (k ) 0.0044422 x 4 (k ) + x8 (k )
u1 (k + 1) = 0.00085 x1 (k ) 0.002 x8 (k ) + u1 (k )
u 2 (k + 1) = 0.000085 x 4 (k ) + 0.0002 x8 (k ) + u 2 (k )
x1 (k + 1) = 0.9995 x1 (k ) + 0.06[x 2 (k ) x8 (k ) d1 (k )]
x 2 (k + 1) = 0.975 x 2 (k ) + 0.025 x3 (k )
x3 (k + 1) = 0.052083x1 (k ) + 0.875 x3 (k ) + 0.125u1 (k )
x 4 (k + 1) = 0.9995 x 4 (k ) + 0.06[x5 (k ) + x8 (k ) d 2 (k )]
x5 (k + 1) = 0.000008778 x 4 (k ) + 0.98 x5 (k ) + 0.022 x6 (k ) 0.001979 x7 (k ) 0.00002106u 2 (k )
x6 (k + 1) = 0.00000439 x 4 (k ) + 0.999 x 6 (k ) + 0.0009894 x7 (k ) + 0.00001053u 2 (k )
x7 (k + 1) = 0.00008555 x 4 (k ) + 0.9997947 x7 (k ) + 0.0002053u 2 (k )
70
x8 (k + 1) = 0.0044422 x1 (k ) 0.0044422 x 4 (k ) + x8 (k )
x9 (k + 1) = 0.00425 x1 (k ) + 0.01x8 (k ) + x9 (k )
x10 (k + 1) = 0.00425 x 4 (k ) 0.01x8 (k ) + x10 (k )
u1 (k + 1) = 0.6597 x1 (k ) 1.1572 x 2 (k ) 0.2095 x3 (k ) 0.1842 x 4 (k ) 0.9205 x5 (k )
1.9204 x 6 (k ) + 0.5813x 7 (k ) 0.9674 x8 (k ) 0.7877 x9 (k ) 0.616 x10 (k )
u 2 (k + 1) = 0.0052 x1 (k ) + 0.0059 x 2 (k ) + 0.0009 x3 (k ) 0.224 x 4 (k ) 0.6794 x5 (k )
11.7167 x 6 (k ) 8.6338 x7 (k ) 0.5555 x8 (k ) + 0.616 x9 (k ) 0.7877 x10 (k )
3.4.4 EQUATIONS FOR THREE AREA THERMAL- THERMAL - HYDRO

POWER SYSTEM
x1 (k + 1) = 0.9995x1 (k ) + 0.06[x2 (k ) x11 (k ) x12 (k ) d1 (k )]

x 2 (k + 1) = 0.975 x 2 (k ) + 0.025 x3 (k )
x3 (k + 1) = 0.052083x1 (k ) + 0.875 x3 (k ) + 0.125u1 (k )
x 4 (k + 1) = 0.9995 x 4 (k ) + 0.06[x5 (k ) + x11 (k ) x13 (k ) d 2 (k )]
x5 (k + 1) = 0.975 x5 (k ) + 0.025 x6 (k )
x6 (k + 1) = 0.052083x 4 (k ) + 0.875 x6 (k ) + 0.125u 2 (k )
x7 (k + 1) = 0.9995 x7 (k ) + 0.06[x8 (k ) + x12 (k ) + x13 (k ) d 3 (k )]
x8 (k + 1) = 0.000008778x7 (k ) + 0.98x8 (k ) + 0.022x9 (k ) 0.0019789x10 (k ) 0.00002106u3 (k )
x9 (k + 1) = 0.00000438 x7 (k ) + 0.999 x9 (k ) + 0.0009894 x10 (k ) + 0.00001053u 3 (k )
x10 (k + 1) = 0.00008555 x7 (k ) + 0.999794 x10 (k ) + 0.0002053u 3 (k )
x11 (k + 1) = 0.0044422x1 (k ) 0.0044422x4 (k ) + x11 (k )

x12 (k + 1) = 0.0044422 x1 (k ) 0.0044422 x7 (k ) + x12 (k )
x13 (k + 1) = 0.0044422 x 4 (k ) 0.0044422 x7 (k ) + x13 (k )
u1 (k + 1) = 0.002[0.425x1 (k ) + x11 (k ) + x12 (k )] + u1 (k )

u 2 (k + 1) = 0.002[0.425 x 4 (k ) x11 (k ) + x13 (k )] + u 2 (k )
71
u 3 (k + 1) = 0.0002[0.425 x7 (k ) x12 (k ) x13 (k )] + u 3 (k )

x1 (k + 1) = 0.9995x1 (k ) + 0.06[x2 (k ) x11 (k ) x12 (k ) d1 (k )]

x 2 (k + 1) = 0.975 x 2 (k ) + 0.025 x3 (k )
x3 (k + 1) = 0.052083x1 (k ) + 0.875 x3 (k ) + 0.125u1 (k )
x 4 (k + 1) = 0.9995 x 4 (k ) + 0.06[x5 (k ) + x11 (k ) x13 (k ) d 2 (k )]
x5 (k + 1) = 0.975 x5 (k ) + 0.025 x6 (k )
x6 (k + 1) = 0.052083x 4 (k ) + 0.875 x6 (k ) + 0.125u 2 (k )
x7 (k + 1) = 0.9995 x7 (k ) + 0.06[x8 (k ) + x12 (k ) + x13 (k ) d 3 (k )]
x8 (k + 1) = 0.000008778 x7 (k ) + 0.98 x8 (k ) + 0.022 x9 (k ) 0.0019789 x10 (k ) 0.00002106u 3 (k )
x9 (k + 1) = 0.00000438 x7 (k ) + 0.999 x9 (k ) + 0.0009894 x10 (k ) + 0.00001053u 3 (k )
x10 (k + 1) = 0.00008555 x7 (k ) + 0.999794 x10 (k ) + 0.0002053u 3 (k )
x11 (k + 1) = 0.0044422x1 (k ) 0.0044422x4 (k ) + x11 (k )

x12 (k + 1) = 0.0044422 x1 (k ) 0.0044422 x7 (k ) + x12 (k )
x13 (k + 1) = 0.0044422 x 4 (k ) 0.0044422 x7 (k ) + x13 (k )
x14 (k + 1) = 0.00425x1 (k ) + 0.01x11 (k ) + 0.01x12 (k ) + x14 (k )

x15 (k + 1) = 0.00425 x 4 (k ) 0.01x11 (k ) + 0.01x13 (k ) + x15 (k )
x16 (k + 1) = 0.00425 x7 (k ) 0.01x12 (k ) 0.01x13 (k ) + x16 (k )
u1 (k + 1) = 0.5992x1 (k ) 1.1107x2 (k ) 0.2017x3 (k ) 0.0717x4 (k ) 0.0777x5 (k ) 0.0129x6 (k )

+ 0.0564x7 (k ) 0.2863x8 (k ) 0.8709x9 (k ) + 0.2976x10 (k ) + 0.3826x11 (k ) 0.0483x12 (k )
0.4309x13 (k ) 0.9337x14 (k ) + 0.0663x15 (k ) 0.3517x16 (k )
u 2 (k + 1) = 0.0717x1 (k ) 0.0777x 2 (k ) 0.0129x3 (k ) 0.5992x 4 (k ) 1.1107x5 (k ) 0.2017x6 (k )
+ 0.0564x7 (k ) 0.2863x8 (k ) 0.8709x9 (k ) + 0.2976x10 (k ) 0.3826x11 (k ) 0.4309x12 (k )
0.0483x13 (k ) + 0.0663x14 (k ) 0.9337x15 (k ) 0.3517x16 (k )
u 3 (k + 1) = 0.0027 x1 (k ) + 0.003x 2 (k ) + 0.0005x3 (k ) + 0.0027x 4 (k ) + 0.003x5 (k ) + 0.0005x6 (k )
0.1983x7 (k ) 0.5975x8 (k ) 10.3587x9 (k ) 8.0975x10 (k ) 0.3183x12 (k ) 0.3183x13 (k )
+ 0.3517x14 (k ) + 0.3517x15 (k ) 0.8675x16 (k )
72
3.5
CONCLUDING REMARKS
The models of interconnected power systems comprising of areas of different

characteristics have been developed with integral as well as optimal control
strategies. The optimal controllers have been designed and the control equations in
continuous time have been obtained for all the power system models under
consideration. All these models have been studied for system stability and it has
been ensured that they are asymptotically stable with parameters values as given in
Appendix I, after applying optimal control strategy. Also, for all the power system
models under consideration, the discrete time equations for system states as well as
control inputs have been obtained for both integral control and optimal control
strategies. These equations have been used for development of ANN controllers,
which has been discussed in Chapter 5.
73

Chaper 3 - C B Bangal

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Chaper 3 - C B Bangal

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CHAPTER 3

MODELLING OF POWER SYSTEMS FOR AGC WITH

interconnected power systems. In present research work, models of the following

1) Two area thermal-thermal (non reheat)

The models of above mentioned interconnected power systems with integral

The models of above mentioned interconnected power systems have been

3.2.1 MODEL OF A TWO AREA THERMAL-THERMAL (NON REHEAT)

u1 & u 2 are as given below:

3.2.2 MODEL OF A TWO AREA THERMALTHERMAL (REHEAT) POWER

u1 & u 2 are as given below:

3.2.3 MODEL OF A TWO AREA THERMALHYDRO POWER SYSTEM WITH

u1 & u 2 are as given below:

3.2.4 MODEL OF A THREE AREA THERMALTHERMAL-HYDRO POWER

u1 = K T ( ACE1 ) = K T ( B1 x1 + x11 + x12 )

STATE SPACE REPRESENTATION OF POWER SYSTEM MODELS FOR

3.3.1 STATE SPACE MODEL OF TWO AREA THERMAL-THERMAL (NON

The matrices A, B and

DESIGN OF OPTIMAL CONTROLLER

where, K (29) is the feedback gain matrix given by;

The system State Equation is:

The output equation is:

However, for a feedback control system, the matrix D is assumed zero.

where C (2 9) is the Output Matrix.

Determination of the Feedback Gain Matrix (K):

where, Q is a real, symmetric and positive semi-definite matrix called as state

ACE 2 = B2 f 2 Ptie (1, 2 ) = B2 x 4 x 7

ACE dt about steady values are minimized. In this model,

these excursions are x8 & x9 .

This gives the matrices Q (99) and R (22) as:

The matrices A, B, Q & R are known.

MATLAB program to obtain S, K & Ac:

(MATLAB 6 software has been used to design the optimal controllers).

Output of the MATLAB program:

0.0673 0.4615 0.008

0 ; 0 ; 0.0045 ; 0.0287 ; 0.2385 ; 0.3482 ; 0.656 ; 2.0516 ; 2.111

0.4226 0.8294 0.1538 0.063 0.1156 0.02 0.2737 1 0

Hence the control inputs:

= 0 . 063 x + 0 . 1156 x + 0 . 02 x 0 . 4226 x 0 . 8294 x 0 . 1538 x 0 . 2737 x x

The closed loop system matrix AC is:

10.4908 10.3673 14.423

10.4908 10.3673 14.423 3.4208

The eigenvalues of open loop system matrix (state matrix) A are:

3.3.2 STATE SPACE MODEL OF TWO AREA THERMAL-THERMAL

For block 10:

For block 11:

The matrices A (1111) and B (112) are:

State Vector (x) = [x1

Control Vector (u) =

DESIGN OF OPTIMAL CONTROLLER

The output equation is:

Determination of the Feedback Gain Matrix (K):

+ x9 ) + (B2 x5 x 9 ) + (x10 ) + (x11 ) + (u1 ) + (u 2 ) dt

This gives the symmetric matrices Q (1111) and R (22) as:

SYSTEM ANALYSIS USING MATLAB

x4 = 5.2083x1 12.5 x4 + 12.5u1

MATLAB program to obtain S, K & Ac:

A = [-0.05 6 0 0 0 0 0 0 -6 0 0; 0 -2.5 2.5 0 0 0 0 0 0 0 0; -1.734375 0 -0.1 -4.0625 0 0 0 0 0 0

Output of the MATLAB program:

0.1815 0.0621 0.0095

0.4893 0.0095 0.0238

1.0713 2.8284 0.5304

1.0713 0.2909 2.7592 0.3311 0.3311