International Journal of Scientific Research Engineering & Technology (IJSRET), ISSN 2278 0882

Volume 3, Issue 5, August 2014

Evaluating the Feasibility of Load Frequency Control in Automatic

Generation Control using Particle Swarm Optimization Technique
Siraj Anjum1, Kapil Parikh2, Raunak Jangid3
1

M.TECH Student, Power system, SITE, Nathdwara

Assistant Professor, EE Department, SITE, Nathdwara
3
Assistant Professor, EE Department, SITE, Nathdwara
2

ABSTRACT
The automatic generation control (AGC) process
performs the task of adjusting system generation to
meet the load demand and regulating at the large
system frequency changes. In most of the previous
works on interconnected systems, tie-line bias control
strategy has been widely accepted by utilities. In this
method, area control error (ACE) is calculated through
feedback for each area and control action is taken to
regulate ACE to zero. The problems of frequency
control of interconnected areas are more important
than those of isolated (single) areas.
Practically all power systems today are tied together
with neighboring areas and the problem of automatic
generation control becomes a joint undertaking.
Consequently secure, economic and stable operation of
a power system requires improved and innovative
methods of control. Intelligent control techniques
provide a high adoption to changing conditions and
have ability to make decisions quickly by processing
imprecise information. Some of these techniques are
rule based logic programming; model based reasoning
and computational approaches like Particle swarm
optimization , genetic algorithms ,fuzzy sets, artificial
neural networks, evolutionary programming. In this
research work, the Particle swarm optimization
controlling technique has been used for AGC of
interconnected power systems. The effectiveness of the
Particle swarm optimization is tested on a double
machine generating system operating with AGC for
several of operating points. These systems are
comparing for without and with Particle swarm
optimization. This comparison shows that Particle
swarm optimization gives efficient output.

The objective of the AGC in an interconnected power

system is to maintain the frequency of each area and to
keep tie-line power close to the scheduled values by
adjusting the MW outputs of AGC generators so as to
accommodate fluctuating load demands. An
interconnected power system consists of control areas
which are connected to each other by tie lines. In a
control area, all the generators speed up or slow down
together to maintain the frequency and relative power
angles to scheduled values in static as well as dynamic
conditions. Thus, an AGC scheme for an
interconnected power system basically incorporates
suitable control system, which can bring the area
frequencies and tie line powers back to nominal or
very close to nominal values effectively after the load
perturbations. A perturbation like adding a block of
load in a single area power system operating at
nominal value of frequency creates the power
mismatch in generation and demand. As two area
interconnected power system connected through a tie
line is shown in fig.1 each area feeds its control area
and tie line allows electric power to flow between the
areas. An interconnected power system may consist of
any number of subsystems or areas.

Keywords- AGC, LFC, PSO method, Ziegler Nichols

method.

I.

INTRODUCTION

Maintaining power system frequency at constant value

is very important for the protection of the power
generating equipment and the utilization equipment at
the customer end. The job of automatic frequency
regulation is achieved by governing systems of
individual turbine-generators and automatic generation
control (AGC) or load frequency control (LFC) system
of the power system.

Fig. 1. A two area interconnected power system

II.

OBJECTIVE FUNCTION

The objective of the thesis is to use the PSO algorithm

in order to obtain optimal PID controller settings for a
two area load frequency system. Every possible
controller setting represent a particle in the search
space which changes its parameters proportionality

www.ijsret.org

917

International Journal of Scientific Research Engineering & Technology (IJSRET), ISSN 2278 0882

918

Volume 3, Issue 5, August 2014

constant, Kp, integral constant, Ki, and derivative

constant Kd in order to minimize the error function.
The error function used here is Integral Time of
Absolute errors (ITAE), Integral. The equations is
(1)

called the supplementary loop. This objective is met by

using integral controller which makes the frequency
deviation zero. The ALFC with the supplementary
loop is generally called the AGC.

(2)
(3)
(4)

III AUTOMATIC GENERATION CONTROL

The main part of power system operation and control
is to maintain continuous supply of power with an
acceptable quality, to all the consumers in the system.
The system will be in equilibrium, when there is a
balance between the power demand and the power
generated. As the power in AC form has real and
reactive components: the real power balance; as well
as the reactive power balance is to be achieved. There
are two basic control mechanisms used to achieve
reactive power balance (acceptable voltage profile) and
real power balance (acceptable frequency values). The
former is called the automatic voltage regulator (AVR)
and the latter is called the automatic load frequency
control (ALFC) or automatic generation control
(AGC).

F
ig. 3 The block diagram representation of the AGC

A. AGC in a Single Area System

In a single area system, there is no tie-line schedule to
be maintained. Thus the function of the AGC is only to
bring the frequency to the nominal value. This will be
achieved using the supplementary loop (as shown in
Fig. 5.10) which uses the integral controller to change
the reference power setting so as to change the speed
set point. The integral controller gain KI needs to be
adjusted for satisfactory response (in terms of
overshoot, settling time) of the system. Although each
generator will be having a separate speed governor, all
the generators in the control area are replaced by a
single equivalent generator, and the ALFC for the area
corresponds to this equivalent generator.
B.AGC in a Multi Area System
In an interconnected (multi area) system, there will be
one ALFC loop for each control area (located at the
EDC of that area). They are combined as shown in
Fig.4 for the interconnected system operation. For a
total change in load of PD, the steady state deviation
in frequency in the two areas is given by

Fig. 2 Basic power system control structure

The primary components to consider are the

synchronous generators, the prime movers (hydraulic
and steam turbines), the speed-governing system,
which includes the governor and the load reference
actuator (speed changer), the unit controller and the
AGC system (as shown in fig.2.)
The ALFC loop shown in fig.3 is called the primary
ALFC loop. It achieves the primary goal of real power
balance by adjusting the turbine output Pm to match
the change in load demand PD. All the participating
generating units contribute to the change in generation.
But a change in load results in a steady state frequency
deviation f. The restoration of the frequency to the
nominal value requires an additional control loop
www.ijsret.org

Fig. 4: AGC for a multi-area operation

International Journal of Scientific Research Engineering & Technology (IJSRET), ISSN 2278 0882
Volume 3, Issue 5, August 2014

f w1 w2

PD
1 2

Where

1 ( D1 1 / R1 )

and

(5)

A. Optimization technique Ziegler- Nichols Tuning

2 ( D2 1 / R2 ) .

C.Expression for tie-line flow in a two-area

interconnected system
Consider a change in load PD1 in area1. The steady
state frequency deviation f is the same for both the
areas. That is f = f1 = f2. Thus, for area1, we have
Pm1 - PD1 - P12 = D1f
(6)
Where, P12 is the tie line power flow from area1to
area2 and for area2
Pm2 + P12 = D2f
(7)
The mechanical power depends on regulation. Hence

Pm1

f
And
R1

Pm 2

f
R2

(8)

Substituting these equations, yields

D1 f P12 PD1 And

R1

D2 f P12
R2

(9)

Solving for f, we get

f
And

PD1
PD1

(10)
(1 / R1 D1 ) (1 / R2 D2 ) 1 2

P12

PD1 2
1 2

(11)

Where, 1 and 2 are the composite frequency response

characteristic of area1 and area2 respectively. An
increase of load in area1 by PD1 results in a frequency
reduction in both areas and a tie-line flow of P12. A
positive P12 is indicative of flow from area1 to area2
while a negative P12 means flow from area2 to area1.
Similarly, for a change in area2 load by PD2, Then

PD 2
1 2

PD 2 1
1 2
For area 1: ACE1 = P12 + 1 f
For area 2: ACE2 = P21 + 2 f
And

P12 P21

Particle swarm optimization controller technique has

been used for AGC of interconnected power systems.

(12)
(13)
(14)
(15)

IV. NEED OF INTELLIGENT CONTROL

TECHNIQUES
Intelligent control techniques are of great help in
implementation of AGC for power systems. Some of
these techniques are rule based logic programming;
model based reasoning, computational approaches like
fuzzy sets, artificial neural networks, evolutionary
programming and genetic algorithms. In this work, the

Method
A very useful empirical tuning formula was proposed
by Ziegler and Nichols in early 1942. The tuning
formula is obtained when the plant model is given by a
first-order plus dead time (FOPDT) which can be
expressed by The Ziegler-Nichols step response and
frequency response methods are the classical tuning
methods for PID controllers. The step response method
is based on an open-loop step response test of the
process, hence requiring the process to be stable. The
unit step response of the process is characterized by
two parameters, L and T. The frequency response
method is also based on describing the process with
two parameters that are the crossover gain, Kc, and the
crossover period, Tc. For determining these
parameters, the plant is controlled with a P-controller,
and its gain is increased until the system oscillates
critically.

B.

Tuning of PID using Particle Swarm

Optimization technique
Particle swarm optimization (PSO) is a population
based stochastic optimization technique developed by
Dr. Ebehart and Dr. Kennedy in 1995, inspired by
social behavior of bird flocking or fish schooling. PSO
shares
many
similarities
with
evolutionary
computation techniques such as genetic Algorithms
(GA). The system is initialized with a population of
random solutions and searches for optima by updating
generations. However, unlike GA, PSO has no
evaluations operator such as cross over and mutation.
In PSO, the potential solutions, called particles, fly
through the problem space by following the current
optimum particles. PSO has been successfully applied
in many areas: function optimization, artificial neural
networking training, fuzzy system control and other
areas where GA can be applied.
The PSO technique conducts searches using a
population of particles, corresponding to individuals.
Each particle represents a candidate solution to the
problem at hand. In a PSO system particles change
their positions by flying around in a multidimensional
search space until a relatively unchanged position has
been encountered or until computational limitations
are exceed.
The advantages of PSO over other traditional
optimization techniques can be summarized as
follows:
PSO is a proportional based search algorithm. This
property ensures PSO to be less susceptible to
getting trapped on local minima.
PSO uses payoff information to guide search in the
problem space. Therefore PSO can easily deal with

www.ijsret.org

919

International Journal of Scientific Research Engineering & Technology (IJSRET), ISSN 2278 0882
Volume 3, Issue 5, August 2014

non-differentiable objective functions..

PSO uses probabilistic transition rule and nondeterministic rules. Hence, PSO is a kind of
stochastic optimization algorithms that can search
a complicated and uncertain area. This makes PSO
more flexible and robust than conventional
methods.
Unlike GA and other heuristic algorithms, PSO
has the flexibility to control the balance between
the global and local exploration of search space.
Unlike the traditional methods, the solutions
quality of proposed approach does not rely on the
initial population. Concept of modification of a
searching point by PSO is shown in fig.11

and analysis tie line bias control, Ziegler Nichols

method, PSO tuned method used

Fig. 13 MATLAB Diagram Of Two Area (Thermal-Thermal

System ) Load Frequency Control

Case-1Frequency deviation in area1,area2 and tie line

with controller parameters based on tie- line bias
control, Ziegler-Nichols tuning rules, PSO algorithm
for a step load of 1% at area1

Fig. 11: Concept of Modification of a Searching Point by

PSO
Where

xk
xk+1
Vk
Vk+1

:
:
:
:
:

Current position,
Modified position,
Current velocity,
Modified velocity,
Velocity based on Pbest,

Velocity based on Gbest

For each particle, at the current time step, a record is

kept of the position, velocity and the best position
found in the search space so far. Each particle tries to
modify its position using the following information:
The current positions
The current velocities
The distance between the current position and
Pbest
The distance between the current position and
Gbest

Fig.14 Change in Frequency in area1 with tie line bias

control, Ziegler-Nichols tuning rules, PSO algorithm a step
load of 1% at area1

V SIMULATION AND RESULTS OF AGC

TECHNIQUE
A Thermal-Thermal system with Tie line, Ziegler Nichols, and PSO Technique
The area1 and area2 interconnected by tie line bias.
Frequency deviation of area1, area2 and deviation tie
line bias achieve by MATLAB implementation. We
use PID controller and connected to multiport switch

Fig.15: Change in Frequency in area1 with tie line bias

control, Ziegler-Nichols tuning rules, PSO algorithm a step
load of 1% at area1

www.ijsret.org

920

International Journal of Scientific Research Engineering & Technology (IJSRET), ISSN 2278 0882

921

Volume 3, Issue 5, August 2014

Fig.16: Change in tie line power for with tie line bias
control, Ziegler-Nichols tuning rules, PSO algorithm a step
load of 1% at area1

Fig.19: Change in tie line power for with tie line bias
control, Ziegler-Nichols tuning rules, PSO algorithm a step
load of 1% at area2

Fig. 14 to 16 shows the graph frequency deviation

area1 the different parameter like
settling time, rise time and maximum deviation. Graph
shows that PID tuned PSO method give better result
than tie line bias control and Ziegler-Nichols method.
Case-2 Frequency deviation in area1,area2, and tie line
with controller parameters based on tie- line bias
control, Ziegler-Nichols tuning rules, PSO algorithm
for a step load of 1% at area2

Fig. 17 to 19 shows the graph frequency deviation

for

area2 the different parameter like

settling time, rise time and maximum deviation. Graph

shows that PID tuned PSO method give better result
than tie line bias control and Ziegler-Nichols method.
B .Table for tie line bias control, Ziegler-Nichols
method and PID tuned PSO method
Table-1 System performance for conventional
controller and proposed controller for 1%load at area1

Fig.17: Change in Frequency in area1 with tie line bias

control, Ziegler-Nichols tuning rules, PSO algorithm a step
load of 1% at area2

Controller

Change in frequency
in area1
Setting
Max.
time
deviation
(sec.)
(p.u)

Change in frequency
in area2
Setting
Max.
time
deviation
(sec.)
(p.u)

Change in tie line

power
Setting
Max.
time
deviation
(sec.)
(p.u)

Tie line
bias
control

59.7067

0.0232

65.9132

0.0168

69.7653

0.0059

Ziegler
PID

19.2708

0.019

22.9190

0.0125

24.5248

.004344

PSO PID

2.4849

.00928

2.5647

.00406

2.9509

.00139

Table-2 System performance for conventional

controller and proposed controller for 1%load at area2
Controller

Tie line
bias
control

Fig.18: Change in Frequency in area2 with tie line bias

control, Ziegler-Nichols tuning rules, PSO algorithm a step
load of 1% at area2

PID

Change in frequency
in area1
Setting
Max.
time
deviation
(sec.)
(p.u)
65.9132
0.0168

Change in frequency
in area2
Setting
Max.
time
deviation
(sec.)
(p.u)
59.7067
0.0232

PID

Change in tie line

power
Setting
Max.
time
deviation
(sec.)
(p.u)
69.7653
.00365

Ziegler
PID

22.9190

0.0125

21.2708

0.019

24.5248

.0025

PSO PID

3.1534

.00382

2.2443

.0091

3.2396

.00001

www.ijsret.org

International Journal of Scientific Research Engineering & Technology (IJSRET), ISSN 2278 0882
Volume 3, Issue 5, August 2014

[7] Poonam Rani, Mr. Ramavtar Jaswal, Automatic

load frequency control of multi-area power
system using ANN controller and Genetic
algorithm, International Journal of Engineering
Trends and Technology, vol.4, Issue 9, pp.37773783, September 2013.
[8] Azadani,H.N., Design of GA optimized fuzzy
logic-based PID controller for the two area nonreheat thermal power system, IEEE Fuzzy
Systems (IFSC), 13th Iranian Conference
on,pp.1-6, 27-29 Aug. 2013.
[9] Seyed Abbas Taher, Masoud Hajiakbari Fini, and
Saber Falahati Aliabadi, Fractional order PID
controller design for LFC in electric power
systems using imperialist competitive algorithm,
Ain Shams Engineering Journal, vol.-5, pp.121
135, 2014.

V. CONCLUSION
Conclusion of load frequency controller comparison
with tie line bias controller, Ziegler-Nichols tuning
method, PSO technique defined as the effect of tunable
parameters of PSO technique present in both the areas
of the two area system is better. In thermal-thermal
system stability can be comes faster The optimal
scaling and membership function width parameter are
used in system observation give better dynamic results
in case load change occurred in both areas in the
system. The peak deviation and amplitude of
oscillation increases and settling time almost constant.
The parameter of controller is managed by Particle
swarm optimization is give more efficient output. It
gives less distortion in output frequency and gives
more output power in fewer time limits. Less time to
settle the excursions of system state variables within
acceptable limits. The system response rise time,
maximum deviation and settling time of t improve
when prefer PID tuned PSO technique.

REFERENCES
[1]

G. Konar, K. K. Mandal, and N. Chakraborty,

Two Area Load Frequency Control Using GA
Tuned
PID
Controller
in
Deregulated
Environment, Proceedings of the International
Multi Conference of Engineers and Computer
Scientists, vol.2, 12 March2014.
[2] Dr. S.K.Bhagat, Binod Rai and Amresh Kumar,
GA based Internal Model Controller Design for
Load Frequency Control in Power System via
Reduced Order Model, International Journal of
Engineering
Science
Invention,vol.3,issue3,pp.17-26, March2014.
[3] El yakine kouba,Nour , Optimal load frequency
control based on hybrid bacterial foraging and
particle swarm optimization,IEEE
MultiConference on Systems, Signals & Devices
(SSD),
2014
11thInternational,pp.1-6,1114February2014.
[4] K.P. Singh Parmar, Load Frequency Control of
Multi-Source Power System with Redox Flow
Batteries: An Analysis, International Journal of
Computer Applications, vol.88, issue-8, pp.46-52,
February2014.
[5] S. M. Kamali, Dr. Wahida Banu, A Detailed
Analysis of Automatic Generation Control In
Power Systems, International Journal of
Emerging
Trends
in
Engineering
and
Development, vol.6, issue 3,pp. 482-487,
November 2013.
[6] M. Omar, M. Soliman, A. M. Abdel Ghany, and
F. Bendary, Optimal Tuning of PID Controllers
for Hydrothermal Load Frequency Control Using
Ant Colony Optimization, International Journal
on Electrical Engineering and Informatics ,vol. 5,
issue- 3, pp.348-360 ,September 2013.

www.ijsret.org

922