Chapter 01

Introductio n

1.1 Overview
Objective: This Book presents a comprehensive description of nonlinear control of electric power systems using nonlinear control theory. Major Problem in Power System: Out of many problems to be resolved and improved in modern power systems, the reliability of power systems is main issue. Reliability consists of two different aspects.
Reliability This book

Static Static Reliability Reliability

Dynamic Reliability

1.1 Overview
Improving the dynamic reliability (stability) of power system incorporates highly sophisticated technology of control. Initially the excitation control was employed for control of power system, taking generator terminal voltage as the single feedback variable. deMello and Concordia proposed a control technique which, besides the deviation of the terminal voltage, took a supplementary feedback variable as another input, which could be the speed deviation w, the frequency deviation f, or the deviation of active power Pe . Thus the excitation control of generators

1.1 Overview
PSS model is established by linearizing the nonlinear equations of power systems at a certain operating point (a fixed equilibrium point Xe ). It is obvious that this approximately linearized model is relatively accurate only when the actual state X(t) is rather close to Xe.

1.2 OUTLINE OF THE DEVELOPMENT OF CONTROL THEORY

Control is a general term for the theory and techniques to change the dynamic performance of a system by imposing certain inputs on the systems, so as to satisfy certain requirements to their best.
Control Theory This book

Classical Classical

Modern

The classical control theory in complex variable s=+j or frequency j domain.

1.2 OUTLINE OF THE DEVELOPMENT OF CONTROL THEORY

Significance of Classical Theory: The most significant feature of this theory lies in its own modeling method. For a single input single-output linear timeinvariant system, its dynamic behavior can be described by the following constant-coefficient ordinary differential equation d n x(t ) d ( n 1) x(t ) dx (t ) an + an 1 + ... + a1 + a0 x (t ) n ( n 1) dt dt dt d r u (t ) du (t ) = br + ... + b1 + b0u (t ) r dt dt where, u(t) is the control input variable, x(t) the output variable.

1.2 OUTLINE OF THE DEVELOPMENT OF CONTROL THEORY

Perform the Laplace transformation on both sides of Eq. (1.2), with the zero initial state, we obtain

(a s +a s = (b s +b s
n n n 1 r r r 1

n 1

+ ... + a1s + a0 ) X ( s )

r 1

+ ... + b1s + b0 ) U ( s )

Defining the system's transfer function G(s) as the ratio between the Laplace transformations of the output and the input of the system when the initial state is zero, X ( s ) br s r + br 1s r 1 + ... + b1s + b0 G ( s) = = U ( s ) an s n + an 1s n 1 + ... + a1s + a0 This equation, as a fraction of polynomials of s, is the general form of transfer functions, which is also the basic form of mathematical model in the classical

1.2 OUTLINE OF THE DEVELOPMENT OF CONTROL THEORY

Application Scope of Classical Theory: The mathematical tools used are fairly simple, which are mainly Laplace transform method and algebraic polynomials. The systems that the transfer functions can model are only linear constant control systems.` This theory or method is only applicable to singleinput single-output systems. It conceals the internal dynamic behavior of the system

1.2 OUTLINE OF THE DEVELOPMENT OF CONTROL THEORY

Modern Control Theory The most significant feature of this theory is that it is applicable to multi-input, multioutput dynamic systems. It is an integration of linear algebra and modeling theory. It is well known that, an nth-order linear dynamic system can be modeled as an nthorder constant-coefficient ordinary differential equation. State Space Modeling: we define a set of variables {x, (t), x2 (t), , x,, (t)} or a vector X(t) = [x1(t) x2 (t) ... xn(t)]T as the system's state variable set or state vector