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Decentralized Control of Large-Scale Storage-Based

Renewable Energy Systems
Pardis Khayyer and mit zgner, Fellow, IEEE

AbstractIntermittent nature of renewable energies and

random nature of moving loads negatively influence the power
system transient stability. Energy storage can enhance the system
response by providing short-term energy sources. However, fast
dynamic storage systems require advanced controllers to stabilize
the transients. This paper introduces the application of a decentralized overlapping decomposition controller in transient stability
of renewable energy penetrated storage-based power systems.
In a battery-based power system there exists strongly coupled
state variables shared among areas. Large-scale controllers can
decouple the system state variables and stabilize the oscillations.
Here, the model of battery storage is obtained considering the
batterys state of charge and the droop in power electronic interfaces. The overlapping decomposition decentralized controller
demonstrates an enhanced transient stability performance under
variable state of charge in various capacity of storage devices.
Index TermsDecentralized stability control, overlapping decomposition, storage modeling.

I. INTRODUCTION

YNAMICS OF highly penetrated renewable energy

power systems, for instance photovoltaic [1][6] and wind
[7][10], is influenced by intermittent nature of these energy
sources. In addition, introduction of mobile loads such as Plug-in
Hybrid Electric Vehicles (PHEVs) will also impose large stochastic loads [11][13] onto the system. To reduce the negative
effects of these transient generations and loads, storage units can
be integrated into the power system. Various small scale storage
systems such as battery banks, flywheels, superconductivity
magnetic energy storage (SMES) and compressed air energy
storage (CAED) are major types of short-term and long-term
energy balancing techniques already used in power systems [14].
Fig. 1 shows the expected growth of energy storage in next five
years according to IEEE survey [15]. Incorporation of a large
storage unit in power systems will change the characteristics of
the system and the generation-load balance.
Expansion of smart grids also suggests penetration of energy
storage units [16]. This application shifts the peak power demand to flatten the power generation profile. In this case, the
power system state variables demonstrate a strong influence
Manuscript received February 16, 2013; revised July 23, 2013, December 28,
2013; accepted February 17, 2014. Date of publication April 11, 2014; date of
current version April 17, 2014. This work was supported by U.S. Department
of Energy (DOE) Graduate Automotive Technology Education (GATE) Center
of Excellence, DE FG26 05NT42616. Paper no. TSG-00177-2013.
The authors are with Department of Electrical and Computer Engineering and
Center for Automotive Research (CAR), Ohio State University, Columbus, OH
43210 USA (e-mail: khayyer.1@osu.edu; ozguner.1@osu.edu).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TSG.2014.2311093

Fig. 1. A five-year energy storage growth prediction [15].

from the storage and from the power system through tie-line
interconnections. As the traditional power system response is
slow, when integrated with fast response energy storage, the
transients become more prone to subsystem dynamic variations
and their control becomes complicated. Of particular interest
are the inter-area oscillations, which are more dynamically coupled and hard to control. One control technique is to create a
disjoint decentralize system. However, strong interactions on
shared state variables require decoupling of system dynamics.
Overlapping decomposition reflects the shared state dynamics
to each related subsystem and creates isolated subsystems. This
will create a robust and computationally more efficient controller against power generation and load demand disturbances
by reducing the inter-area oscillations [11], [17][23]. These
techniques have been used in traditional power systems where
slow dynamics of large thermal power generation units [22]
and predictable loads influence the power system operations.
However, emerging technologies such as distributed generation
of intermittent renewable energy power units (e.g., wind and
solar), fast dynamics of storage charge-based inverter controls,
connection of stochastic loads (e.g., PHEVs) [24], and many mobile generation sources [16], [25] have introduced fast dynamics
which may cause instabilities in load-frequency control.
In this paper, a two-area power system with influence of wind
power and micro-hydro generation units is studied. This power
system has two types of backup energy sources such as diesel
and battery to provide long-term energy and short-term power
demands respectively. Each area has many state variables associated with generation units and load. In addition, the system
has one shared state variable (tie-line power) between two areas.
Decentralized overlapping decomposition is used to decouple
the subsystems and control the power transients of the studied
large-scale storage-based renewable energy systems. The effect

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KHAYYER AND ZGNER: DECENTRALIZED CONTROL OF LARGE-SCALE STORAGE-BASED RENEWABLE ENERGY SYSTEMS

of a battery storage unit on the overlapping decomposition controller performance, robustness and the system oscillations are
analyzed and compared with a power system without energy
storage unit. Droop in power electronics [26] and batterys state
of charge (SOC) are considered in the modeling and the control
design.
II. LARGE-SCALE CONTROL FOR HIGHLY INTERCONNECTED
SYSTEMS

It can also be shown that [27]:

(8)
(9)
For details on extension refer to [17], [21], [27], [49]. Con, with state vector and overlapping
sider system
state of
as follows:

Large-scale systems contain high number of state variables,

which makes their centralized control design impractical. An
alternative solution is to decompose and represent a large-scale
system as a collection of interconnected subsystems. These subsystems can be treated as local dynamical systems where decentralized controllers can be designed to utilize the local states
variables.
Decentralized control of large-scale systems speed up the
control process and reduce the computation time. However,
decoupling of a large-scale system into smaller subsystems
without considering the interconnections could lead to improper
control design [17], [18]. In renewable energy-based power
systems that include battery units, a complicated network of
tie-lines balance the power generation and demand by sharing
the power among subsystems. Overlapping decomposition
technique is a method for system state decoupling in large-scale
systems theory where each decoupled subsystem will involve
the shared states [17][21], [23], [27]. In design of controllers
for overlapping decomposed systems, the first step is to expand
the original system [18]. In continuous time, the large-scale
system can be expressed as:

where the expanded subsystem state variables and are oband

. The dimension
tained as
,
of the expanded system is obtained from
where
are dimensions of
respectively. In
this example, system matrix is expressed as:

(1)

(13)

(2)

In linear transformation matrix , identity matrices

are related to
components of . Therefore, in the ex, where is the pseudo inverse
panded system,
matrix of as follows:

and the expanded system is expressed as:

(10)
where
and
are the state vectors of subsystems 1 and 2
respectively. New state vector for the expanded system is defined as:
(11)

(12)
For this example, the transformation given in (6) can be represented as:

where
and
are states, input and output
vectors of system . In system
and
as states, input and output vectors. is represented by triplet
and is represented by triplet
. It is assumed that
and
. Considering the existence
of transformations (3)(5) [27], as follows:
(3)
(4)
(5)

(14)
(15)
(16)
and

is the complementary matrix, expressed as follows:

(17)

system becomes an extension of system such that for initial

state of the original system the following conditions hold:
(6)

Using these transformations, the expanded matrix of the new

system becomes:

and any input of the expanded system is related to the input of

the original system by:

(18)

(7)

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As it can be seen in matrix , the overlapping parts of the

subsystems have appeared as disjoint components. The control
design for this system is first done in the expanded space. A
performance index can be considered in the original system as
follows:
(19)
where is a nonnegative definite matrix, and
is a positive
definite matrix. Hence, the performance index for the expanded
system can be considered as follows:
(20)

Fig. 2. A two-area power system. Area 1 consists of storage, wind and diesel
and area 2 consists of micro hydro power generation [30], [32].

According to the inclusion principal [17], for pairs

and
, there exists
such that
. Using the initial
conditions, the transformation yields:
(21)
(22)
An optimal control law can be established (using Linear
Quadratic Regulator Controllers, LQR) for the expanded
system. In this system, the linear feedback control
optimizes through the controller obtained for decentralized
expanded subsystems in
form. The control law for
decentralized expanded subsystem optimizes . The feedback
gain of expanded system, , is obtained as follows:
(23)
where
(positive semi-definite) is the solution of following
Riccati equation:
(24)
Condition under which
is contractible to
is ex. For more depressed as:
tails on controller design, expansion, and design contraction
see [17][21]. Robustness of LQR based controllers applied to
power systems is discussed in [28], [29]. The controller is designed in the next section.
III. SYSTEM DYNAMICS
The system studied in this paper is an interconnected twoarea power generation unit. Area 1 includes a hybrid winddiesel backed by a battery storage that is connected to the network through a droop-based inverter, and area 2 is a microhydro generation unit that uses synchronous generators. A tieline connects the two systems to facilitate the energy transfer.
The system schematic is shown in Fig. 2.
Although the energy transfer in the tie-line is a nonlinear
function of the power angles and voltages across the line, a
linearized model is used in the control system design. Dynamic
components of the overall system are linearized around the
systems nominal operating point for stability analysis (small
signal stability) [31], [49]. In this approach, the interest is on the
stability of the system at a nominal operating point with small
perturbations. System variations such as faults, load outage and
generation unit trips [33] are considered large perturbations.
Occurrence of a large perturbation results in displacement of
the systems equilibrium points away from that of the small
signal such that the linearized model might become invalid.

Fig. 3. Block diagram representation of battery energy storage unit. State of

charge and droop control are considered.

Nonlinear models can be used to investigate large perturbations

[34]. Linear model of power system components are obtained
in this section.
A. Storage System Dynamics
Fig. 3 illustrates the overall schematic of the Battery Energy
Storage Systems (BESS) small-signal model. Power electronic
droop [26], [35][37], [48] and battery SOC level are taken into
account in this storage modeling.
In this model, battery dynamics is presented as a first order
transfer function [38][40] as follows:
(25)
is the plant gain and
is the time constant
where
of storage system. Droop models have been considered for
power electronic inverters [35][37]. In AC systems, batteries
are accompanied by DC/AC inverters. This model takes battery
SOC into account and reduces battery power contribution when
SOC is low. Variable droop structure results in accurate power
sharing among batteries such that batteries with higher state of
charge contribute at higher rate. In addition, dynamics resulted
from variable droop imitates conventional power generation
behavior [35][37]. The droop modeling is formulated as
follows:
(26)
where is the frequency of inverter and
is the frequency at
no-load. Variable droop coefficient is adjusted according to the
battery SOC and is calculated [35] as follows:
(27)
where
is the variable droop coefficient,
is the defult
minimum droop coefficient and is 1 for a fully charged battery
% and a small value (0.01 [35]) for an empty

KHAYYER AND ZGNER: DECENTRALIZED CONTROL OF LARGE-SCALE STORAGE-BASED RENEWABLE ENERGY SYSTEMS

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Fig. 4. Droop characteristics as a function of the batterys state of charge [35].

battery. Fig. 4, shows droop characteristics as a function of the

batterys charge level [35].
Battery in the proposed power system has the smallest time
constant (fastest dynamics) and is considered for short-term
power compensation. Addition of a diesel generator in this
system is beneficial in several ways. First, it is considered
as long-term system backup for the renewable system by
enhancing the overall system reliability. Second, having a
long-term backup avoids excessive operation of the expensive
battery system, which in turn contributes to the batterys lifetime improvement.
B. Overall Two-Area System Model
Overall generation system is made up of two sub-area generation systems. In the area 1, battery storage is used as a short-term
backup source for the wind energy. Small-signal block diagram
of the first sub-area (hybrid generation system [30], [32]) is presented in Fig. 5. As shown in this figure, three systems of wind,
battery, and diesel are coupled.
Parameters of the first generation area dynamic model are
provided in the Appendix. The second generation sub-area is
considered as a micro-hydro generation unit. Fig. 6 illustrates
small-signal dynamic model of the micro-hydro generation unit
[31]. Parameter values of this system are listed in the Appendix.
State variables of the overall system are:

where
system),

is frequency variation of the area 1 (hybrid

is fluctuation in the diesel generator power,
are diesel generator governors valve position fluctuation,
is the wind turbine frequency variation,
are wind turbine pitch control
is the battery power variation,
actuators variation,
is the battery droop power variation,
is
the tie-line power exchange between the two areas,
is
frequency variation of the area 2 (micro hydro unit),
is the fluctuation in turbine generated power,
is the
mechanical power fluctuation from water flow,
is the
is
hydro unit governor valve position variation, and

Fig. 5. Block diagram representation of area 1, including dynamics of wind,

battery and diesel.

Fig. 6. Dynamic model of the hydro power generation unit in area 2 [31].

the variable achieving integral control. The system has one

shared (overlap) state variable
between the two areas.
One of the major applications of overlapping decomposition is
in Automatic Generation Control (AGC) [31], [41] of alternating
current (AC) power system. In a disturbance event, electrical
frequency of an interconnection must be maintained close to its
nominal level (e.g.,
Hz) [42], [43]. Speed of power
generators directly influences active power flows. In a large
power system, where electric power generation is shared by two
or more generators, disturbance in one area affects the voltage
frequency in other areas. In such occasions, frequency is restored
through droop control of power generation units [44], [45].
The control goal in AGC is to a) meet the system active
power and frequency limits and maintaining zero Area Control Error (ACE) [26], and b) generate a fast control system
process. System operation in stable and secure state is also called
normal state. That is if the system can handle disturbances and
operate under required constraints. Other modes of operation are
defined as alert, emergency, extremis and restoration
[31]. Area control error (ACE) is obtained as follows:
(28)
where
is the frequency bias factor of area
is the area
frequency error from nominal value (60 Hz),
is the operator
(depends on per unit base difference of the subsystems), and
is the tie-line power interchange between areas and .
IV. DISCUSSION AND RESULTS
The power system transient response enhancement was
achieved with overlapping decomposition controller. This

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Fig. 9. Area 1 frequency variation profile. A focus on wind power decrease

event.
Fig. 7. Area 1 frequency variation profile under load increase and wind power
decrease events.

Fig. 10. Area 2 frequency variation profile under the load variation and wind
power generation variation events.

Fig. 8. Area 1 frequency variation profile. A focus on load increase event.

section analyzes the transient response when sudden wind generation and load changes occur. The response is obtained under
battery charge and size variations. Controllers are obtained
according to the overlapping decomposition to balance the load
and power generation and damp the short-term oscillations. In
addition, the controller should maintain normal operation under
maximum allowable system parameter deviation [31].
Perturbations include, a 0.01 pu increase in load demand at
time
second, and a 0.01 pu power decrease in wind system
at time
second. The power system dynamics and the
control response due to these perturbations are shown in Fig. 7
for area 1 (wind-BESS-Diesel). Figs. 8 and 9 provide closer
views of Fig. 7 under load change and generation variation.

As shown in Fig. 8, by incorporating battery storage in the

system, the state variables demonstrated stronger interconnection. However, overlapping decomposition controller reduced
the frequency deviation by 1.2e-3 Hz under load variation. It
should be noted that maximum allowable frequency deviation
was between 0.10.2 Hz [46]. Fig. 9 shows frequency variations
when wind power was decreased. The overlapping decomposition controller held the state variables within the normal operation boundary. The controller significantly reduced the transients and became more effective when battery storage of size
0.01 pu was added to the power system. The controller performance and the system response are shown in Fig. 9. It was
observed that the overlapping decomposition approach reduced
the transient oscillations both with and without storage unit in
an acceptable range. Hence, it can be concluded that the application of proposed controller reduced the size of storage.
The load variation in area 1 impacts the operating frequency
and voltage in area 2. These effects are shown in Fig. 10. A
focus of effects generated from load increase and wind power
variation events are shown in Figs. 11 and 12.

KHAYYER AND ZGNER: DECENTRALIZED CONTROL OF LARGE-SCALE STORAGE-BASED RENEWABLE ENERGY SYSTEMS

Fig. 11. Area 2 frequency variation profile. A focus on load-increase event.

Fig. 13. Tie-line power variation under influence of storage units.

Fig. 12. Area 2 frequency variation profile. A focus on wind power decrease
event.

Fig. 14. Frequency variation in area 1 with different battery SOC levels.

Wind power generation decrease and load demand increase in

area 1 originally generated strong effects on area 2 without the
use of proposed controller. However, overlapping decomposition based controller decreased this dependency to a low value
of 0.25e-3 Hz. Therefore, the transients were damped more effectively and the controller could reduce the effect of battery
size on state variables as shown in Figs. 11 and 12.
Dynamics of tie-line play a critical role in overall system
performance. Fig. 13 shows the effect of system perturbations
on tie-line power transfer deviations. The variations in tie-line
power highlights the importance of this state variable in design
of controller for each generation area and on the reduced size
of the battery unit. As Fig. 13 demonstrates, the power sharing
between two areas has not significantly changed regardless of
the size of storage unit. The decomposition obtained through
overlapping controller reduced the tie-line power swing. The
controller can therefore reduce the maximum power required as
storage backup in each generation area.

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Overlapping decomposition demonstrated a reduced sensitivity of the control system to the battery state of charge. In
order to evaluate the effect of battery SOC on overall system
performance, a 10%, 50%, and 100% SOC variation that represent low, medium, and high charge levels were considered. The
droop was adjusted according to the profile showed in Fig. 4.
The results of this study on frequency variation in area 1 are
shown in Fig. 14. The control results showed the reduced dependency of the transient stability on the system parameters using
overlapping decomposition.
In order to evaluate the performance of the controller under
larger load perturbations, a 0.05 pu load increase was applied
to the system. The effect of this large load disturbance on the
frequency variation is shown in Figs. 15 and 16. As these figures
demonstrate, larger perturbations resulted in larger transients.
However, the controller proposed in this paper recovered the
system frequency variations in short time in both areas. This
demonstrated the robust behavior of the controller with respect
to large load disturbances.

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Micro-Hydro System values:

. Base power is considered as 100
MW. Load change is 0.01 pu equal to 1 MW. Large scale load
variation is considered to be 0.05 pu. Base power for both areas
is same.
Hz is the nominal frequency.
ACKNOWLEDGMENT
Discussions with Dr. David Schoenwald of Sandia National
Laboratories are gratefully acknowledged. This research was
supported by U.S. DOE Graduate Automotive Technology Education (GATE) Center of Excellence, DE FG26 05NT42616.
REFERENCES

Fig. 15. Frequency variation in the area 1 under a large load perturbation.

Fig. 16. Frequency variation in the area 2 under a large load perturbation at the
area 1.

V. CONCLUSION
In this paper, a dynamic model for battery storage unit was
obtained. The model included the effect of battery droop control
and state of charge. Interconnection of strongly coupled state
variables such as tie-line power was reduced using overlapping
decomposition principle. A controller was designed to reduce
the effect of load variation and the influence of intermittent generation reverberated to entire power system. The dependency of
the power system performance on the size of storage and state
of charge was also reduced.
APPENDIX
Hybrid system dynamic model parameter values [32], [47]:
,
,
,
Battery values:

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Pardis Khayyer (S06) received her M.S. degree in

electrical engineering from West Virginia University,
Morgantown, WV, USA, in 2008 and the Ph.D. degree in electrical engineering from Ohio State University, Columbus, OH, USA, in 2013. She has more
than three years of industry experience as a Senior
Controls Engineer. She is a member of Eta Kappa Nu,
Tau Beta Pi, Phi Kappa Phi and Sigma Xi honor societies. Her research interests include application of
control theory in power systems, power electronics,
and automotive systems.

mit zgner (S72M75F10) received the

Ph.D. degree from the University of Illinois at
Urbana-Champaign, IL, USA. He was with IBM; the
University of Toronto, Toronto, Canada; and Istanbul
Technical University, Istanbul, Turkey. Since 1981,
he has been with Ohio State University, Columbus,
OH. USA, where he is currently a Professor of
Electrical and Computer Engineering and holds
the TRC Inc. Chair on Intelligent Transportation
Systems (ITS). Since October 2013, he has been
the Director of the DoT supported Crash Imminent
Safety University Transportation Center at OSU. He is the author of over 400
publications and has advised more than 25 students towards their Ph.D.s. His
current research interest include ITS, decentralized control, and autonomy in
large systems. Dr. zgner was the first President of the IEEE ITS Council in
1999 and served both the IEEE ITS and CS Societies in many positions. He has
organized many conferences and was the General Chair of the 2002 Conference
on Decision Control, Intelligent Vehicles Symposium 2003, and International
Conference on Vehicle Electronics and Safety 2008. He has coordinated the
teams that participated successfully in the 1997 Automated Highway System
Technology Demonstration, the Defense Advanced Research Projects Agency
2004 and 2005 Grand Challenges, and the 2007 Urban Challenge.