718

Transactions on Power Systems, Vol. 7. No. 2, May 1992 DAMPING OF GENERATOR OSCILLATIONS USING AN ADAPTIVE STATIC VAQ COMPENSATOR

Chin-Hsing cheng Department of Electrical Engineehg Feng Chia University Taichung, Taiwan
Abstract - Design of a static VAR controller (SVC) using novel adaptive control scheme is investigated in this paper. The proposed controller, which makes use of a self-tunning proportionalintegral-derivative (PID) control, can provide better damping characteristics than a fixed-gain PID control SVC over a wide range of operating conditions. Digital simulations of the system following a three-phase fault under different loading conditions are performed to demonstrate the robustness and effectiveness of the developed controller. Keywords: Dynamic performance. Dynamic stability, system oscillations, static VAR compensators. 1. .INTRODUCTION During the past decade, many applications have been found for static VAR compensators (SVCs) on power transmission systems [ 1-71 ; it can be used to regulate system voltage [8-91, to improve transmission capacity [ 101, and to enhance transient stability [ 11141. There has been increasing interest in the application of SVCs to damp power system osfllations [ 15-20]. In a recent paper [ 2 11, damping of generator oscillations was investigated using a proportional-integral-derivative P I D ) static VAR controller. It was found that significant improvements in system damping can be achieved by the proposed PID static VAR controller. The PID controller is simple and is, by far, the most widely used control scheme in the process industry. However, the gain settings of this fixed-gain controller are determined under a particular operating condition and are, therefore, a compromise between the best values for light and heavy loading conditions. Under certain circumstances, a set of gain settings which are suitable for one loading condition may become completely unsatisfactory for another. In order to have best controller gains over a wide range of loading conditions and to achieve better dynamic responses when the system is subjected to a severe disturbance causing a deviation in system operating condition, a self-tuning controller [22-291 with its gain settings adapted in real time based on on-line measurements must be employed. The purpose of this paper is to develop a novel algorithm for the tuning of a PID static VAR controller. The robustness of the proposed self-tuning static VAR controller will be demonstrated by computer simulation of a power system following a severe disturbance causing significant variations in the operating condition.

Yuan-Yh Hsu, Senior Member

Department of Electrical Engineering National Taiwan University Taipei, Taiwan in Fig. 3. It is noted that the method for determining the gain settings for the PID controller, either a fixed-gain PID controller or a self-tuning one, will be introduced in subsequent sections. In the computer simulation of system dynamic responses under severe disturbance conditions, a set of nonlinear differential equations describing the behavior of the generator and the SVC are required. These equations are given in Appendix A.

"1_--i--I
r----r-i
I

7 "

XT

,v
S\'C

ZLI T!-Il J/
I I " . % J

6, - I

'

L---~---J
?

I
l

Fig. 1

System configuration for a single machine connected to a large power system

V,

2. MATHEMATICAL MODEL
The system considered in this paper is a synchronous generator connected to an infinite bus through a double circuit transmission line, as shown in Fig. 1. The synchronous generator is described by a 7th-order nonlinear mathematical model [21, 301. A static excitation system is shown in Fig. 2. A static VAR compensator comprising a fixed capacitor and a variable inductor is connected to generator terminal through a stepdown transformer. By adjusting the firing angles of thyristors TH1 and TH2 according to the variations in terminal voltage Vt and angular speed a, the susceptance of the inductor BL can be regulated in a way as shown

A vs

I U * [ STF I
1+

Fig. 2

Block diagram of the static excitation system

90 I C 571-0 PI.,RS

A paper recommended and approved

by t h e IEEE Power System Engineering Committee of t h e IEZE Power Engineering S o c i e t y f o r p r e s e n t a t i o n a t t h e 1990 IEEE/PES I n t e r n a t i o n a l Power Meeting-India, New Delhi, I n d i a , October 28 November 1 , 1990. Islanuscript submitted February 26, 1990; made a v a i l a b l e f o r p r i n t i n g September 12, 1990.

[ $
identi? of parameters adaptation law

Aw

K
Kp+ - - I + K D S

I_ _ - _ _ _ _ - _ _ _ _ - - Fig. 3

Block diagram of the self-tuning PID static VAR controller

0885~8~50/92$03.01992 IEEE

i n - r -

--

719

The parameters of the system are as follows [20,301.

Equation (3) can be rearranged as follows:

Synchmnow Genemtor: U = 377radls Ld = 1.7 pu

Lq

x(s) =

(SI

- A)-' B u(s)

(SI

- A)-'

r zw

(5)

The control signal can be expressed as U(s) = H(s)Y(s)

LF
LD

= 1.64 pu = 1.65 PU = 1.605 PU

BFi
~ M Q=

b
r rF rD
'Q

=
=

H D Re Le TA KA TF

= = =

1.526 pu kMD = MR = 1.55 p U 1.49 PU lq = 0.15 PU 0.001096~~ 0.000742pu 0.0131 pu 0.054~~ 2.37s

Combining eqns. (4), (5), and (6), we have

X(S) = (SI - A)-* B H(S) X(S)

(SI - A)-'

r Z(S)

(7)

or
[I

- (SI - A)-'

BH(s)C] X(s) = (SI

- A)-' r Z(s)

(8)

= O = 0 . 0 2 ~ ~ = 0.4 pu

If A is the assigned eigenvalue of the closed-loop system equipped with the PID control SVC,then

VoJtage R d t o r and Exciter:

= 0.05 s
=4oO = IS 0.025

Using the identify of determinants ( 3 11

KF

,eqn. (9) can be written as

Static VAR Compensator: XT = 0 . 0 8 ~ ~ K, = 50

Tr
= 0.15s

or

v ,

H(A) =

1 C(AI AT,
1 +ATw

= 0.12pu VS,h = -0.12pu A B L = ~ 0.075 ~ ~ PU A B L ~ = ~-0.1 ~ pu Q = 0.325 pu BLO = -0.3~~ 3. DESIGN OF A FIXED-GAIN PID STATIC VAR CONTROLLER

- A)-'

B
KDA)

=-

KI (Kp + -:+
A

In the design of a fixed-gain PID static VAR controller using the

eigenvalue-assignment method, the nonlinear differentla equations as given in Appendix A have to be fmt linearized around the nominal loading condition of P = 1.0 pu and Q = 0.25 pu to obtain the desired state equations x ( t ) = A x(t) Y(t) = c X(t) where

~u(t) +

r z(t)

(1) (2)

x=

[Aid,

f i ~ AiD, ,

Aiq , A i ,&U, A6. A V ~ T ,

AEFD, Aim, A h , A B L I ~ is the state vector, z = [ AVREF AT, I T is the disturbance vector, Y = Am is the output signal, U = A V s v c is the control signal,

Therefore, a set of four simultaneous algebraic equations with four unknown variables T, , K p , KI and KD can be obtained by substituting four prespecified eigenvalues s = A 1 , A,, A, and A, into eqn. (12). The desired controller parameters Tw Kp KI and KD are then computed by solving these four algebraic equations. Usually, the prespecified eigenvalues are obtained by shifting the four worst damped eigenvalues leftward. As a result, the damping of the system could be improved through this eigenvalue-shifting process since the eigenvalues of the closed-loop system have been shifted to more desirable prespecified locations. It is worth noting that only four eigenvalues can be exactly assigned by the proposed singleinput single-output controller with four unknowns. Single-input multipleoutput PID or single-input single-output controllers of higher order must be used if more than four eigenvalues are to be assigned. Under the nominal loading condition of P = 1.0 and Q = 0.25, the eigenvalues of the open-loop system (system without PID controller) are listed in the first column of Table 1.

M-I

B'

p =

r'
1

B=IO 0 0 0 0 0 0 0 0 0 0 1 l T r = T b0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 -1 0 0 0 0 0 0,

open-loop system (without PID controller) -6.1 83ij377.377

closed-loop system (with PID controlter)

'1'

-1 13.1ij377

C=[O 0 0 A = -M-' K

1 0

0 0 01

where the matrices M and K are described in Appendix B. Taking the Laplace transform of (1) and (2), we have the state equations in frequency domain

s x(s) = A x(s) + B u(s) +

Y(s) = CX(S)

r Z(S)

(3) (4)

720

It can be observed from Table 1 that the damping for the electrcmechanical mode is not good enough and the eigenvalues for this mode (-0.1508i j9.463) should be shifted leftward to more desirable locations by a PID control SVC. With a damping ratio of 0.3, four prespecified eigenvalues, -2.828tj9.425 and -1 13.1tj377, were assigned for the mechanical mode and the SVC mode, respectively. The desired parameters of the PID controller are then computed by solving a set of four simultaneous equations obtained by substituting these four prespecified eigenvalues into eqn. (12). The controller parameters thus found are as follows. Tw = 0.00812 Kp = -504.95

and T, is the sampling period. Given the estimated parameters, a, , a,, b, and b, , the control law can be written as (241

U(t' ) = yr(Z-I ) R(2-I

T(2-I )

S(z-1 )

R(z-' )

y(2-l )

(18)

where yr is the reference signal of y and R, S, and T are polynomials in 2 - l . In order to obtain a self-tuning controller of PID structure, let's assume

KI

= 223.248

KD = -12.135 The eigenvalues of the generator equipped with the PID controller are given in the second column of Table 1. It is found that the four desired eigenvalues are exactly assigned. Considerable improvements in system damping can be expected in view of the eigenvalues in Table 1. The system eigenvalues would deviate from the prespecified values as long as the loading condition is different from the nominal condition. Unfortunately, any generator in a power system would experience continuous load changes in its daily operation. Drastic changes in the operating condition may even take place when there is a fault in a power system. Under such circumstances, the dynamic performance is no longer as good as that which was designed. In order to prevent the system eigenvalues from drifting from the prespecified locations, when the system is subjected t o load changes or severe disturbances, a self-tuning controller whose parameters can be automatically adjusted according to system operating condition must be employed. 4. DESIGN OF A SELF-TUNING PJD STATIC VAR CONTROLLER Substituting eqns. (19)-(21) into eqn. (18), we have the control signal for the self-tuning controller

(22) The four parameters for the control signal, r, , so, s, and s , may be computed by solving the following equation [ 241 A(z-I)(l +r, z?)(l - z - ' )
= P(2-I )( 1 + b2 / b, 2-l)

+ z-~B(~-')S(Z-')
(23)

Recall that a PID controller can be described by [221

A self-tuning PID controller based on eigenvalue-placement method [22] will be described in this section. With the gain setting of the PID controller, Kp , KI ,and KD ,self-adjusted, the eigenvalues of the system can be maintained at the specified locations regardless of system loading conditions. The algorithm for the gain adjustments is described as follows. Consider a system described by its inputoutput relationship y(k) + a, y(k-1)

Comparing eqn. (22) with eqn. (24), we have the gains of the self-tuning PID controller Kp = (s, + 2s,)/(l + r l ) KI
=
-(s~+sI

(25) (26) (27)

+ a,y(k-2)

= b, u(k-I)

+ b,u(k-2)

(13)

+s,)/T, - r l ) ~ l / ( l + r l ) }T ,

where y's are output samples, U'S are input samples and a , , a, ,.b, and b, are coefficients which can be estimated by using the recursive least-squares (RLS) identification method with variable forgetting factor as described in Appendix C [23,27]. Eqn. (13) can be written as A(z-I ) y(z-' ) =
2-l

KD = { [ r , s , - ( l

B(z-' ) u(z-' )

(14)

In the design of a self-tuning controller, a pair of desired eigenvalues for the system have t o be first selected. In this study, the same eigenvalues as those used for the fixed-gain controller, -3ijlO. are selected as the desired eigenvalues. f i e sampling period is given by [221
1

where z-' is the backward shift operator and A and given by

B are polynomials

Ts = Nu

2n

4 -

where N is the number of samples per period. A value of 100 is employed in this paper. A feedback control U is t o be found such that the closed-loop system has poles that correspond to the poles of a continuoustime system with the characteristic polynomial s2 + 2Ews + wz . In other words, the characteristic polynomial of the sampleddata system is given by [221
5.

COMPUTER SIMULATION

r(z-1) = I
where P, =

P,

2-1

+ P,

Z-2

(17)

- 2c-EWTs cos(uTs -2EwT, P, = e

d m )

In order to illustrate the effectiveness of the proposed controllers under severe disturbance conditions which cause significant deviation in generator loadi igs, time domain simulations are performed based on a nonlinear system model including all kinds of nonlinearities such as exciter ceilings, control signal limiten, etc. Dynamic responses of the generator t o a 4 cycle three phase fault, which occurs at the midpoint of one of the two transmission lines, are shown in Figs. 4 and 5. respectively, for the loading conditions of P = 1 .O pu and P = 1. I5 pu. Generator speed deviations obtained by using both the fixed-gain PID control SVC and the self-

tuning PID control SVC are depicted. It is worth noting that no washout term is used for the self-tuning controller since it is essentially a signalqnthesizing controllers. It can be observed from the response curves in Fig. 4 that the self-tuning PID control SVC can provide better damping characteristic than the fixed-gain PID control SVC even at the loading condition of P= 1.Q pu at which the fixed-gain PID controller is designed. This is due to the fact that the generator would experience a drastic change in the operating condition during the faulted period. Moreover, as evidenced by the response curves in Fig. 5 , the dynamic performance of the self-tuning controller is less sensitive to the change in generator loading than the that of the fixed-gain PID controller. It is concluded that the self-tuning PID control SVC is a robust controller as far as the variation in generator operating condition is concerned.

o.se

8.0 ?

-0

2.0

3.0

4.

(a) fied-gain PID controller

( EC )

6. CONCLUSIONS
Damping of generator oscillations is investigated by using a fixed-gain PID static VAR controller and a self-tuning PID static VAR controller. Both controllers can offer good damping characteristic at the nominal operating condition. However, the self-tuning controller, with its gain settings adapted in real-time based on on-line measurements, is more effective than the fixed-gain controller when the system experiences a drastic change in the operating condition such as that resulting from a severe disturbance or load changes. The proposed self-tuning PID controller is simple for practical implementation since it is an extension of the widely-used PID controller and it requires only one output measurement (senerator speed variation) for the tuning process.

(P.U.)

Fig. 5

1 .o1a

, , , ,

, ,

Angular speed variations for the loading condition of P = 1.15 pu (a) fixed-gain PID controller (b) self-tuning PID controller

7.
!

REFERENCES

0.se

B.TO

I 1

I .o

a . I0 2

3.0 I

4 . 0

(a) fixed-gain PID controller

TlHE

(SEC)

0.swg.

4 . 0

1 . 0

2.0

3.0

(b) self-tuning PID controller

TlHE

(SEC)

Fig. 4

Angular speed variations for the loading condition of P = 1.opu (a) fixed-gain PID controller (b) self-tuning PID controller

L. Cyugyi, Fundamentals of thyristor-controlled static VAR compensators in electric power system applications, Symposium on Static VAR Systems, IEEE/PES 1987 Winter Meeting. J.F. Hauer, Reactive power control as a means for enhanced interarea damping in the Western U.S. power system-a frequency-domain perspective considering robustness needs, Symposium on Static VAR Systems, IEEE/PES 1987 Winter Meeting. J.E. Hadder and S.A. Miske, Jr., The Odessa SVS-dynamic o s s of local generation, Sympovoltage support for sudden l sium on Static VAR Systems, IEEE/PES 1987 Winter Meeting. D.E. Martin, SVC considerations for system damping, Symposium on Static VAR Systems, IEEE/PES 1987 Winter Meeting. E.V. Larsen and J.H. Chow, SVC control design concepts for system dynamic performance, Symposium on Static VAR Systems, IEEE/PES 1987 Winter Meeting. P. Czech and G. Scott, Application of static VAR compensators on Hydro-Quebecs EHV system, Symposium on Static VAR Systems, IEEE/PES 1987 Winter Meeting. A.E. Hammad, Application of static VAR compensators in utility power systems, Symposium on Static VAR Systems. IEEE/PES 1987 Winter Meeting. R.L. Hauth, T. Humann, and R.J. Newell, Application of a static var system to regulate system voltage in western Nebraska, IEEE Trans. PAS, Vol. 97, pp. 1955-1964, 1978. M. Brucoli, F. Torclli, and M. Trovato, A decentralized control strategy for dynamic shunt VAR compensation in interconnected power systems, Proc. IEE, Pt. C. Vol. 132, pp. 229-236, 1985. A. Olwegard, K. Wlave. G. Waglund, H. Frank, and S. Torseng, Improvement of transmission capacity by thyristor controlled reactive power, IEEE Trans. PAS, Vol. 100. pp. 39303939. 1981.

122

R.J. Byerly, D.T. Poznaniak, and E.R. Taylor, Static reactive compensation for power transmission systems, IEEE Trans. PAS, Vol. 101, 3997-4005, 1982. R.M. Mathur and A.E. Hammad, Transient and small signal stability of a superconducting turbogenerator operating with thyristor controlled static compensator, IEEE Trans. PAS, Vol. 98, pp. 1937-1946. L. Gyugi and E.R. Taylor, Jr., Characteristics of static, thyristor-controlled shunt compensator for power transmission system applications, IEEE Trans. PAS, Vol. 99, pp. 17951804,1980. I141 M.O. Brien and G. Ledwich, Placement of static compensators for stability improvement, Roc. IEE, Pt. C, Vol. 132, pp. 3035, 1985. G. Ledwich, Control algorithms for shunt VAR systems, Electric Power Systems Research, Vol. 6, pp. 141-146, 1983. S.C. Kapoor, Dynamic stability of long transmission systems with static compensators and synchronous machines, IEEE Trans. PAS, Vol. 98, pp. 124-134, 1979. 1171 M.Z. El-Sadek and A.E. Hammand, Optimization of parameters of static compensator systems, 1980 Canadian Communication and Power Conference, pp. 10-13, 1980. S. C. Kapoor, Dynamic stability of static compensatorsynchronous generator combination, IEEE Trans. PAS, Vol. 100, pp. 1694-1702, 1981. 1191 H. E. Schweickardt, G. Roniegialli, and K. Reichert, Closedloop control of static VAR sources on EHV transmission lines, Paper A78 135-6, presented at the IEEE/PES 1978 Winter Meeting. [201 H.C. Bames, Modeling of static shunt VAR systems for system analysis, Electra, Vol. 51,45-74, March 1977. I211 K.L. Liou and Y.Y. Hsu, Damping of generator oscillations using static VAR compensators, IEEE Trans. AES, Vol. 22, No. 5, September 1986. B. Wittenmark and K. J. Astrom, Simple self-tuning controllers, in Methods and Applications in Adaptive Control, pp. 21-30, Springer-Verlag, New York, 1980. 1231 R. Isermann, Digital Control Systems, Springer-Verlag, New York, 1981. 1241 K. J. Astrom and B. Wittenmark, Self-tuning controllers based on pole-zero placement, Proc. IEE, Vol. 127, Pt. D, pp. 120-130, 1980. D. Xia and G.T. Heydt, Self-tuning controller for generator excitation control, IEEE Trans. PAS, Vol. 102, pp. 18771885, 1983. 1261 A. Ghosh, G. Ledwich, O.P. Malik, and G.S. Hope, Power system stabilizer based on adaptive control techniques, IEEE Trans. PAS, Vol. 103, pp. 1983-1989, 1984. S.J. Cheng, Y.S. Chow, O.P. Malik, and G.S. Hope, An adaptive synchronous machine stabilizer, IEEE Trans. PWRS, Vol. ],NO. 3, pp. 101-109, 1986. Y.Y. Hsu and K.L. Liou, Design of self-tuning PID power system stabilizers for synchronous generators, IEEE Trans. EC, Vol. 2, No. 3, pp. 343-348, September 1987. C.J. Wu and Y.Y. Hsu, Self-tuning excitation control for synchronous machine, IEEE Trans.-AES, Vol. 22, pp. 389394, 1986. [301 P.M. Anderson and A.A. Fouad, Power System Control and Stability, Iowa State University Press, Iowa, 1977. [ 3 1 I T. Kailath, Linear Systems, Prentice Hall, Englewood Cliffs, NJ, 1980, p. 65 1. 8. APPENDlX A: APPENDICES

The equations for transmission network with extemal resistance Re and inductance Le are

(b) Excitation system . The equations of excitation system are obtained as follows TA EFD = - EFD - KA VST + KA (VREF TFVST = -VST
- Vt)

(A.11) (A12)

KFEFD

(c) Static var compensator The equations of SVC are obtained as follows vd = LBiBd
vq = LBiBq

+
-,

wLBi& Lg igd

(A.13) (A. 14) (A. 15) (A.16)

id = itd

igd

iq = itq + iBq Kr (AVREF - AVt where and LB = XT

-

+ AVsvc)
1
+

= ABL + T,ABL

(A. 17)

BC

BL

BL = B L ~ + ABL

APPENDlX B:

MATRICES M AND K

NONLINEAR EQUATIONS OF THE SYNCHRONOUS MACHINE, EXCITATION SYSTEM AND STATIC VAR COMPENSATOR

(a) Synchronous machine equations The synchronous machine equations in per unit form in terms of Parks d-q axis are [30]

6
J

= U - ]

P& =

T,

- Te - DU

t
723
0 0 0 0 0 0 0 0 0 0
0 1
, O

0 0 0 0
0 0

0 0 0 0
0 0

-Le

0
W

0 0 0 0

0
TF 0 0

- TA
-KF 0 0
KA

0 0 0 0 0
0

-Le

0
0 0
0

0 0
0 0

0 0 0 0 k M Q 0

-%
0 0
WO&

WO%

&VF --

LAD

0 0

-%
0 0

0 0
K =
1 -

KA 0 0
0

0 0
0

0 0
0
WoLBo
0

-w~LB~

APPENDIX C:

RECURSIVE-LEAST-SQUARES (RLS) IDENTIFICATION METHOD WITH VARIABLE FORGETTING FACTOR

Rewrite eqn. (13) in vector form 3(t) = 9TW &t) where 9T(t) = [ -y(t-l), -y(t-2), u(t-I). u(t-2)l (B.1)

(8.2)

is the data vector and

dT(t) = [
$I

2,

b,

b2]

(B.3)

is the parameter vector. The recursive formula is given by [ 23 1 d(t) = d ( t - l ) + K(t) where K(t) is the gain vector, and q(t) the prediction error = y(t) - ;(t) The gain vector K(t)is given by the recursive relation K(t)= P(t-l)p(t-l)/[
1 + d t - l )TP(t)9(t-l)l
*

q(t)

(B.4)

(B.5)

The covariance of the error in estimate. P(t). is given as L B ~ = XT - B O

1

P(t) = [ I -K(t)lp(t-l)Tl

P(t-I)/X(t)

(B.6)

The variable forgetting factor is given by

R ' -

F
724

h(t) = 1

[1

- p(t-lIT

*K(t)l v2(t)/Zo

(B.7)
Chin-Hsing Cheng was born in Taiwan on June 29, 1961. He received his B. Sc. degree in electrical engineering from Feng Chia University, Taichung, Taiwan, in 1984,and M. Sc. degree in electrical engineering from National Taiwan University. Taipei, Taiwan, in 1987. Currently, he is working toward his Ph.D. degree at National Taiwan University under the supervision of Dr. Yuan-Yih Hsu. His current research interest is on the stability analysis of power systems.

The CO in eqn. (B.7) is a preselected constant, which c a n be ex pressed as :

Zo = u2 No

where
U* is the expected measurement noise variance based on the real knowledge of the process. No will control the speed of adaptation as it corresponds to a nominal asymptotic memory length.

APPENDIX D: NOMENCLATURE reference voltage for the generator static var controller output 0 angular speed Kp , KI , KD PID controller gain ' , 'C system polynominals A, B, I QR rated angular speed d-axis stator winding inductance Ld q-axis stator winding inductance Lq field winding inductance LF LD d-axis damper winding inductance q-axis damper winding inductance LQ leakage inductance of the d-axis stator winding ld leakage inductance of the q-axis stator windhg kMF= ~ M D = M R = Ld-ld I q = L kMQ q r stator resistance field resistance 'F resistance of thq d-axis damper winding D ' resistance of the q-axis damper winding 'Q H inertia constant D damping coefficient Tw washout time constant reFulator time constant TA regulator gain KA TF stabilizing transformer time constant KF stabilizing transformer gain a parameter of the least-square identifier v, infinite bus voltage Vt generator terminal voltage Re transmission line resistance Le transmission line inductance EFD exciter field voltage inductive susceptance of the static VAR compensator BL capacitive susceptance of the static VAR compensator BC transformer reactance of the static VAR Compensator XT k, SVC gain *r SVC time constant SVC current . iBd d-axis compensator current q-axis compensator current fBq 'td d-axis transmission line current q-axis transmission line current 'Q

REF

vsvc

'

Yuan-Yih Hsu was born in Taiwan on June 19, 1955. He received his B.Sc., M.Sc., and Ph.D. degrees, all in electrical engineering, from National Taiwan University, Taipei, Taiwan. Since 1977. he has been with National Taiwan University, where he is now a professor. He worked at the University of Calgary, Alberta, Canada, as a postdoctoral research fellow and instructor from 1982 to 1983. From 1988 to 1989, he was a visiting scholar a t the University of Caligomia, Berkeley. At present, his research interests include power system dynamics, stability analysis, reliability analysis and the application of expert systems t o power system problems. He is a senior member of IEEE.

l i -

I
125

V. I . K. Shetty, (Crompton Greaves Limited,Kanjur-Bhandup, Bombay 400078 India): Q. 1 Author suggests a method wherein apriori information of eigen values are "ry for sdving contder prurumtus. How this method is practical? 4.2 The operation of the power s y s t e m under varied loading conditions (leading and lagging) requires, sometimes marginally stable conditions u t of eigen value in the second quadrant. Reviewers with very small real p would be i n t e to know, whether the authors had carried out such studies,where marginal stability was the d e s i r e d result? 4 . 3There are tyo pairs of eigen values correspoadrng . to system n Table 1 (top two rows)and the ele4X"echanical mode has frequency i become highly damped with PID controller (Rad Part -0.1508 changed to -2.828). Why there are two pairs of eigen values for a singk-machine infinite bus system?
MaauscnpI received November 10, 1991.

assigned based on practical needs on system damping. Previous experience on the system may be helpful in setting a proper set of desired eigenvalues. 2 . It is highly possible for a multimachine power systeq to have marginally stable modes. The eigenvalues for the elctromechanical modes as listed in Reference I l l may be helpful. 3. The reason for having the eigenvalues in Table 1 is that we put the SVC with speed input in the system. Reference

YUAN-YIH HSU : . The authors would like to thank the discusser for his valuable comments We would like to respond to the points raised by the discusser as follows.

1 1 1 Y. Y. Hsu, S. W. Shyue, and C. C. Su, Low frequency oscillations in longitudinal power system: experience with dynamic stability of Taiwan power system," IEEE Trans. on Power Systems, Vol. 2, No. 1, pp. 92-100, February 1987.
Manuscript received November 20, 1991.

1 . The

prespecified

eigenvalues have

been