Analysis of Oscillations with Eigenanalysis and Prony Techniques

R. J. Koessler, Senior Member, IEEE, F. S. (Prabu) Prabhakara, Senior Member, IEEE, and A. H. AlMubarak, Non-Member, IEEE
Abstract- This paper demonstrates the complementary usefulness of Small Signal (Eigen) Analysis and Prony techniques for analysis (and resolution) of lightly damped oscillations in a practical power system. The techniques are applied to a) derivation of mode shapes associated with lightly damped oscillation modes, b) tuning of Power System Stabilizers (PSSs), and c) application of Power Oscillation Damping (POD) controls to existing SVCs. Eigenvalue and eigenvector calculations provide a firm theoretical justification. Associated sensitivities provide guidance and rank the most effective locations for damping of oscillations. They also help in designing and tuning stabilizing controls. Prony analyses, on the other hand, are rooted on time simulations; simulations that are familiar to most analysts. The paper illustrates the significant synergies between Prony analyses and eigenanalyses techniques in the study of oscillatory dynamics. Index TermsDamping, Eigenvalue, Oscillatory Dynamics, Power System Stability, Power System Stabilizer (PSS), Static Var Compensator (SVC), Prony.

The main load centers in those two regions are Riyadh and Dammam, respectively. The two regions, approximately 400 km apart, are connected over two 380 kV double circuits and one 230 kV double circuit (See Fig. 1). Power is normally transferred from East to Central due to the more efficient base-load steam generation in the Eastern Region.

I. INTRODUCTION

IGENANALYSIS (Small Signal Analysis) theory is a powerful and organized way of analyzing the oscillatory dynamics of power systems. Application of this technique entails understanding concepts such as eigenvectors, participation factors and residues. Due to its highly theoretical nature, this technique is not widely used. Pronytype techniques, on the other hand, which involve postprocessing of simulation results, are more easily applied and consequently have wider usage. However, both techniques have their own merits. Eigenanalyses provide a firm theoretical basis for the study of the post-disturbance condition. Simulation results include the behavior (or transition) of the system from the pre-disturbance to the postdisturbance condition, including various non-linearities, faults, switchings, etc. The complementary nature of these two techniques and synergy between them as well as their respective benefits are demonstrated in this paper. Their utilization for tuning of PSSs and other supplementary damping controls as well as demonstration of their effectiveness is also included. A recently completed study of the oscillatory dynamics between the Central (COA) and Eastern (EOA) Operating Areas/Regions in the Saudi Electricity System (SEC) under light load conditions is used as an example.

Fig. 1. Schematic of Central and Eastern Regions

R.J. Koessler is with ABB, Inc., Latham, NY 12110 USA (e-mail: rodolfo.koessler@us.abb.com). F.S. Prabhakara is with ABB, Inc., Latham, NY 12110 USA (e-mail: prabu.prabhakara@us.abb.com). A. H. Al-Mubarak is with Saudi Electricity Company, Dammam, Kingdom of Saudi Arabia (e-mail: d2ahm@se.com.sa)

Under light load conditions, it is normal for one of the four 380 kV circuits to be under maintenance. In addition, several instances in the past have resulted in the common-mode outage of 380 kV double circuits; which has led in some cases to these two relatively large systems remaining interconnected over just one 230 kV double circuit and a single 380 kV circuit. Inter-tie oscillations (recorded by dynamic system monitors and replicated by simulations) for specific incidents over a period of two years are used to demonstrate the benefits of the Eigen and Prony Analyses techniques. Out of concern for transient stability and oscillatory dynamics economy transfers between the two systems are significantly curtailed. In addition SEC has been forced to dispatch uneconomic combustion turbine generation at the Faras and Shedgum plants; plants that are in the vicinity of the eastern end of the 380 kV interconnections. These plants help control interconnection voltages, and reduce the level of flows from generation further inland in the Eastern Region towards the interconnection. The application of Prony and eigenanalysis techniques for design of controls has been described in [3]. This paper expands on those concepts and illustrates how the techniques

1-4244-1298-6/07/$25.00 2007 IEEE.

were applied to the analysis and resolution of existing lightly damped oscillations between the two regions in the SEC interconnected power system, specifically: Derivation of mode shapes associated with lightly damped oscillation modes for several recorded incidents. Identification and ranking of most effective locations for damping control. Tuning of both existing and new Power System Stabilizers (PSSs). Application of Power Oscillation Damping (POD) controls to existing SVCs. Two commercially-available programs were used in this study: For time simulation and Prony analysis the PSS/ETM Package [1]. For eigenanalysis the MudpackTM program [2]. II. EIGENANALYSIS BASICS Eigenanalyses are based on the assumption of linearity around an operating point. Assuming that the system at time zero is at a certain state X0 and that no further inputs are applied, then: (1) Solution of this system of differential equations renders the natural response of the system to this initial set of conditions. One common means of solving differential equations is via Laplace transform. The Laplace transform of (1) is:

(when i and i+1 are complex conjugates). Switching now to the nomenclature in [1], this means that the response of any state variable can be expressed as:

xn (t ) =

Re al

(A e
i

it

)+

Complex

(B

jt

cos(w j t + j ) (9)

X =AX

In this equation Ai and Bj are the magnitudes of the respective modal components. The larger those magnitudes are, the more dominant the associated mode is. i are the real eigenvalues; j and j are the real and imaginary parts of complex eigenvalues, respectively. The components associated with complex eigenvalues can be visualized as being the projections of phasors of Bj magnitude and j angle at time zero; rotating at a frequency j (rad/sec), and with magnitude decaying (or growing for unstable systems) according to an ejt exponential. In the absence of external excitation (i.e., the natural system response), and because of the assumption of linearity, any variable in the system (a line flow, a bus voltage, etc.) can be expressed as a linear combination of the systems state variables, and, consequently, its response will also be as in (9). In addition to the eigenvalues, one important by-product of eigenanalysis are the columns of the [M] matrix; which are referred to as the right eigenvectors. They provide the mode shape of the system when oscillating at that mode. III. EIGENANALYSIS OF AN INCIDENT In an incident that occurred on Feb. 22 2003, only one 380 kV and two 230 kV circuits were left connecting the two regions in the SEC system. The post-disturbance state (i.e., without the outaged lines) was examined with the Mudpack program. The critical inter-area mode was quickly identified by the program. The associated eigenvalue was 0.017 j3.0527; i.e., a 0.49 Hz oscillation with a -0.6% damping ratio (i.e., negatively damped). Shown in Fig. 2 is the associated speed right eigenvector (i.e., the mode shape of generating units) as displayed by the program.

[sX ]= [A][X ] + [X 0 ]
If a Modal Matrix [M] is determined such that:

(2)

[ ]= [M ]1 [A] [M ]
It can be demonstrated that, if defining a new system of coordinates such that:

(3)

[Y ]= [M ]1 [X ]

and

[Y0 ]= [M ]1 [X 0 ]

(4)

then (2) can be rewritten as,

[sY ]= [ ][Y ] + [Y0 ]

(5)

Since [Y] and [Y0] are vectors, and [] is a diagonal matrix, (5) actually consists of n number of equations of the type:

s Yi = i Yi + Y0i
Yi = Y0i s i

i = 1, 2, ..., n

(6)

Inverse transformation gives:

y (t ) = Y
i

0 i

e i t

(7)

The solution is then brought back to the original system of coordinates:

[X (t )] = [M ] [Y (t )]

(8)

Equations 7 and 8 imply that the natural response of a system is comprised of a linear combination of exponentials (when i are real), and/or damped or undamped sinusoidals

Fig. 2. Feb. 22, 2203 Incident Inter-Area Mode Speed Eigenvector as calculated by the Eigenanalysis Program.

The plot shows that, as expected, the dominant mode is of an inter-area type, and with all units in the system with significant participation in the mode.

in the PSS/E program (recursive least-squares option) renders the results in Table I. In addition to a steady-state component, the analyses reveal a 0.5 Hz dominant component and a 1 Hz component of about a quarter the size. Both components are lightly damped. The 0.5 Hz component matches well the results from eigenanalysis. Further, by applying the same techniques sequentially to all unit speeds in the system, and loading the results into a spreadsheet, a Prony-derived speed eigenvector was derived. It is plotted in Fig. 5. Comparison against its eigenanalysis counterpart in Fig. 2 suggests good agreement.

Fig. 3. Largest Speed Participation Factors Weighted by the Inverse of p.u. Inertias

Shown in Fig. 3 is another useful by-product of the eigenanalysis; a graph displaying the largest speed participation factors weighted by the inverse of the respective units inertias. Participation factors are the product of elements of left (rows of the [M]-1 matrix) and right eigenvectors. As indicated in [8],

p ki =

i a kk

(10)

Fig. 4. East to Central MW flow on the sole remaining 380 kV circuit between the two regions for Feb 22, 2003 Incident.

That is, the participation factor of State k on Mode i indicates how much such mode would change for a change in the kk position on the A system matrix diagonal. If k is a generating unit speed state, then:

Table I Results from Prony Analysis of Fig. 2 Results 12 to 20 sec Time Window
Comp# 1 2 3

a kk =

Dk Mk

i k

p 1 i = ki M k a kk M k

0.0006 -0.0176 -0.0335

-3.1655 6.3302

(11)

Magnitude 980.6 177.4 46.0

-4.2 -150.0

Dmp.Rat. Frq(Hz) -0.56 0.53 -0.50 1.01

Thus, participation factors associated with speed states divided by their corresponding unit inertias (Mk) provide an indication of how much beneficial impact an ideal stabilizer on such unit would have on the damping of the mode in question (Dk). The weighted speed participation factors in Fig. 3 point to four units as best candidates for PSS application. They are the four largest (868 MVA each) units in the system; at the Ghazlan II plant in the Eastern Region, and have significant participation on the inter-area mode. Likewise, the next six units with high weighted participation factors in Fig. 3 correspond to the other largest units in the system. IV. PRONY ANALYSIS OF AN INCIDENT A summary of the theory behind Prony Analysis may be found in [4]. A guide to the use of the Prony-type techniques included in the PSS/E program is found in [1]. Shown in Fig. 4 is the flow on the remaining 380 kV circuit for the February 22, 2003 incident (same incident as used to illustrate the eigenanalysis). Post-processing of simulation results such as those in Fig. 4 with Prony techniques allows direct derivation of the modal components in (9). For example analysis of the time window 12 to 20 sec. in Fig. 4 with the Prony techniques

Fig. 5. Feb. 22, 2003 Incident Inter-Area Mode Speed Eigenvector as calculated by Prony Analysis.

On the other hand, no lightly-damped 1 Hz mode was revealed by the Mudpack program. This is not a natural system mode, but instead a doubling effect due to nonlinearities triggered by the 0.5 Hz mode. As shown in Fig. 6, the main sources of such non-linearities are two 200 Mvar each thyristor-controlled reactors (TCRs) at the Shedgum and Faras 380 kV Stations; at the eastern ends of the two 380 kV inter-tie double circuits. Assuming, for simplification purposes, that in Fig. 6 their maximum limit of 0 Mvars clips their output for exactly half cycle of each oscillation, and that the oscillation exhibits no damping, a Fourier analysis of such hypothetical response renders:

2 cos (2wt ) 1 1 TCR Output = A + sin (wt ) + ... 3 2

(12)

voltages throughout the simulation; which led to the Pronyderived damping levels to be more in line with those from the set of eigenanalysis results at the center of the table, where TCRs were also assumed to be in control of voltages. Analyses equivalent to those in Fig. 3 can also be conducted with Prony analyses, since the sensitivity of modal damping to stabilization can be estimated by comparing simulations with and without PSSs. V. COMMENTS ON APPLICATION In general, the advantages of Prony analyses over eigenanalyses in the study of oscillatory dynamics are: Instant gratification. Results from critical simulations can be readily post-processed, without a need for settingup a post-contingency initial condition, and without concerns for linearity issues. The steps in Prony analyses; including the ability to visually observe the breakdown of simulation results into their modal components, provide a better feel for the underlying physics than the somewhat obscure mathematics of eigenanalyses. On the other hand: Prony techniques are for the most part limited to the analysis of lightly-damped oscillations since well-damped modes will die-out soon after disturbances are cleared. They may not work well in the presence of two or more dominant lightly-damped modes (although more powerful signal analysis algorithms than those in PSS/E may circumvent this limitation10). Because of the usually unavoidable non-linearities, they are less precise than eigenanalyses, particularly when comparing small differences, such as the effect of a few PSSs on an inter-area mode. In reality, however, the two approaches complement each other. Prony analyses help confirm that the results from eigenanalyses are in line with simulation results, and eigenanalysis, in turn, help provide a framework for interpretation of Prony analysis results. Shown in Figs. 7 and 8 is an example of the synergies between the two methods. They correspond to another incident affecting the East to Central interconnection that occurred on April 4, 2004. Shown in Fig. 7 is the speed trace for a remote unit in the Central Region. Prony analyses (time window 8 27 secs.) indicate two dominant modes of oscillation; one of 0.67 Hz frequency and 1.7% damping ratio, and shared by most units in the system, and a better damped mode of 0.74 Hz frequency and 5.6% damping ratio that is only observed in units from the remote plant. These observations are confirmed by results from eigenanalysis in Fig. 8, which indicate the existence of a 0.63 Hz, 1% damping ratio inter-area mode, and a 0.69 Hz, 5.0% damping ratio mode only involving the units where beating was observed.

Fig. 6. Shedgum TCR Mvar Output and Voltage for Fig. 2 Simulation.

Equation 12 explains why, in addition to a 0.5 Hz component resulting from the TCR response to oscillations in 380 kV voltages, a 1 Hz (2wt in (12)) component is also injected by the TCR onto the 380 kV system; a component that in turn is likely to resonate with otherwise well-damped modes of around such frequency throughout the system. This explains why lightly damped 1 Hz components were observed with Prony elsewhere in the system (i.e., in addition to in the intertie flows). Notwithstanding this 1 Hz excitation, the two TCRs were found to have a beneficial effect on damping levels (when in control of voltages). Shown in Table II are eigenanalysis and Prony results for simulations of several past incidents. In all cases the TCRs were initialized at mid-range (-100 Mvars) so as to minimize their hitting limits as in Fig. 6.
Table II Effect of TCRs at Shedgum and Faras
INC# 1 2 3 4 5 6 Eigenanalysis TCRs "Frozen" Real Imaginary Dmp.Rat. -0.031 2.931 0.011 -0.023 2.856 0.008 -0.090 3.847 0.023 -0.072 3.847 0.019 -0.119 3.402 0.035 -0.055 3.331 0.017 Eigenanalysis TCRs in Control Real Imaginary Dmp.Rat. -0.182 3.185 0.057 -0.172 3.155 0.054 -0.181 4.016 0.045 -0.167 4.116 0.041 -0.205 3.577 0.057 -0.170 3.551 0.048 Real -0.073 -0.078 -0.153 -0.138 -0.204 -0.170 Prony Imaginary Dmp.Rat. 3.206 0.023 3.158 0.025 4.249 0.036 4.053 0.034 3.840 0.053 3.818 0.045

Two sets of eigenanalysis results are shown in Table II. In the left-most eigenanalysis results, the TCRs were assumed at a constant output throughout the simulation; i.e., as if they were on a limit. In the three columns to their right (i.e. center of the table), the TCRs were assumed fully in control of voltages. Comparison of both sets of results confirms the TCRs have a significant beneficial impact on damping levels; even when no Power Oscillation Damping (POD) signals were assumed driving the TCRs. Prony analysis results are listed to the right of Table II. Visual inspection of the simulation results indicates that in the first four incidents the TCRs responded mostly as in Fig. 6; i.e., on and off-limits. For these cases, damping levels are in between the two sets of eigenanalysis results. On the other hand, for Incidents 5 and 6, the TCRs were fully in control of

60.1

60.0

reference. Shown in Fig. 9 is such a step-response as calculated for the aforementioned Ghazlan II units. Also included in Fig. 9 is the result of Prony analysis of such response; which is essentially undistinguishable from the original trace. The signal was decomposed into three real components (Table III).
0 10 20 30

Speed (Hz)

59.9

Time (sec)
Fig. 7. Simulation results for April 4, 2004 incident. Speed trace for a remote plant in Central System.

Fig. 9. Change in Active Power Output for a 5% Step In Vref. 3xGhazlan II Units. All Inertias Set to Infinity. Table III Results from Prony Analysis of Step Response

Comp# 1 2 3

-3.067 0.028 -6.387

Magnitude -615.7 359.6 256.1

T.Cnst. 0.326 0.157

By a process that can be viewed as the opposite of partial fraction expansion, and recognizing the step-response nature of the trace (i.e., multiplying by s), the following transfer function was obtained:
Fig. 8. Eigenanalysis results of April 4, 2004 incident. Top is speed eigenvector for inter-area 0.63 Hz, 1% damping ratio mode. Bottom is speed eigenvector for local 0.69 Hz, 5.0% damping ratio mode.

364 (1 + s0.037) P 0 . 05 = V REF (1 + s0.157)(1 + s 0.326) )

(13)

VI. PSS TUNING Since their introduction more than three decades ago [5], Power System Stabilizers (PSSs) have become widely accepted as a robust and cost-effective means of enhancing power system damping. Also recognized is the importance of their correct tuning. Several methods have been proposed and applied over the years for the tuning of PSSs. Some of the most widely used involve the analytical calculation of a transfer function between voltage reference and electrical power under the assumption of infinite inertias; as illustrated in [6]. Such calculation can be easily conducted with the Prony techniques in the PSS/E program by post-processing the response of a units electrical power to a step in its voltage

On the basis of this transfer function, and following the methodology described in [7], existing (but poorly tuned) electrical power-input PSSs at Ghazlan II were retuned. The retuned PSSs were proven to be very effective in improving damping levels for both inter- and intra-area oscillation modes, as illustrated in Fig. 10 for a critical contingency exciting an intra-area mode. Similar (and greater) functionalities are available in the Mudpack eigenanalysis program too, and with the advantage of presenting results in the frequency domain; which is of much interest when considering that PSSs are expected to perform over a wide range of frequencies.

60.5

Speed (Hz)

60

59.5 0 5 10 Time (sec)

Fig. 10. Ghazlan II speed before and after (bold) PSS retuning.

15

20

It is, for example, fairly straightforward to obtain with the Mudpack program the VREF to P characteristic for any unit in the system. Shown as an example in Fig.11 is such a characteristic (full line) for a unit in the Central Region. Superimposed to that trace (in dashes) is the frequency response of the transfer function as derived from the Pronytype analyses.

Fig. 12. PSS-induced damping and synchronizing torques for Ghazlan II units.

Fig. 12 shows that the PSS tuning objective of providing a uniform damping level in the order of 30 (260 in the 100 MVA base of Fig.12) over the frequency range of interest (say, Hz to 3 Hz 1.6 to 18.8 rad/sec) was accomplished. Also reassuring is that such damping benefits are attained with minimal impact on frequencies; as evidenced by the relatively low levels of synchronizing torques observed (note the difference in scales between the two plots). There is no equivalent to the information provided in Fig. 12 that can be obtained with time domain simulation. The closest thing to such analyses is described in [7] where the plant is simulated with and without PSSs in simplified systems of various strengths so as to elicit oscillation modes spanning the desired frequency range. The impact of the PSS on damping levels and frequencies over such frequency range is thus assessed. Another option, of course, is to derive the PVREF transfer function via Prony analyses; add to it the PSS transfer function, and derive damping and synchronizing torque characteristics as in Fig. 12. VII. APPLICATION OF POWER OSCILLATION DAMPING (POD) SIGNALS TO SVCS As previously mentioned, the analyses showed that the TCRs at Faras and Shedgum, on their own (i.e., without modulation from POD signals), can have a significant impact on damping levels (See Table II as an example). Damping levels, however, can be further increased by application of POD signals. The Mudpack program includes a number of functionalities to aide in the analysis, selection, and tuning of POD signals. Those functionalities are based on the calculation of the residues of the transfer function (G(s)) between the POD output (change in TCR voltage reference), and its resulting change in POD input signal (a power flow or frequency, for example). Residues (Ri in Equation 14) are the result of decomposition into modal components of such transfer function [8]:

Fig. 11. VREF to P characteristic from eigenanalysis program (full line) and from Prony-derived transfer function (dashes).

Fig. 11 shows the Prony-derived transfer function matches the calculations by the eigenanalysis program very well; particularly for the frequency band of interest (up to 20 rad/sec). The eigenanalysis program also includes curve-fitting functionalities so as to iteratively derive the P-VREF transfer function, such as that in (13), by matching the units frequency response over a desired frequency range (as opposed to matching a time domain response as in Fig. 9). Of much interest too in the Mudpack program is the ability to display PSS-induced damping and synchronizing torques. Shown as an example in Fig. 12 are such torques for the Ghazlan II units after retuning of its PSSs.

G (s ) =

R s
n i i =1

(14)
i

By calculation of such residues, the eigenanalysis program helps compare the pros and cons of alternative input signals, as well as helps design the POD signals themselves, via application of a methodology described in [9]. Shown in Fig. 13 are the residues for four outages and associated dominant modes and two alternative POD input signals (top and bottom figures, respectively). Three of the four outages (Incidents 1A, 2, and 3C) involve a weakening of the East-Central interconnection, and thus excite inter-area oscillations. The fourth outage (GZ-GH), on the other hand, affects the Eastern Region only and excites an oscillation within that region. The first (top figure) POD input signal is the summation of MW flows on the four 380 kV circuits connecting East and Central regions. The POD input signal assumed for the second (bottom) figure, on the other hand, assumes use of the local frequency at the Shedgum 380 kV station.

the residues for frequency-input PODs (bottom figure) suggest only a small lead is necessary; which agrees with the expectation that frequencies will be somewhat in phase with generator speeds. However, for the frequency-based POD (bottom figure) the intra-area mode residue (GZ-GH) is 180 deg. out of phase from the three inter-area residues. This is a consequence of the SVC being on the wrong side of this modes electrical center, and complicates the tuning of the POD for this otherwise more convenient input signal. These observations were confirmed by simulation. Shown in Fig. 14 are the results from simulation of flow-based (bold), frequency-based (dashed) and no POD signals modulating the Shedgum and Faras SVCs reference voltages. The frequency-based POD was tuned on the basis of inter-area mode residues only. The top traces in Fig. 14 correspond to simulation of an outage weakening the interconnection between the two regions. The bottom traces correspond to the GZ-GH outage within the Eastern Region. In all cases, the speed of one of the Ghazlan II units is depicted.
60.125

Speed (Hz)

60

59.875 0 5 10 Time (sec) 60.5 15 20

Speed (Hz)
Fig. 13. Residues for four oscillation modes/outage scenarios and two alternative POD input signals. Top is for flow-based input signal, bottom is for frequency-based input signal.

60

As explained in [9], the POD controller must be designed so that its phase angle is approximately equal to 180 deg. minus the residues phase angle, at the oscillation frequency of interest. In the case of the flow-based POD this means that an approximately 90 deg. lead is required; which is in agreement with expectations since transmission line flows are normally dominated by synchronizing powers (i.e., in phase with angles), and thus an approximately 90 deg. lead is normally necessary in order to align POD-induced torques with machine speeds. Likewise, for the three outages/modes involving inter-area oscillations (INC1A, INC2, and INC3C),

59.5 0 5 10 Time (sec)

Fig. 14. Simulation results for inter-area (top) and intra-area (bottom) outages, with a) no POD signal, b) flow-based POD signal (bold), and c) frequencybased POD signal (dashed).

15

20

It is clear from Fig. 14 that, as suggested by the residue analyses, a flow-based POD would work well for both interand intra-area modes, whereas the frequency-based POD could be detrimental to the stability of modes within the Eastern Region.

Although residues can be derived too via the Prony techniques in the PSS/E program (derivative of the modal decomposition of the response of POD input signal to a step in TCR voltage reference), such calculations are probably more thoroughly and more precisely done with eigenanalysis techniques. Instead, Prony analyses were extensively used to make sure that the phasing between POD output and rotor-angle related magnitudes such as MW flow was conducive to improvements in damping levels. The techniques were also used to quantify such benefits; including the effect of nonlinearities such as those in Fig. 6. VIII. CONCLUSIONS This paper illustrates the significant synergies between Prony analyses and eigenanalyses techniques in the study of oscillatory dynamics. Eigenanalysis provides the valuable theoretical framework, while Prony analyses helps explain such framework in the reality of time simulations, with their multiple levels of non-linearities and other complexities. Because simulation programs are more extensively used than eigenanalysis tools, analysts may be limited in their studies to time simulations and post-processing of their results with Prony techniques. Under such circumstances, the paper illustrates how such techniques can go a long way in helping the analyst frame the oscillatory problems in terms of eigenanalysis-type concepts, as well as in designing and tuning the tools (PSSs and PODs) that can help in mitigating such concerns. IX. APPENDIX A. Notes on use of the Prony Techniques in the PSS/E Program Most of the Prony results presented in this paper were obtained by using the Least Squares/Eigenvector Fit by Least Squares option in the Modal Analysis menu of the PSSPLTTM plotting program. The one exception was in the analysis of the step response in Fig. 9, where the Least Squares/Eigenvector Fit by Initial Points was utilized instead. Minimum-order models were derived by scanning first a range of Prony model orders from, say, 2 to 10, and then selecting one leading to Signal/Noise ratios greater than at least 20, but preferably higher than 40. Using functionalities within the same module, the results of analysis with the selected model order were then compared graphically against the original signal (as in Fig. 9) to attest as to the accuracy of the model, and to visually determine whether or not lessdominant modes could be neglected without significantly affecting such accuracy. A less rigorous approach was utilized in deriving mode shapes as in Fig. 5, relying instead on the automatic selection of best model orders by the program, and on filters within the spreadsheet program to identify the modal components of interest. An effective time step (i.e., time step at which samples were taken) of 0.1 sec. was used in most cases.

B. Notes on use of the Mudpack Program Most of the eigenanalysis results in this paper were derived utilizing the Modified Arnoldi Method in the Mudpack program. Residues (e.g. Fig. 13), on the other hand, were calculated utilizing the Full QR eigenanalysis method. After study of the programs manual and tutorial, it was found fairly straightforward to use. The main hurdle, instead, was in the conversion of the PSS/E dynamic data into a format suitable for input to Mudpack, since, in the version used (10R-16), automatic conversion (and linearization) of some of the models within PSS/Es library was not yet supported. X. ACKNOWLEDGEMENT The authors gratefully acknowledge the contributions of Albert Leirbukt from ABB, in helping streamline several of the Prony-type techniques described in this paper. XI. REFERENCES
PSS/E 29. PSSPLT Program Manual. Section 4.13.3, Modal Analysis Plotting. [2] David Vowles and Michael J. Gibbard. Mudpack. User Manual. Version 10R, May 2004. [3] C.E. Grund, J.J. Paserba, J.F. Hauer, and S. Nilsson, Comparison of Prony and Eigenanalysis for Power System Control Design. IEEE Transactions on Power Systems, Vol. 8, No. 3, August 1993. [4] J.F. Hauer, C.J. Demeure, and L.L. Scharf, Initial Results in Prony Analysis of Power System Response Signals. IEEE Transactions on Power Systems, Vol. 5, No. 1, February 1990. [5] F.P. deMello and C. Concordia, Concepts of Synchronous Machine Stability as Affected by Excitation Control. IEEE Transactions PAS, Vol. 88, pp. 316-329, 1969. [6] F.P. deMello, J.S. Czuba, P.A. Rushe, and J.R. Willis, Development in Application of Stabilizing Measures Through Excitation Control, CIGRE Paper 38-05, 1986 Session. [7] R.J. Koessler, R.C. Gough, and J.D. Hurley, Power System Stabilizer Tuning and Testing at the Teesside Power Project, Teesside, England, Proceedings of the 1999 IEEE PES Summer Meeting. [8] Prabha Kundur, Power System Stability and Control, Mc. Graw-Hill, Inc., ISBN 0-07-035958-X, 1994. [9] Pouyan Pourbeik, and Michael J. Gibbard, Tuning of SVC Stabilisers for the Damping of Inter-Area Modes of Rotor Oscillation, Proceedings of 1995 AUPEC, Sept. 1995, Vol. 2. [10] BPA/PNNL Dynamic Systems Identification (DSI) Toolbox, ftp://ftp.bpa.gov/pub/WAMS_Information/ [1]

XII. BIOGRAPHIES
Rodolfo J. Koessler received the degree of Engineer of Electromechanics from the University of Buenos Aires, Argentina in 1979 and the M.E. degree in Power Systems from the Rensselaer Polytechnic Institute, Troy, NY in 1982. From 1985 to 2000 he was with Power Technologies, Inc., where most of his work was in the areas of dynamic performance and model development. He joined ABB in September 2000 as an Executive Consultant with the Consulting Division. F. S. Prabhakara received his doctoral degree from Purdue University in 1974. He has previously worked at Indian Institute of Science, Bangalore, India; Gilbert/Commonwealth, Jackson, Mi; and Power Technologies Inc, Schenectady, NY. Presently he is an Executive Consultant within the Consulting Group of ABB in Latham, NY. He is a registered Professional Engineer in the State of Michigan. Ahmed Al-Mubarak received his BS degree in Electrical Engineering from King Fahad University of Petroleum and Minerals in 1994. He then joined Saudi Electricity Company (SEC). Presently he is Division Manager of Transmission Bulk Asset Planning in SEC.