International Journal of Advances in Science and Technology,

Vol. 3, No.1, 2011

Optimal Multiobjective Design of Power System

Stabilizers Using Simulated Annealing
G.Naresh1, M.Ramalinga Raju2, S.V.L.Narasimham3, K.Ravindra2
1

Department of EEE, Pragati Engineering College, Surampalem, AP, India

naresh.elec@gmail.com
2

Department of EEE, UCEK, J.N.T.U. Kakinada, Kakinada, AP, India

rajumanyala@yahoo.com, ravikollu@gmail.com

Department of CSE, SIT, J.N.T.U. Hyderabad, Hyderabad, AP, India

svlnarasimham@gmail.com

Abstract
Optimal multiobjective design of robust multimachine power system stabilizers (PSSs) using
simulated annealing optimization technique is presented in this paper. The proposed approach
employs Simulated Annealing (SA) optimization technique to search for optimal parameter settings
of a widely used conventional fixed-structure lead-lag PSS (CPSS). A multiobjective problem is
formulated to optimize a composite set of objective functions comprising the damping factor, and the
damping ratio of the lightly damped electromechanical modes. The effectiveness of the proposed
technique in damping local and inter area modes of oscillations in multimachine power systems,
over a wide range of loading conditions and system configurations, is confirmed through eigen
value analysis and nonlinear simulation results.

Keywords: Dynamic stability, simulated annealing, PSS design, multiobjective optimization

1. Introduction
Damping of electromechanical oscillations between interconnected power systems, is the most
important issue for secure operation. These oscillations may sustain and grow to cause system
separation if no adequate damping is available[1]. A well established classification separates these
oscillations into two types: (i) Local mode, corresponds to an oscillations of one or more generators in
an area with respect to the rest of the system. The local mode has a frequency of 0.8-2.0 Hz. (ii) Interarea mode oscillations, is concerned with the oscillations of a group of generators in one area against a
group in another area, usually connected by a long or a weak tie line. These oscillations usually in a
frequency range between 0.1- 0.8 Hz [2, 3]. A common approach to damp these oscillations and
improve system dynamic stability is the use of conventional lead-lag power system stabilizers (CPSSs).
These power system stabilizers are effective in damping local modes, and if carefully optimized may
also be effective in damping inter-area modes up to a certain transmission loading [4].
Design of the conventional PSS (CPSS) is based on the linear control theory which requires a nominal
power system model formulated as linear, time invariant system [5]. Larsen and Swann [6] have
systematically explained the application of conventional leadlag PSS in power systems. CPSS based
on this approach can be very well tuned to an operating condition and will provide excellent damping
over a certain range around the design point. However, CPSS parameters may not be optimal for the
whole set of possible operating conditions and configurations. Moreover, in a multi-machine power
system, CPSS parameters need to be optimized to coordinate with other machines and devices such as
FACTS devices. Adaptive and variable structure control schemes are also applied [7,8] for the design
of PSS.
Looking at the complexity of these designs and also at the fact that these techniques does not assure
robust power system stability with varying operating conditions, Kundur et al. [9] have proposed to
design the PSS during the commissioning of the power system. They have also studied the effects of

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Vol. 3, No.1, 2011
different PSS parameters on overall dynamic performance of the system, when the PSS is designed
conventionally. Using conventional methods, PSS can be designed sequentially taking one
electromechanical modes into consideration at a time [10]. However, the limitation of such a design is
that the stabilizer designed to damp out one mode may destabilize other modes of the system. In
another scheme, a gradient-based optimization method is adopted [11]. Unfortunately, the problem of
PSS design is a multi-modal problem and the gradient techniques might fail by getting trapped in one
of the local optima.
In this, paper parameters optimization of CPSS based on simulated annealing is proposed. The
simulated annealing based power system stabilizer (SAPSS) is then, tested on multi-machine system.
Simulation studies were carried out over a wide range of loading conditions and system configurations.
Results obtained from eigen value analysis and nonlinear time domain simulation is compared with
results of obtained by CPSS.

2. Statement of Problem
A. Power System model
The generator in the power system is represented by fourth order model and the problem is to design
the parameters of the power system stabilizers so as to stabilize a system of N generators
simultaneously. The fourth order power system model is represented by a set of non-linear differential
equations given for any ith machine,
d i
dt
di

dt

i s

s
2H

(1)

( Pmi Pei )

(2)

'
dEqi
1
' I (X X ' ) E ]

[ Eqi
di di
di
fdi
dt
Td0
i
'
dEdi
1
' I ( X X ' )]

[ Edi
qi qi
qi
'
dt
Tq0i
dE fdi

1
[ E fdi Kai (Vrefi Vti )]
Tai
' I ( x' x ' ) I I
Tei E'di I di Eqi
qi
qi di di qi
dt

where

(3)

(4)

(5)
(6)

d and q direct and quadrature axes,

i and i are rotor angle and angular speed of the machine,

Pmi and Pei the mechanical input and electrical output power,
' are the d-axis and q-axis transient emf due to field flux ,
E 'di and E qi

E fdi , I di and I qi are the field voltage, d-axis stator current and q- axis stator current,

' and X , X ' are reactance along d-q axes,

X di , X di
qi
qi
Td' 0 , Tq' 0 are d-q axes open circuit time constants,
K ai , Tai are AVR gain and time constant
Vrefi , Vti are the reference and terminal voltages of the machine

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Vol. 3, No.1, 2011
For a given operating condition, the multi-machine power system is linearized around the operating
point. The closed loop eigen values of the system are computed and the desired objective function is
formulated using only the unstable or lightly damped electromechanical eigen values, keeping the
constraints of keeping all the system modes stable under any condition.
B. PSS Structure
The speed based conventional PSS is considered in the study. The transfer function of the PSS is as
given below.
sTwi (1 sT1i ) (1 sT3i )
Ui s Ki

i ( s)
1 sTwi (1 sT2i ) (1 sT4i )
(7)
Where is the deviation of the speed of the rotor from synchronous speed
The second term in Eq. (6) is the washout term with a time constant of Tw . The third term is the lead
lag compensation to counter the phase lag through the system. The washout block serves as a high-pass
filter to allow signals in the range of 0.22.0 Hz associated with rotor oscillations to pass unchanged.
This can be achieved by choosing a high value of time constant ( Tw ). However, it should not be so
high that, it may create undesirable generator voltage excursions during system-islanding [12].
Compromising, it may have a value anywhere in the range of 120 s [12]. On the other hand, the lead
lag block present in the system provides phase lead (some rare cases lag also) compensation for the
phase lag that is introduced in the circuit between the exciter input (i.e. PSS output) and the electrical
torque. In this study the parameters to be optimized are{ K i , T1i , T2i ; i=1,2 3,...m },assuming

T1i = T3i and T2i = T4i .

C. Objective Function
1) To have some degree of relative stability. The parameters of the PSS may be selected to minimize
the following objective function:
np
J1
[ 0 i, j ]2

j 1 i, j 0
(8)
Where np is the number of operating points considered in the design process, and i, j is the real
part of the ith eigen value of the jth operating point, subject to the constraints that finite bounds are
placed on the power system stabilizer parameters. The relative stability is determined by the value of
0 . This will place the closed-loop eigen values in a sector in which as shown in Fig. 1.
j

i, j 0

Figure 1. Closed loop eigen values in a sector

2) To limit the maximum overshoot, the parameters of the PSS may be selected to minimize the
following objective function:

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Vol. 3, No.1, 2011
np
J2
[ 0 i, j ]2

j 1 i, j 0

(9)
where i, j is the damping ratio of the i eigen value of the j operating point. This will place the
th

th

closed-loop eigen values in a wedge-shape sector in which i, j > 0 as shown in Fig. 2.

j
i, j 0

Figure 2. Representation of eigen values in wedge shape sector

3) The single objective problems described may be converted to a multiple objective problem by
assigning distinct weights to each objective. In this case, the conditions i, j 0 and i, j 0 are
imposed simultaneously. The parameters of the PSS may be selected to minimize the following
objective function:
J J1 a. J 2
np
np
=
[ 0 i, j ]2 + a
[ 0 i, j ]2

j 1 i, j 0
j 1 i, j 0

(9)
This will place the system closed-loop eigen values in the D-shape sector characterized by i, j 0
and i, j 0 as shown in Fig. 3.
j
i, j 0

i, j 0

Figure 3. Representation of eigen values in D-shape sector

It is necessary to mention here that only the unstable or lightly damped electromechanical modes of
oscillations are relocated. The design problem can be formulated as the following constrained
optimization problem, where the constraints are the PSS parameter bounds:
Minimize J subject to
Ki
Ki Ki
min
max
T1i
T1i T1i
min
max
T2i
T2i T2i
min
max

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Vol. 3, No.1, 2011
The proposed approach employs SA to solve this optimization problem and search for optimal or near
optimal set of PSS parameters { K i , T1i , T2i ; i=1,2 3,...m} where m is the number of machines.
Typical ranges of the optimized parameters are [0.01,50] for K i and [0.01 to 1.0] for T1i and T2i .

3. Simulated Annealing
The Simulated annealing method resembles the cooling process of molten metals through annealing. At
high temperature, the atoms in the molten metal can move freely with respect to each other, but as the
temperature is reduced, the movement of the atoms gets restricted. The atoms start to get ordered and
finally form crystals having the minimum possible energy. However the formation of the crystal mostly
depends on the cooling rate. If the temperature is reduced at a fast rate, the crystalline state may not be
achieved at all, instead, the system may end up in a polycrystalline state, which may have a higher
energy state than the crystalline state. Therefore, in order to achieve the absolute minimum energy
state, the temperature needs to be reduced at a slow rate. The process of slow cooling is known as
annealing in metallurgical parlance. The simulated annealing procedure simulates this process of slow
cooling of molten metal to achieve the minimum function value in a minimization problem. The
cooling phenomenon is simulated by controlling a temperature-like parameter introduced with the
concept of Boltzmann probability distribution. According to the Boltzmann probability distribution, a
system in thermal equilibrium at a temperature T has its energy distributed probabilistically according
to Eqn. (10)
-E
P(E ) exp
(10)
kT
where k is the Boltzmann constant. It can be seen from Eqn.(10) that system at a high temperature has
almost uniform probability of being at any energy state but at low temperature it has a small probability
of being at a high energy state. Therefore by controlling the temperature T and assuming that the
search process follows the Boltzmann probability distribution, the convergence of the algorithm can be
controlled. If at any instant the current point is xt and the function value at that point is E(t ) f ( xt ) ,
then the probability of the next point being at xt 1 depends on the difference in the function values at
these two points i.e. E E(t 1) E(t ) and is calculated using the Boltzmann probability distribution
given by Eqn.(11)

- E
P( E (t 1)) min1, exp
(11)

kT

If E 0 , this probability is one and the point xt 1 is accepted. But if E 0 it implies that
xt 1 is worse than that of xt . In this case according to Metropolis algorithm, there is some finite
probability of selecting the point xt 1 even though it is worse than xt . This probability depends on
relative magnitude of E and T . If the parameter T is large, this probability is high for points with
large function values. Thus any point is acceptable for large values of T . On the other hand, if the
parameter T is small, the probability of accepting an arbitrary point is small. Thus for small values of
T , the points with only small deviation in function value are accepted.

4. Results and Discussions

Test System-I
In this example, the WSCC 3-machine, 9-bus power system shown in Fig. 4 is considered. For
illustration and comparison purposes, it is assumed that all generators are equipped with PSSs. Three
different operating conditions in addition to the base case are considered.
A. PSS Design and Eigen value Analysis
To assess the effectiveness and robustness of the proposed SAPSS over a wide range of loading
conditions, four operating cases are considered. The generator and system loading levels at these cases
are given in Tables 1 and 2, respectively. Table 3 and 4 represent the optimal parameters of
conventional PSS and proposed SAPSS respectively. The electromechanicalmode eigen values and
corresponding damping ratios without PSSs for all cases are given in Table 5. Table 5 also shows the

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comparison of eigen values and damping ratios for different cases. It is clear that these modes are
poorly damped and some of them are unstable. The electromechanicalmode eigen values and the
corresponding damping ratios with the proposed SAPSSs for the objective function J is given in this
table. It is obvious that the electromechanicalmode eigen values have been shifted to the left in splane and the system damping with the proposed SAPSSs greatly improved and enhanced.
Load C
G3

G2
2

5
Load A

3
6

Load B

4
1
G1
Figure 4. WSCC Three-machine Nine-bus Power System
Load
A
B
C

Gen
1
2
3

Table 1: Loads in PU on system 100-MVA base

Base Case
Case 1
Case 2
P
Q
P
Q
P
Q
1.25
0.50
2.0
0.80
0.65
0.55
0.90
0.30
1.80
0.60
0.45
0.35
1.0
0.35
1.50
0.60
0.5
0.25

Case 3
P
Q
1.50
0.90
1.20
0.80
1.00
0.50

Table 2: Generator loadings in PU on the Generator own base

Base case
Case 1
Case 2
P
Q
P
Q
P
Q
0.72
0.27
2.21
1.09
0.36
0.16
1.63
0.07
1.92
0.56
0.80
-0.11
0.85
-0.11
1.28
0.36
0.45
-0.20

Case 3
P
0.33
2.0
1.50

Q
1.12
0.57
0.38

Table 3: Optimal Parameters of Conventional PSS

Gen
K
T1
T2
1
2
3

4.3321
2.463
0.3997

0.4057
0.3716
0.3752

0.2739
0.2990
0.2961

Table 4: Optimal Parameters of Proposed SAPSS

Gen
K
T1
T2
1
2
3

3.40
7.00
1.60

0.3067
0.3067
0.3533

0.1133
0.1667
0.2600

Table 5: Comparison of Eigen values and Damping ratios for different cases

Base Case
Case-1
Case-2
Case-3

July Issue

Without PSS
-0.2367 8.5507i, 0.0277
-11.1752 10.4687i, 0.7298
-0.1421 8.4615i, 0.0168
-11.2788 11.3006i, 0.7064
-0.8199 8.1535i, 0.1001
-10.4600 12.2400i, 0.6497
0.0990 + 8.5483i, -0.0116
-11.4841 +11.0256i, 0.7214

CPSS
-0.8017 9.0603i, 0.0881
-11.1414 9.4032i, 0.7642
-0.8024 8.9184i, 0.0896
-11.1601 10.3813i, 0.7322
-1.2583 8.4817i, 0.1468
-10.3426 11.4081i, 0.6717
-0.3549 + 8.9847i, 0.0395
-11.3684 +10.0945i, 0.7478

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SA PSS
-4.0591 5.7725i, 0.5752
-7.9563 9.2689i, 0.6513
-3.3263 6.0414i, 0.4823
-8.6204 9.6271i, 0.6671
-4.2574 8.4693i, 0.4491
-5.9496 7.1843i, 0.6378
-3.8036 + 6.3262i, 0.5153
-8.4053 +10.0518i, 0.6415

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It is clear that these modes are poorly damped with CPSS and these electromechanicalmode
eigenvalues have been shifted to the left in s-plane and the system damping is greatly improved and
enhanced with the inclusion of PSS.
B. Nonlinear time domain simulation
To demonstrate the effectiveness of the proposed SAPSSs over a wide range of loading conditions,
two different disturbances are considered as follows.
Case(a): A 6-cycle fault disturbance at bus 7 at the end of line 57 with case 1. The fault has been
cleared by tripping the line 5-7.

Figure 5. Speed deviation of 2nd and 3rd generators for Case (a)

Case(b): A 6-cycle fault disturbance at bus 7 at the end of line 57with case 3. The fault is cleared by
tripping the line 57 with successful reclosure after 1.0 s

Figure 6. Speed deviation of 2nd and 3rd generators for Case (b)

The system responses to the considered faults with and without the proposed SAPSSs are shown in
Figs. 5 and 6 respectively. It is clear that the proposed SAPSSs provide good damping characteristics
to low frequency oscillations and greatly enhance the dynamic stability of power systems.
Test System-II
To demonstrate the effectiveness of the proposed method on a larger and more complicated power
system, the readily accessible 10-generator 39-bus New England system is adopted. Fig. 7 shows the
configuration of the test system. All generating units are represented by fourth-order model and their
static exciters are equipped with PSS. Details of the system data are given in [17].

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Vol. 3, No.1, 2011
A. PSS Design and Eigenvalue Analysis
To design the proposed SAPSS, three different operating conditions that represent the system under
severe loading conditions and critical line outages in addition to the base case are considered. These
conditions are extremely hard from the stability point of view [27]. They can be described as;
1)
2)
3)
4)

Base case (all lines in service);

Outage of line connecting bus no. 14 and 15;
Outage of line connecting bus no. 22 and 21;
Increase in generation of G7 by 25% and loads at buses 16 and 21 by 25%, with the
outage of line 2122.

The tuned parameters of the ten PSS using conventional root locus approach and proposed simulated
annealing optimization method are shown in the Table 6.
The small signal analysis of the test system was carried out without connecting the PSS. The
electromechanical modes and the damping ratios obtained for all the above cases with the proposed
approach and CPSS in the system are given in Table 7. The unstable modes for different operating
conditions were found out and highlighted in the above Table.

8
37

26

30

28

25

29

27

38

24

18

17
16

6
21

15

3
4

10

35

22
14

39

12

19

5
6
13

11

31

23
10

2
8

20

33

32
3

34

36
7

Figure 7. New England 10 generator 39 bus system

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Table 6. Parameters of Conventional PSS and Proposed SA PSS

CPSS Parameters
K
10.4818
0.6799
0.2396
1.1531
17.0819
13.4726
4.3773
0.5709
1.6059
19.8488

Base Case
(All lines
in service)

T1
0.6211
0.6185
0.5778
0.5727
0.6143
0.6163
0.5636
0.6099
0.5429
0.5027

SA PSS Parameters

T2
0.1789
0.1796
0.1923
0.1940
0.1809
0.1803
0.1971
0.1822
0.2046
0.2210

K
8.4667
14.0667
14.0667
12.2000
10.3333
6.6000
6.6000
2.8667
8.4667
8.4667

T1
0.5267
0.5267
0.6067
0.6600
0.5533
0.7133
0.8733
0.6600
0.6333
0.6867

T2
0.1133
0.1133
0.2333
0.2067
0.2067
0.2067
0.1400
0.2200
0.2200
0.3000

Table 7. Comparison of eigen values and damping ratios for different cases
Without PSS
CPSS
SA PSS
-1.1878 +10.6655i, 0.1107
-1.5226 +11.7232i, 0.1288
-4.1286 +12.4994i, 0.3136
-0.3646 + 8.8216i, 0.0413
-1.3326 +11.2726i, 0.1174
-1.4869 +11.4295i, 0.1290
-0.3063 + 8.5938i, 0.0356
-1.9859 +11.1499i, 0.1753
-0.9327 + 9.4601i, 0.0981
-0.2718 + 8.1709i, 0.0332
-0.9837 + 9.0350i, 0.1082
-1.1302 + 9.6094i, 0.1168
-0.0625 + 7.2968i, 0.0086
-0.5380 + 8.5014i, 0.0632
-1.2623 + 9.1152i, 0.1372
-0.1060 + 6.8725i, 0.0154
-0.1568 + 7.3758i, 0.0213
-1.3386 + 8.0520i, 0.1640
-1.0658 + 7.2601i, 0.1452
-3.2689 + 7.3285i, 0.4074
0.2579 + 6.1069i, -0.0422
-2.9298 + 4.1507i, 0.5767
0.0620 + 6.1767i, -0.0100
-0.0046 + 6.3800i, 0.0007
-1.2016 + 4.5676i, 0.2544
-1.1338 + 3.4802i, 0.3098
0.0794 + 3.9665i, -0.0200

Case-1

-1.1888 +10.6603i, 0.1108

-0.3642 + 8.8221i, 0.0412
-0.3087 + 8.5753i, 0.0360
-0.2727 + 8.1706i, 0.0334
-0.0643 + 7.2859i, 0.0088
-0.1000 + 6.7243i, 0.0149
0.2997 + 6.1030i, -0.0490
0.0824 + 5.7423i, -0.0143
0.0844 + 3.8066i, -0.0222

-1.5173 +11.7109i,
-1.3362 +11.2695i,
-1.9880 +11.1547i,
-0.9669 + 9.0331i,
-0.1593 + 7.3687i,
-0.0826 + 6.1146i,
-1.0081 + 6.0958i,
-1.9766 + 6.0065i,
-1.3318 + 3.1517i,

0.1285
0.1177
0.1755
0.1064
0.0216
0.0135
0.1632
0.3126
0.3892

-4.1613 +12.4079i,
-1.4918 +11.4276i,
-0.9094 + 9.4835i,
-1.3580 + 9.2344i,
-1.2435 + 9.1003i,
-1.3980 + 8.0167i,
-3.3198 + 7.3557i,
-2.3455 + 3.3520i,
-1.2008 + 3.3464i,

Case-2

-1.1662 +10.6237i, 0.1091

-0.3420 + 8.7558i, 0.0390
-0.3001 + 8.4713i, 0.0354
-0.2545 + 8.0395i, 0.0316
-0.0615 + 7.3143i, 0.0084
0.1246 + 6.1912i, -0.0201
0.2095 + 5.9352i, -0.0353
-0.0007 + 6.0561i, 0.0001
0.1105 + 3.8196i, -0.0289

-1.3328 +11.2585i,
-1.4566 +11.2977i,
-2.0073 +11.0646i,
-0.5655 + 8.4628i,
-0.8322 + 8.1841i,
-0.1551 + 7.3961i,
-0.0043 + 6.3664i,
-2.2257 + 6.2886i,
-1.3470 + 5.5976i,

0.1176
0.1279
0.1785
0.0667
0.1012
0.0210
0.0007
0.3336
0.2340

-4.1296 +12.5075i, 0.3135

-1.4578 +11.3685i, 0.1272
-0.9932 + 9.4768i, 0.1042
-1.1561 + 9.3481i, 0.1227
-1.5006 + 8.1563i, 0.1809
-1.3489 + 8.0132i, 0.1660
-3.3681 + 7.4503i, 0.4119
-2.7109 + 4.2085i, 0.5415
-1.0587 + 3.4162i, 0.2960

-1.1645 +10.6163i, 0.1090

-0.3256 + 8.8902i, 0.0366
-0.2977 + 8.4483i, 0.0352
-0.2587 + 8.0346i, 0.0322
-0.0575 + 7.3333i, 0.0078
0.1557 + 6.1630i, -0.0253
0.0586 + 6.0959i, -0.0096
0.2089 + 5.6778i, -0.0368
0.2352 + 3.6446i, -0.0644

-1.3405 +11.3267i,
-1.3380 +11.2101i,
-2.0206 +11.0315i,
-0.5650 + 8.4482i,
-0.7508 + 8.1182i,
-0.1506 + 7.4154i,
-0.0023 + 6.3596i,
-0.6910 + 5.8629i,
-0.7668 + 3.3898i,

0.1175
0.1185
0.1802
0.0667
0.0921
0.0203
0.0004
0.1171
0.2206

-4.1269 +12.5528i,
-1.4705 +11.3578i,
-0.9902 + 9.4536i,
-1.1759 + 9.3214i,
-3.4864 + 7.4509i,
-1.3664 + 8.0023i,
-1.4953 + 7.7485i,
-2.5309 + 4.2218i,
-0.9499 + 3.3941i,

Case-3

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0.3180
0.1294
0.0955
0.1455
0.1354
0.1718
0.4114
0.5733
0.3377

0.3123
0.1284
0.1042
0.1252
0.4238
0.1683
0.1895
0.5142
0.2695

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Vol. 3, No.1, 2011
It is clear that these electromechanical modes are poorly damped and some of them are unstable. Here
30 parameters are optimized namely, Ki , T1i and T3i ; i=1,2,3,..10. The time constant Tw is set to be
10. In this study

and

are chosen to be -1.0 and 0.2 respectively. Several values for weight a

were tested. The results presented here are for a=10.

It is obvious that the critical mode eigen values have been shifted to the left in s-plane and the system
damping is greatly improved and enhanced with the proposed SAPSSs.
B. Nonlinear time domain simulation
To demonstrate the effectiveness of the PSSs tuned using the proposed multiobjective function over a
wide range of operating conditions, the following disturbance is considered for nonlinear time
simulations.
Case (a): A six-cycle three-phase fault, very near to the 14th bus in the line 414, is simulated. The
fault is cleared by tripping the line 414. The speed deviation of generators G5 & G6 are shown in
Fig. 8.
Case (b): A six-cycle fault disturbance at bus 33 at the end of line 19-33 with the load at bus-25
doubled. The fault is cleared by tripping the line 19-33 with successful reclosure after 1.0 s. Fig. 9
shows the oscillations of 2nd and 3rd generators.
Case (c): Another critical five cycle three-phase fault is simulated very near to the 22nd bus in the line
2235 with load at bus-21 increased by20%, in addition to 25th bus load being doubled as in Case(b).
The speed deviations of generators G8 & G9 are shown in Fig. 10.

Figure 8. Speed deviations of 5th and 6th generators for Case (a)

Figure 9. Speed deviations of 2nd and 3rd generators for Case (b)

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Vol. 3, No.1, 2011

Figure 10. Speed deviations of 8th and 9th generators for Case (c)

In all the above cases, the system performance with the proposed SAPSSs is much better than that of
CPSSs and the oscillations are damped out much faster. In addition, the proposed SAPSSs are quite
efficient to damp out local and inter area modes of oscillations. This illustrates the potential and
superiority of the proposed design approach to get optimal set of PSS parameters.

5. Conclusions
In this study, optimal multiobjective design of robust multi-machine power system stabilizers (PSSs)
using SA is proposed. The approach effectiveness is validated on two multi-machine power systems. In
this paper, the performance of proposed SAPSS is compared with conventional speed-based lead-lag
PSS. A multiobjective problem is formulated to optimize a composite set of objective functions
comprising the damping factor, and the damping ratio of the lightly damped electromechanical modes.
The problem of robustly selecting the parameters of the power system stabilizers is converted to an
optimization problem which is solved by SA with the eigen value-based multiobjective function.
Eigen value analysis under different operating conditions reveal that undamped and lightly damped
oscillation modes are shifted to a specific stable zone in the s-plane. These results show the potential of
SA algorithm for optimal settings of PSS parameters.
The nonlinear time-domain simulation results show that the proposed PSSs work effectively over a
wide range of loading conditions and system configurations.

6. References
[1]
[2]
[3]
[4]
[5]

[6]

[7]

[8]
[9]

Graham Rogers, Power System Oscillations, Springer, 1st ed, 1999.

Prabha Kundur, Power System Stability and Control, Mc-Graw Hill Professional,1994.
Bikash Pal, and Balarko Chaudhuri, Robust Control in Power Systems Spinger, 2005.
L. Rouco, Coordinated design of multiple controllers for damping power system oscillations International
Journal of Electrical Power & Energy Systems, vol. 23, Issue 7, pp 517-530,October 2001.
Aboul-Ela, M.E.; Sallam, A.A.; McCalley, and J .D.; Fouad, A.A., Damping controller design for power
system oscillations using global signals. IEEE Transactions on Power Systems,Volume 11, Issue 2, May
1996, pp.767 773.
Aboul-Ela M.E, Sallam A.A, McCalley J.D and Fouad A.ADamping controller design for power system
oscillations using global signals Power Systems, IEEE Transactions on, vol. 11, Issue 2, May 1996 ,
pp.767 773
E.V. Larsen and D.A. Swann, Applying Power system stabilizers Part I: General Concepts, Part II;
Performance Objective and Tuning Concepts, Part III;Practical considerations, Power Apparatus and
Systems IEEE Transactions on PAS-100, June 1981,Volume:, Issue: 6, pp. 3017-3024.
D. Xia, G.T. Heydt, Self-tuning control for generator excitation control, IEEE Trans. Power Appl. Syst.
(1983) pp.18771885.
Y. Cao, L. Jiang, S. Cheng, D. Chen, O.P. Malik, G.S. Hope, A nonlinear variable structure stabilizer for
power system stability, IEEE Trans. Energy Conversion, September (9) (1994) pp. 489495.

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Vol. 3, No.1, 2011
[10] P. Kundur, M. Klein, G. J. Rogers, and M. S. Zywno, Application of power system stabilizers for
enhancement of overall system stability, IEEE Transactions on Power Systems, Vol PAS 108, 1989
pp 614-626.
[11] S. Abe, A. Doi, A new power system stabilizer synthesis in multimachine power systems, IEEE Trans. Power
Appl. Syst. PAS-102 (1983) pp. 39103918.
[12] V.A. Maslennikov, S.M. Ustinov, The optimization method for coordinated tuning of power system
regulators, in: Proceedings of the 12th Power Systems Computing Conference, PSCC, Dresden, Germany,
1996, pp. 7075.
[13] M.A. Pai, D.P.Sen Gupta, and K.R. Padiyar , Small signal analysis of power systems, 1st edition, Narosa
book publishing house, 2004.
[14] A. Bazanella, A. Fischman, A. Silva, J. Dion, and L. Dugrad, Coordinated robust controllers in power
systems, in Proc. IEEE Stockholm Power Tech Conf., 1995, pp. 256261.
[15] Y. L. Abdel-Magid, M. A. Abido, S. Al-Baiyat, and A. H. Mantawy Simultaneous stabilization of
multimachine power system via genetic algorithm IEEE Trans. Power Systems, vol. 14, 1999,
pp. 14281438.
[16] A. Hasanovic and A. Feliachi, Genetic algorithm based inter area oscillation damping controller design
using MATLAB, IEEE PES General Meeting, Chicago, IL, 2002.
[17] M.A. Pai, D.P.Sen Gupta, and K.R. Padiyar, Small Signal Analysis of Power Systems, 1 st edition, Narosa
Publishing House, 2004.
[18] Paul M. Anderson and A. A. Fouad, Power System Control and Stability, 2 edition, Wiley,IEEE Press, 2002
[19] K.R.Padiyar,Power System Dynamic Stability and Control 2nd ed, B.S publications.1994.
[20] Modern Control Engineering by Katsuhiko Ogata , Prentice Hall of India Pvt. Ltd., 3rd edition, 1998.

Authors Profile
G.Naresh graduated from Andhra University in 2001, Masters in 2004 from JNT
University and currently pursuing Ph.D. from JNT University Kakinada, INDIA.
Presently he is an Associate Professor in the Department of Electrical & Electronics
Engineering, Pragati Engineering College, Surampalem, AP since June 2003. His
research interests include Power System Stability, Power System Operation &
Control and Applications of Evolutionary Computing Techniques to Electrical
Engineering.

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Dr. M.Ramalinga Raju graduated in 1986 from JNTU, Masters in 1989 from REC,
Warangal and Ph.D. in 2004 from JNT University, INDIA. Presently he is Professor
and Head of Electrical & Electronics Engineering Department, University College of
Engineering Kakinada, JNTUK. He presented many research papers in various
national and international conferences and journals. His areas of interests include
Energy Management, Conservation and Auditing, Distributed Generation and IT
Applications in Power Utility Companies.
Dr. S.V.L. Narasimham graduated in 1982, Masters in 1987, 1995 and Ph.D. in
2000, all from JNT University, INDIA. Presently he is working as Professor of
Computer Science and Engineering, School of Information Technology, JNTUH,
INDIA. He presented more than 60 research papers in various national and
international conferences and Journals. His areas of interest include Energy
Optimization and Audit, Real time Power System Operation and Control, Image
Processing, Character Recognition, Home Automation and e- Governance.

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K.Ravindra graduated from Nagarjuna University in 2001, Masters from PSG
College of Engineering & Technology, Bharathiar University in 2003. Presently he
is an Assistant Professor in Electrical & Electronics Department, University College
of Engineering, JNTU Kakinada, since 2003. His research interests include
Distributed Generation and Distribution system planning.

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