1

Synchrophasor Estimation Algorithm Using

Legendre Polynomials
Cheng Qian, Tianshu Bi, Senior Member, IEEE, Jinsong Li, Hao Liu, and Zhenyu Liu

 therefore the accuracy of the whole test system is impaired.

Abstract-- Synchronized phasor measurement and Phasor
Measurement Units (PMUs) have gained global acceptance and
wide application in modern power systems. Accordingly, novel
synchrophasor algorithms and PMU test systems are drawing
increasing attentions. Right now, Taylor-Fourier Method for
synchrophasor estimation has presented obvious advantages over
traditional DFT Method, especially during dynamic signal inputs.
However, the precision of the method is not high enough for an
application in the second generation PMU test system, or PMU
Calibrator. The algorithm proposed in the paper greatly
improves the precision of Taylor-Fourier Method presented in
the existing papers, by using the Legendre polynomials with
higher degree, while maintaining a reasonable computational
effort. Extensive simulation results indicate that the proposed
algorithm exhibits high accuracy and efficiency. Besides, the
method has been implemented on NI PXI based PMU Calibrator
platform to sample and extract the synchrophasors of power
signals and is subject to future revision.
A new generation of PMU test system, or PMU Calibrator,
is then promoted, as is shown in Fig. 1. During the test, GPS-
synchronized PMU under test and PMU Calibrator sample the
signals from signal source and then estimate synchrophasors.
Finally the synchrophasors calculated by both devices are
compared according to the corresponding timgtags. Such
PMU test system, in which the PMU Calibrator serves as the
source of reference synchrophasor, is essentially immunized
against the output delay of signal source, besides the precision
of PMU Calibrator can be achieved by choosing and applying
high-precision hardware and synchrophasor estimation
algorithms.

Index Terms--Dynamic phasor, Legendre polynomials,

Legendre Polynomial Method, PMU, PMU Calibrator,
synchrophasor, synchronized phasor measurement, Taylor-
Fourier Method
I. INTRODUCTION
T HE widely used Wide Area Measurement System
(WAMS) facilitates a better understanding and
observation of modern power system and has been put into
extensive use in power system monitoring, protection and
control. The quality of phasor estimation, especially when the
power system is under dynamic conditions, is crucial for the
superiority of WAMS. In order to guarantee uniform static
and dynamic performances, PMUs have to be thoroughly
tested before their commission in real power systems.
Current PMU test system is introduced in [1] and [2] and
has been in wide use. However, the output delay of signal
generator cannot be avoided or accurately compensated, and
This work was partially supported by the National Basic Research
Program of China (973Program)(2012CB215206), National Natural Science
Foundation of China (51222703), Specialized Research Fund for the Doctoral
Program of Higher Education of China(20120036110009) and the
“111”project (B08013).
Cheng Qian, Tianshu Bi and Hao Liu are all with the State Key Laboratory
of Alternate Electrical Power System with Renewable Energy Resources,
North China Electric Power University, Beijing 102206 P. R. China (e-mails:
peterqiancheng@gmail.com, tsbi@ncepu.edu.cn, and sunsetxizhao@yahoo.cn)
Jinsong Li is with China EPRI, Beijing 100192 P. R. China (e-mail:
lijinsong@epri.sgcc.com.cn)
Zhenyu Liu is with Shandong Huaguan Smart Card Co., Ltd, Laiwu
271100 P. R. China (e-mail: zyliuhuaguan@gmail.com)
Fig. 1. Structure of PMU Test System based on PMU Calibrator
The research and manufacturing of PMU Calibrator are still
at the beginning. In America, the major research center is the
SynchroMetrology Laboratory of National Institute of
Standards and Technology (NIST), which has developed a
prototype PMU Calibrator using fitting algorithms [2] which
has been implemented on hardware from Fluke Company.
Current synchrophasor estimation algorithms can be briefly
divided into two categories: frequency domain algorithms and
time domain algorithms. Among frequency domain algorithms,
Discrete Fourier Transform (DFT) [3] has been widely used in
power systems. However, the signal model used in DFT
assumes that the power signal in the data window is sinusoidal
at pure nominal frequency, or static signal. Therefore, if the
signal in data window deviates from nominal frequency, or the
signal is dynamic, the result of DFT will suffer severely from
spectral leakage and averaging effect [1]. Moreover, the
assumed static phasor model does not conform to IEEE
standards [4], in which a dynamic phasor model with time-
variant amplitude and angle is recommended. Several methods
have been proposed to improve DFT, such as the interpolated
DFT [5], digital filter method [6]. Although these methods
improves the performance of DFT, they are all premised on
static signal models, thus they cannot fully address the

978-1-4799-6415-4/14/$31.00 ©2014 IEEE


problem of DFT.
In Ref. [7], a time domain synchrophasor estimation
method using quadratic Taylor-Fourier expansion is proposed.
In this method, a quadratic polynomial model is used to fit the
power signal in the data window to derive phasor parameters.
By applying dynamic signal model, the Taylor method has a
much better performance than DFT, especially under dynamic
circumstances. However, simulation results reveal that
quadrature polynomial model is not accurate enough to meet
all the requirements specified in the standard.
In this paper, synchrophasor estimation algorithm using
Legendre polynomials is proposed. Simulation results show
that the proposed method presents a much higher accuracy
than the existing Taylor-Fourier Method, while remaining
reasonable computational effort. In section II, the Polynomial
Method for synchrophasor estimation is introduced. Then the
proposed synchrophasor estimation method using Legendre
) instead of arctan(
) is used to
polynomials is described in section III. In section IV the
) is
algorithms are assessed by MATLAB simulations and the
results are analyzed. The conclusions are outlined in the end.
II. SYNCHROPHASOR ESTIMATION USING
POLYNOMIAL METHOD
In this section, Polynomial Method is first summarized, and
then the Taylor-Fourier Method in existing papers is restated,
and then the existing Taylor-Fourier polynomials are revised.
For better performance, the presented method requires at least
one cycle period of nominal input signal.
2
regression problem. Among others, a simple Least Square
approach can be applied in matrix notation:
x ( t )  P[ q , r ]
T
(5)
Where x ( t ) is the input signal data vector, matrix
P = [ P0 (t ) cos(2 f 0 t ),..., Pk (t )sin(2 f 0 t ),
P0 (t ) cos(2 f 0 t ),..., Pk (t )sin(2 f 0 t )]
and fitting coefficient vector [q, r ]T  [q0 ,..., qk , r0 ,..., rk ]T .
Then [q, r ]T  P † x(t ) , where P †  ( P T P )1 P T , which is
the Moore-Penrose pseudoinverse of matrix P .
After acquiring the fitting coefficients, the instant
amplitude and angle of input signal can be calculated by
X m (t )  q(t ) 2  r (t ) 2
(6)
 (t )  angle[q(t )  jr (t )]
The notation angle(
denote the angle of complex number because arctan(
undefined when phasor angle reaches   2 . The instant
frequency and instant Rate of Change of Frequency (ROCOF)
can be further calculated using the first and second order
differentiation of  (t ) .
The method for estimating synchrophasor using polynomial
fitting is first introduced in papers [7], where quadratic
Taylor-Fourier polynomials are used on q(t ) and r (t ) to
derive synchrophasor parameters.
x(t )  q(t ) cos(2 f 0 t )  r (t )sin(2 f 0 t )
The power signal in data window can be expressed as [4]: q(t )  X m (t ) cos  (t )  q0 P0 (t )  q1 P1 ( t )  q2 P2 ( t ) (7)
x(t )  X m (t ) cos[2 f 0 t  2  f (t )dt   ] (1) r (t )   X m (t )sin  (t )  r0 P0 (t )  r1 P1 (t )  r2 P2 ( t )
Simplify the angle part of (1): This method improves the accuracy of synchrophasor
x(t )  X m (t )cos[2 f0 t   (t )] (2) estimation compared to traditional DFT method. However, it
In (1) and (2), t  [t0 , t1 , T
tN 1 ] denotes the time vector of can hardly meet the requirement that the IEEE standard
specifies. The simulation results are presented in Table I.
samples, X m (t ) is the peak value, f 0 is the nominal
TABLE I
frequency,  is the initial phase angle,  (t )  2  f (t )dt  
Synchrophasor Estimation Accuracy Using
is the instant phase angle. Using the property of trigonometric Traditional Taylor-Fourier Method
functions, (2) can be further written as:
x(t )  X m (t )cos  (t )cos(2 f 0 t )  Test Type
Max TVE FE(Hz) RFE(Hz/s)
(3) Std. TFM Std. TFM Std. TFM
X m (t )sin  (t )sin(2 f 0 t ) Static 45Hz >10% 0.2 44
5×
In Polynomial Method, X m (t ) cos  (t ) and  X m (t )sin  (t ) Static 50Hz 1% 0
10 -3 0 0.01 0
Static 55Hz >10% 0.35 60
are expanded using 0th to kth- degree polynomials: Frequency 5×
1% >10% 0.35 0.1 60
x(t )  q(t ) cos(2 f 0 t )  r ( t ) sin(2 f 0 t ) Ramp 10-3
Combined
q(t )  X m (t ) cos  ( t ) Modulation
3% 0.2% 0.01 0.05 0.2 8

 q0 P0 (t )  q1 P1 (t )  ...  qk Pk ( t )  ( t k )
r (t )   X m (t ) sin  (t )
 r0 P0 (t )  r1 P1 (t )  ...  rk Pk ( t )  ( t k )
In (4), Pi (t )  t i , i  0,1,..., k is the ith-degree polynomial,
qi and ri are fitting coefficients corresponding to the ith-
degree polynomial Pi (t ) , and the (t k ) part denotes the
remainder of the expansion in Peano form.
Solving the fitting parameters of (4) is essentially a linear
(4) FE: Frequency Error; RFE: Rate of Change of Frequency Error
Std.: Accuracy that is specified in the IEEE Standard [4]
TFM: traditional Taylor-Fourier Method
As is expressed in (4), 0th to kth-degree polynomial basis
are used to expand a power signal and the remainder of the
series is (t k ) . Therefore, by further expand the input signal
x(t ) using polynomials with higher degree, the fitting error is
reduced. Simulation results show that a fitting procedure using
0th to 8th-degree polynomials will guarantee a result that is
precise enough for application, which will be discussed in
 3

Section IV.
[1,1]
III. SYNCHROPHASOR ESTIMATION USING
LEGENDRE POLYNOMIAL METHOD
Although the precision of Taylor-Fourier Method is greatly
improved by revising the method by applying higher degree
polynomials, the computation process turned out to be
extremely inefficient. In this section, Legendre Polynomial
Method is proposed to estimate synchrophasor. Simulation
results show that the method is 10 times more efficient than
Taylor-Fourier Method, without losing computation accuracy.
The most time-consuming process in the Taylor-Fourier
Method is calculating the pseudoinverse P † in (5). In most
cases, ill-conditioned P is difficult to apply singular value
decomposition (SVD) [8], which is the main approach to
determine P † . The inefficiency in calculation the
pseudoinverse will finally result in the inefficiency in the
[1,1] .
synchrophasor estimation process. In the revised Taylor-
L0 (t )  0; L1 (t )  t;
(10)
(n  1) Ln 1 (t )  (2n  1)tLn (t )  nLn 1 (t ), t
Where Li (t ), i  0,1,..., k is the ith-degree polynomial, and
n  2,3,..., k is the degree of certain Legendre polynomial.
From (10), it is obvious that Legendre polynomials Li (t )
are the linear combinations of polynomials Pi (t )  t i , thus we
should notice that span{L0 (t ), L1 (t ),..., Lk (t )}  span{1, t ,..., t k } .
By definition, the Least Square solution of (5) is the
projection of vector x ( t ) onto the subspace spanned by the
column vectors of matrix L [10]. Therefore theoretically both
8th-degree Legendre Polynomial Method and 8th-degree
Taylor-Fourier Method should present the same accuracy,
which is also confirmed by simulation results.
B. Orthogonality of Legendre Polynomials
Legendre polynomials are orthogonal on domain t
1

Fourier Method stated in Section II, the window length for 

1
Lm (t ) Ln (t )dt  0, t [1,1], m  n (11)
estimating synchrophasor is usually within 2 nominal cycle Since the window length for estimating synchrophasor is
periods (40ms in 50Hz system). Since Pi (t )  t i , i  0,1,..., k , usually within 2 nominal cycle periods (40ms in 50Hz system),
we may want to utilize (11) on an arbitrary domain, especially
column vectors of P will be nearly zero vectors, thus linearly
on t [0, 40ms] .
dependent, which leads to extremely ill-conditioned matrix P .
b
As a result, the computation burden increases significantly.
The proposed Legendre Polynomial Method primarily
An integral 
a
f (t )dt over arbitrary domain t [a, b] can

benefits from the orthogonality property of Legendre be transformed into an integral over domain t [1,1] through
polynomials, which leads to a significant reduction of the linear transform of variables [9],
condition number of matrix P . 2t  a  b 1
  t  [(b  a)  a  b] (12)
When using Legendre polynomials in Polynomial Method, ba 2
rewrite (4): By using (12), the orthogonality of Legendre polynomials
x(t )  q(t ) cos(2 f 0 t )  r ( t ) sin(2 f 0 t ) can be applied on arbitrary domain:
q(t )  X m (t ) cos  ( t ) b b (b  a)  a  b b  a
a f (t )dt  a f ( 2
)(
2
)d (13)
 q0 L0 (t )  q1 L1 (t )  ...  qk Lk (t )  ( t k ) (8)
Therefore, the time span of the window t [t0 , tN 1 ] can be
r (t )   X m (t ) sin  ( t )
easily transformed to  [1,1] via linear transform (12),
 r0 L0 (t )  r1 L1 (t )  ...  rk Lk ( t )  ( t k ) though we should notice that the nominal frequency on τ axis
Where Li (t ), i  0,1,..., k is the ith-degree Legendre will be fl  M 2 , where M indicates the number of cycles a
polynomial. Then the Least Square process can be expressed data window contains and 2 is the length of domain  [1,1] .
as x( t )  L[q, r ] , where
T

C. Discrete Expression of the Properties of Legendre

L = [ L0 (t ) cos(2 fl t ),..., Lk (t )sin(2 fl t ), Polynomials
(9)
L0 (t ) cos(2 fl t ),..., Lk (t )sin(2 fl t )] In engineering application, we rarely use the continuous
Note that in (9) the nominal frequency f l is not necessarily signal to estimate synchrophasor. Therefore, it is important to
translate all the useful properties of Legendre polynomials
equal to f 0 , and this will be discussed later. The rest
into discrete forms.
procedures for synchrophasor estimation are identical to the By definition the integral over domain t [a, b] is the limit
Taylor-Fourier Method.
of sums of a function as the partitions on the domain get finer.
It is necessary to discuss about the property of Legendre
Thus we can derive from integral (11):
polynomials [9] and their application in synchrophasor
Lm (t ) Ln (t )dt  lim  i 0 Lm (ti ) Ln (ti ) t
1 N 1
estimation. 1  t 0
(14)
2

A. Derivation of Legendre Polynomials N 1
 Lm (ti ) Ln (ti )
The Legendre polynomials can be easily acquired using N i 0
their recursive property. Where t0  1 , t N 1  1 ,  t  2 / ( N  1) is the interval
between consecutive samples, thus ti  i   t  1 , N denotes the
 4

total number of points on domain t [1,1] . expand a power signal and the remainder of the expansion is
Therefore the orthogonality of Legendre polynomials (t k )  (τ k ) . By increasing the degree k , the overall
originally expressed in integral form can be presented as: accuracy of the algorithm is improved. Simulation results
1
1
Lm (t ) Ln (t )dt  0  Lm (t ), Ln (t )  0, m  n (15) show that an 8th-degree Legendre polynomial expansion will
guarantee a result that is precise enough for application, as is
 (t ),  (t )   i 0  (ti ) (ti )
N 1
Where denotes the inner shown in Table II.
TABLE II
product for vectors  and  . Synchrophasor Estimation Accuracy Using
D. (Anti)Symmetric Property of Legendre Polynomials Legendre Polynomial Method
In (9) the column vectors of L are actually Legendre Max TVE FE(Hz) RFE(Hz/s)
polynomials weighted by trigonometric functions which Test Type
Std. LPM Std. LPM Std. LPM
present (anti)symmetric property. Similarly, the Legendre Static 45Hz 0.06% 9×10-6 6×10-3
5×
polynomials possess the (anti)symmetric property as well: Static 50Hz 1% 0 2×10-7 0.01 3×10-4
10-3 -6
Static 55Hz 0.05% 8×10 6×10-3
Ln (t )  (1)n Ln (t ), t [1,1] (16)
Frequency 5× -3
1% 0.01% 10 0.1 5×10-4
Using this property, we can draw the following conclusions: Ramp 10-3
1 m  n 1 Combined 1.5×
1 Lm (t )cos(t )Ln (t )cos(t )dt  0, 2  k , k N (17a)
3% 0.001% 0.01 0.2 0.025
Modulation 10-4
FE: Frequency Error; RFE: Rate of Change of Frequency Error
1 mn Std.: Accuracy that is specified in the IEEE Standard [4]
1 Lm (t )cos(t ) Ln (t )sin(t )dt  0, 2  k , k N (17b) LPM: Legendre Polynomial Method
The simulation results indicate a very attractive
1 m  n 1
1 Lm (t )cos(t )Ln (t )sin(t )dt  0, 2  k , k N (17c) performance of the proposed Legendre Polynomial Method,
both under static tests and dynamic tests. All the test results
Then discretize (16a) to (16c) in the same way as in (14).
m  n 1 are well under one-tenth the requirement specified in the PMU
i0 Lm (ti )cos(ti )Ln (ti )cos(ti )  0, 2  k , k N (18a)
N 1
Standards [4], which indicates a promising implementation in
mn PMU Calibrator.
i0 Lm (ti )cos(ti )Ln (ti )sin(ti )  0, 2  k , k N (18b)
N 1

B. Comparison of Proposed Method and Taylor-Fourier

m  n 1 Method
i0 Lm (ti )sin(ti )Ln (ti )sin(ti )  0, 2  k , k N (18c)
N 1

As is shown in Table I, the traditional Taylor-Fourier

  2 fl is the angular frequency after the arbitrary time Method which employs quadrature polynomials are seriously
domain is transfered into [-1,1]. impaired and cannot be applied in power system. The
Since for any L(t )cos(t ) and L(t )sin(t ) , the parity of accuracy of Taylor-Fourier Method can be increased by
the product is either odd or even, we can therefore guarantee employing high degree polynomials. However, it turns out
that for a given set of vectors {Lm (t )cos(t ), Ln (t )sin(t )} , at that such method suffers from a severe lack of efficiency.
least half of the vectors are orthogonal. As a result, by Then, the Legendre Polynomial Method is proposed, which
utilizing Legendre polynomials, the condition number of L is reduce the computation burden in SVD, while maintaining
much smaller than P , which is confirmed by simulation desirable accuracy.
results. The comparison of the accuracy of traditional Taylor-
Fourier Method and proposed Legendre Polynomial Method is
IV. SIMULATION AND ANALYSIS
shown in Table III.
The computer simulations are performed on the controller TABLE III
of NI PXI based PMU Calibrator, which is equipped with Comparison of Computation Accuracy of Traditional
Intel’s Core i7 processor, with a maximum base CPU Taylor-Fourier Method and Legendre Polynomial Method
frequency of 2.3GHz. All algorithms are implemented using
MATLAB script. Max TVE FE(Hz) RFE(Hz/s)
Test Type
TFM LPM TFM LPM TFM LPM
A. Estimation Accuracy of the Proposed Legendre Static 45Hz >10% 0.06% 0.2 9×10-6 44 6×10-3
Polynomial Method Static 50Hz 0 0 0 2×10-7 0 3×10-4
Static 55Hz >10% 0.05% 0.35 8×10-6 60 6×10-3
The simulations for testing Legendre Polynomial Method Frequency
>10% 0.01% 0.35 10-3 60 5×10-4
applies 10kHz sampling rate, a window length of 2 nominal Ramp
cycle period (400 samples per window in 50Hz system) and Combined 1.5×
0.2% 0.001% 0.05 8 0.025
Modulation 10-4
8th degree Legendre polynomials.
FE: Frequency Error; RFE: Rate of Change of Frequency Error
The Legendre Polynomial Method presented in this paper TFM: Taylor-Fourier Method; LPM: Legendre Polynomial Method
has a higher accuracy for synchrophasor estimation. As is The proposed Legendre Polynomial Method significantly
expressed in (8), kth-degree Legendre polynomials are used to reduces the computation time of fitting procedure in (5), by
 5

reducing the condition number of P , or equally, enlarging the V. CONCLUSION

angle between the column vectors of P . For the development of the PMU test system, this paper
The sampling frequency for the computation efficiency test introduces the structure of prototype PMU Calibrator system
is 5kHz. 8th-degree Taylor-Fourier polynomials and 8th- and Legendre Polynomial Method. The PMU Calibrator has to
degree Legendre polynomials are used in this comparison test be 4 times more accurate than what the IEEE Standards
and the window length for sampling is 40ms, or 200 samples specifies, which can be met by careful hardware selection and
accurate synchrophasor algorithms. Then the Polynomial
in 50Hz system.
Method is presented, the drawbacks of traditional Taylor-
As is shown in Table IV, by utilizing Legendre Polynomial Fourier Method is analyzed and then remedied by increasing
Method, the computation time of every test is reduced to the degree of the polynomials.
almost one-tenth of that in Taylor-Fourier Method, and the In order to improve the computation efficiency of Taylor-
condition number of matrix P is greatly reduced as well. Fig. Fourier Method without losing accuracy, the Legendre
2 and Fig. 3 indicate that, by applying Legendre polynomials, Polynomial Method is proposed. The proposed method
employs the orthogonality of Legendre polynomials and
the angles between column vectors are significantly improved:
manages to reduce the computational burden in the Least
half of the angles of column vectors of matrix P are 90⁰, Square procedure. This algorithm is to be further revised and
while the rest vector angles are all more than 60⁰. implemented in the PMU Calibrator for providing reference
phasor in PMU testing.
TABLE IV
Computation Time and Condition Number Comparisons of VI. REFERENCES
Taylor-Fourier Method and Legendre Polynomial Method [1] Hao Liu, Tianshu Bi, Qixun Yang. “The Evaluation of Phasor
Measurement Units and Their Dynamic Behavior Analysis,” IEEE Trans.
Computation Time(s/synchrophasor) Instrumentation and Measurements, vol. 62, pp. 1479-1485, Jun. 2013.
Test Type [2] Yi-Hua Tang, Gerard N. Stenbakken, Allen Goldstein. “Calibration of
TFM LPM
Static 45Hz 2.5×10-3 3.0×10-4 Phasor Measurement Unit at NIST,” IEEE Trans. Instrumentation and
Static 50Hz 2.5×10-3 3.0×10-4 Measurements, vol. 62, pp. 1417-1422, Jun. 2013
Static 55Hz 2.5×10 -3
3.0×10-4 [3] A.G. Phadke, J.S. Thorp, M.G. Adamiak. “A New Measurement
Frequency Technique for Tracking Voltage Phasors, Local System Frequency, and
4.0×10-3 1.0×10-4 Rate of Change of Frequency,” IEEE Trans. Power Apparatus and
Ramp
Combined Systems, vol. 102, pp1025-1038, May 1983
3.0×10-3 3.0×10-4 [4] IEEE Standard for Synchrophasors for Power Systems, IEEE Standard
Modulation
C37.118.1-2011, Dec.2011
Condition No. 1.14×1019 21.1086
[5] Daniel Belega, Dario Petri. “Accuracy Analysis of the Multicycle
TFM: traditional Taylor-Fourier Method
Synchrophasor Estimator Provided by the Interpolated DFT Algorithm,”
LPM: Legendre Polynomial Method
IEEE Trans. Instrumentation and Measurements, vol. 62, pp. 942-953,
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[6] Hao liu, Tianshu Bi, Qixun Yang. “The Impact of Digital Filter on the
PMU Dynamic Performance,” Proceedings of the CSEE, vol. 32, pp. 49-
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[7] J. Ren, M. Kezunovic. “An Adaptive Phasor Estimator for Power System
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[10] Carl D. Meyer. Matrix Analysis and Applied Linear Algebra. SIAM, p.
411-424

Fig. 2. Angles of Vectors of Matrix L when applying Taylor polynomials VII. BIOGRAPHIES
Cheng Qian was born in China in 1989. He is currently a
Master student at North China Electric Power University. His
research interest is synchrophasor measurement technology.
Tianshu Bi (corresponding author) received Master and Ph.D.
from North China Electric Power University, P. R. China and
The University of Hong Kong in 1997 and 2002, respectively.
She is currently a professor of North China Electric Power
University and is the executive director of the State Key
Laboratory of Alternate Electrical Power System with
Renewable Energy Resources. Her research interests include
power system protection and control, fault diagnose, and
synchronized phasor measurement technology and its
Fig. 3. Angles of Vectors of Matrix L when applying Legendre polynomials
application in WAMS.