Electric Power Systems Research 73 (2005) 177185

Analysis and assessment of STATCOM-based damping stabilizers

for power system stability enhancement
M.A. Abido
Electrical Engineering Department, King Fahd University of Petroleum and Minerals, KFUPM Box # 183, Dhahran 31261, Saudi Arabia
Received 1 April 2004; received in revised form 6 July 2004; accepted 10 August 2004
Available online 1 December 2004

Abstract
Power system stability enhancement via STATCOM-based stabilizers is thoroughly investigated in this paper. This study presents a singular
value decomposition (SVD)-based approach to assess and measure the controllability of the poorly damped electromechanical modes by
STATCOM different control channels. The coordination among the proposed damping stabilizers and the STATCOM internal ac and dc
voltage controllers has been taken into consideration. The design problem of STATCOM-based stabilizers is formulated as an optimization
problem. For coordination purposes, a time domain-based multiobjective junction to improve the system stability as well as ac and dc voltage
regulation is proposed. Then, a real-coded genetic algorithm (RCGA) is employed to search for optimal stabilizer parameters. This aims to
enhance both rotor angle stability and voltage regulation of the power system. The proposed stabilizers are tested on a weakly connected
power system with different disturbances and loading conditions. The nonlinear simulation results show the effectiveness and robustness
of the proposed control schemes over a wide range of loading conditions. It is also observed that the proposed STATCOM-based damping
stabilizers extend the critical clearing time (CCT) and enhance greatly the power system transient stability.
2004 Elsevier B.V. All rights reserved.
Keywords: Power system stability; Low frequency oscillations; Statcom and genetic algorithms

1. Introduction
Since 1960s, low frequency oscillations have been observed when large power systems are interconnected by relatively weak tie lines. These oscillations may sustain and
grow to cause system separation if no adequate damping is
available [13].
Although PSSs provide supplementary feedback stabilizing signals, they suffer a drawback of being liable to cause
great variations in the voltage profile and they may even result
in leading power factor operation under severe disturbances.
The recent advances in power electronics have led to the
development of the flexible alternating current transmission
systems (FACTS) [4]. Generally, a potential motivation for
the accelerated use of FACTS devices is the deregulation environment in contemporary utility business. Along with pri

Corresponding author. Tel.: +966 3 8604379; fax: +966 3 8603535.

E-mail address: mabido@kfupm.edu.sa.

0378-7796/$ see front matter 2004 Elsevier B.V. All rights reserved.
doi:10.1016/j.epsr.2004.08.002

mary function of the FACTS devices, the real power flow can
be regulated to mitigate the low frequency oscillations and enhance power system stability. This suggests that FACTS will
find new applications as electric utilities merge and as the sale
of bulk power between distant and ill-interconnected partners become more wide spread. Recently, several FACTS devices have been implemented and installed in practical power
systems such as static VAR compensator (SVC), thyristor
controlled series capacitor (TCSC), and thyristor controlled
phase shifter (TCPS) [57]. The emergence of FACTS devices and in particular gate turn-off (GTO) thyristor-based
STATCOM has enabled such technology to be proposed as serious competitive alternatives to conventional SVC. From the
power system dynamic stability viewpoint, the STATCOM
provides better damping characteristics man the SVC as it is
able to transiently exchange active power with the system [8].
A little work has been done on the coordination problem investigation of the STATCOM-based damping stabilizers and
the STATCOM internal ac and dc voltage controllers.

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M.A. Abido / Electric Power Systems Research 73 (2005) 177185

A multivariable design of STATCOM ac and dc voltage

control was presented in [9]. The coordination between the ac
and dc voltage PI controllers was taken into consideration.
However, the structural complexity of the presented multivariable PI controllers with different channels reduces their
applicability. Moreover, the utilization of damping capability
of the STATCOM has not been addressed. The STATCOM
damping characteristics have been addressed in [1017].
However, the coordination among the STATCOM damping
controllers and ac and dc voltage PI controllers has not been
investigated.
In this study, a comprehensive assessment of the effectiveness of the STATCOM damping stabilizers when applied
in coordination with the STATCOM internal ac and dc voltage controllers has been carried out. At first, a controllability
measure based on singular value decomposition (SVD) is
used to identify the effectiveness of each control input on the
electromechanical mode of oscillations. To enhance power
system dynamic stability and voltage regulation, coordination among the proposed STATCOM damping stabilizers and
its internal ac and dc voltage controllers is taken into consideration. The controller design problem is transformed into an
optimization problem where the real-coded genetic algorithm
(RCGA) is employed to search for the optimal settings of
stabilizer parameters. The nonlinear simulation results have
been carried out to demonstrate the effectiveness and robustness of the proposed stabilizers to enhance system dynamic
and transient stability. In addition, the potential of the proposed STATCOM-based damping stabilizers to extend the
critical clearing time (CCT) and enhance the power system
transient stability has been demonstrated.

2. Power system model

2.1. Generator
In this study, a single machine infinite bus system is considered. The generator is equipped with a PSS and the system
has a STATCOM installed somewhere at point m in transmission line as shown in Fig. 1. The generator has a local
load of admittance YL = g + jb and the transmission line has

impedances of Z1 = R1 + jX1 and Z2 = R2 + jX2 for the first

and the second sections, respectively. The generator is represented by the third-order model comprising of the electromechanical swing equation and the generator internal voltage
equation. The swing equation is divided into the following
equations:
= b ( 1)
=

(1)

Pm Pe D( 1)
M

(2)

where Pm and Pe are the input and output powers of the generator, respectively; M and D the inertia constant and damping
coefficient, respectively; b the synchronous speed; and
are the rotor angle and speed, respectively. The output power
of the generator can be expressed in terms of the d- and q-axis
components of the armature current, i, and terminal voltage,
v, as
Pe = vd id + vq iq

(3)

The internal voltage, Eq , equation is

q =
E

Efd (xd xd )id Eq


Tdo

(4)

 the open circuit field time

where Efd is the field voltage; Tdo

constant; xd and xd are the d-axis reactance and the d-axis
transient reactance of the generator, respectively.

2.2. Exciter
The IEEE Type-ST1 excitation system is considered in
this work. It can be described as
ref
fd = KA (V v) Efd
E
TA

(5)

where KA and TA are the gain and time constant of the excitation system, respectively; Vref is the reference voltage. The
terminal voltage, v, can be expressed as
1/2

v = (v2d + v2q )

(6)

vd = xq iq

(7)

vq = Eq xd id

(8)

where xq is the q-axis reactance of the generator.

2.3. STATCOM-based stabilizers

Fig. 1. Single machine infinite bus system with a STATCOM.

As shown in Fig. 1, the STATCOM consists of a threephase gate turn-off (GTO)-based voltage source converter
(VSC) and a dc capacitor. The STATCOM model used in this
study is found good enough for the low frequency oscillation
stability problem [911]. The STATCOM is connected to the
transmission line through a step-down transformer with a

M.A. Abido / Electric Power Systems Research 73 (2005) 177185

179

2.4. Linearized model

In the design of electromechanical mode damping stabilizers, the linearized incremental model around a nominal
operating point is usually employed [13]. Linearizing the
expressions of id and iq and substituting into the linear form
of Eqs. (1)(10) yield the following linearized expressions:
Pe = K1  + K2 Eq
Fig. 2. STATCOM PI controller for ac voltage with a leadlag damping
stabilizer.

leakage reactance of xt . The VSC generates controllable ac

voltage vs given by
vs = CVdc

(11)


) Eq = Efd K4  Kqdc Vdc
(K3 + sTdo

KqC C Kq 

(12)

(9)

where C = mk, m the modulation ratio defined by pulse width

modulation (PWM), k the ratio between the ac and dc voltage
depending on the converter structure, Vdc the dc voltage, and
is the phase defined by PWM. The magnitude and the phase
of vs can be controlled through m and , respectively. By adjusting the STATCOM ac voltage vs , the active and reactive
power exchange between the STATCOM and the power system can be controlled through the difference between vs and
the STATCOM-bus voltage vm . The dc voltage Vdc is governed by
Idc
C
=
(isd cos + isq sin )
V dc =
Cdc
Cdc

+ Kpdc Vdc + KpC C + Kp 

(10)

where Cdc is the dc capacitor value and Idc is the capacitor

current while isd and isq are the d-and q-components of the
STATCOM current is , respectively.
Fig. 2 illustrates the block diagram of STATCOM ac voltage PI controller with a leadlag damping stabilizer while
Fig. 3 illustrates the block diagram of STATCOM dc voltage
PI controller with a leadlag damping stabilizer. The proportional and integral gains are KPac , KIac and KPdc , KIdc for
ac and dc voltages, respectively. The STATCOM damping
stabilizers are leadlag structure where KC and K are the
stabilizer gains, Tw is the washout time constant, and T1C ,
T2C , T3C , T4C , T1 , T2 , T3 and T4 are the stabilizer time
constants.

v = K5  + K6 Eq + Kvdc Vdc

+ KvC C + Kv 

(13)

V dc = K7  + K8 Eq + Kdc Vdc

+ KC C + K 

(14)

where K1 K8 , Kpdc , KpC , Kp , Kqdc , KqC , Kq , Kvdc , KvC ,

Kv , Kdc , KC , and K , are linearization constants. The
above linearizing procedure yields the following linearized
power system model:

0
b
0
0
0

D
K2
Kpdc
K


M
M
M
M

Kqdc
K4
K3
1

0


Eq = T 


Tdo
Tdo
Tdo

do
E fd KA K5
KA K 6
1
KA Kvdc

V dc
T
T
T
T
A

K7

K8

KpC



M

KqC

Eq +

Tdo

Efd KA KvC

Vdc
TA
KC

0
0
Kp

M
Kq

Tdo
KA Kv
TA
K

Kdc


C 

(15)

In short;
= AX + HU
X

Fig. 3. STATCOM PI controller for dc voltage with a leadlag damping

stabilizer.

(16)

where the state vector X is [, , Eq , Efd , Vdc ]T and

the control vector U is [C, ]T . In this study, each control
input will be considered individually in order to assess its
capability to enhance the system damping of low frequency
oscillations.

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M.A. Abido / Electric Power Systems Research 73 (2005) 177185

3. Problem formulation

min
max
KPdc KPdc
KPdc

(22)

3.1. Stabilizer structure

min
max
KIdc KIdc
KIdc

(23)

KCmin KC KCmax

(24)

Kmin K Kmax

(25)

min
max
T1C
T1C T1C

(26)

min
max
T3C
T3C T3C

(27)

min
max
T1
T1 T1

(28)

min
max
T3
T3 T3

(29)

The commonly used leadlag structure shown in

Figs. 2 and 3 is chosen in this study. The transfer function of
the stabilizer is

sTw
1 + sT1
1 + sT3
u=K
y
(17)
1 + sTw
1 + sT2
1 + sT4
where u and y are the stabilizer output and input signals,
respectively, K the stabilizer gain, Tw the washout time constant, and T1 , T2 , T3 , and T4 the stabilizer time constants.
In this structure, Tw , T2 , and T4 are usually prespecified. The
controller gain K and time constants T1 and T3 are to be determined. In this study, the input signal of the proposed damping
stabilizers is the speed deviation, .
For the internal ac and dc voltage controllers of the STATCOM, the PI structure is used as shown in Figs. 2 and 3
3.2. Objective function
It is worth mentioning that the damping controller is designed to minimize the electromechanical mode oscillation
while the internal PI controllers are designed to minimize the
variations in ac and dc voltages of the STATCOM. Therefore,
the following weighted-sum multiobjective function is proposed in order to coordinate among the damping stabilizers
and the internal ac and dc PI controllers.
t=t
 sim

J=

t(|| + 1 |Vm | + 2 |Vdc |) dt

(18)

The proposed approach employs real-coded genetic algorithm to solve this optimization problem and search for
optimal set of the stabilizer parameters.
In this study, the STATCOM internal ac and dc PI voltage
controllers are designed in coordination with a damping controller in one channel of the STATCOM as discussed in the
following cases:
Case 1. STATCOM internal ac and dc PI voltage controllers
with C-based damping stabilizer only.
Case 2. STATCOM internal ac and dc PI voltage controllers
with -based damping stabilizer only.
In each case, three controllers are to be designed simultaneously.

t=0

where tsim is the simulation time, 1 and 2 the weighting factors,  is the generator speed deviation, Vm is
the STATCOM-bus ac voltage deviation, and Vdc is the
dc voltage deviation. For objective function calculation, the
time-domain simulation of the nonlinear system model incorporating all saturation limits of control signals is carried
out for the simulation period. It is aimed to minimize this
objective function in order to improve the system response
in terms of the settling time and overshoots.
3.3. Optimization problem
In this study, it is aimed to minimize the proposed objective function J. The problem constraints are the stabilizer
optimized parameter bounds. Therefore, the design problem
can be formulated as the following optimization problem:
minimize J

(19)

Subject to
min
max
KPac
KPac KPac

(20)

min
max
KIac KIac
KIac

(21)

4. The proposed approach

4.1. Electromechanical mode identication
The state equations of the linearized model can be used
to determine the eigenvalues of the system matrix A. Out of
these eigenvalues, there is a mode of oscillations related to
machine inertia. For the stabilizers to be effective, it is extremely important to identify the eigenvalue associated with
the electromechanical mode. In this study, the participation
factors method [18] is used.
4.2. Controllability measure
To measure the controllability of the electromechanical
mode by a given input, the singular value decomposition
(SVD) is employed in this study. Mathematically, if G is an
m n complex matrix then there exist unitary matrices W and
V with dimensions of m m and n n, respectively such that
G can be written as

G=W
VH
(30)

M.A. Abido / Electric Power Systems Research 73 (2005) 177185

where



1

181


0
,
0

= diag(1 , . . . , r ) with 1 . . . r 0

(31)

where r = min{m, n} and 1 , . . ., r are the singular values

of G.
The minimum singular value r represents the distance
of the matrix G from the all matrices with a rank of r 1.
This property can be utilized to quantify modal controllability
[19]. In this study, the matrix H in Eq. (16) can be written as
H = [h1 , h2 ], where A is the column of matrix, H corresponding to the ith input. The minimum singular value of the matrix
[I A: hi ] indicates the capability of the ith input to control
the mode associated with the eigenvalue . As a matter of
fact, the higher the minimum singular value, the higher the
controllability of this mode by the input considered. Having
been identified, the controllability of the electromechanical
mode can be examined with all inputs in order to identify the
most effective one to control that mode.
4.3. Real-coded genetic algorithm
Due to difficulties of binary representation when dealing
with continuous search space with large dimension, the proposed approach has been implemented using real-coded genetic algorithm (RCGA) [20]. A decision variable xi is represented by a real number within its lower limit a, and upper
limit bi , i.e. xi [ai , bi ]. The RCGA crossover and mutation
operators are described as below.
4.3.1. Crossover
A blend crossover operator (BLX-) has been employed
in this study. This operator starts by choosing randomly a
number from the interval [xi (yi xi ), yi + (yi xi )], where
xi , and yi are the ith parameter values of the parent solutions
and xi < yi . To ensure the balance between exploitation and
exploration of the search space, = 0.5 was selected. This
operator is depicted in Fig. 4.
4.3.2. Mutation
The non-uniform mutation operator has been employed in
this study. In this operator, the new value xi of the parameter

Fig. 5. Flow chart of the proposed design approach.

xi after mutation at generation t is given as


xi + (t, bi xi ), if = 0

,
xi =
xi (t, xi ai ), if = 1

   

(32)

(t, y) = y 1 r

(33)

t
g

where is a binary random number, r a random number r

[0, 1], gmax the maximum number of generations, and is a
positive constant chosen arbitrarily. In this study, = 5 was
selected. This operator gives a value xi [ai , bi ] such that the
probability of returning a value close to xi increases as the
algorithm advances. This makes uniform search in the initial
stages where t is small and very locally at the later stages.
4.4. RCGA application
RCGA has been applied to search for optimal settings of
the optimized parameters of the proposed control schemes. In
our implementation, the crossover and mutation probabilities
of 0.9 and 0.01, respectively are found to be quite satisfactory.
The number of individuals in each generation is selected to be
100. In addition, the search will terminate if the best solution
does not change for more man 50 generations or the number
of generations reaches 500. The computational flow chart of
the proposed design approach is shown in Fig. 5.

5. Results and discussions

5.1. Electromechanical mode controllability measure

Fig. 4. Blend crossover operator (BLX-).

With each input signal of C-based stabilizer and -based

stabilizer as given in the linearized model, the minimum singular value min has been estimated to measure the controllability of the electromechanical mode from that input.
For comprehensive understanding of the coordination prob-

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M.A. Abido / Electric Power Systems Research 73 (2005) 177185

Fig. 7. Convergence rate of objective function in both cases.

Table 1
Optimal parameter settings of the proposed stabilizers
dc PI
controller

C-based
stabilizer

-based
stabilizer

Case#

ac PI
controller
KPac

KIac

KPdc

KIdc

KC

T1C

T1

1
2

595.9
328.1

31.87
795.7

291.6
160.7

922.7
825.2

39.07

0.3049

51.40

0.0080

Fig. 6. Minimum singular value at different loading conditions: Q = 0.4 pu

(a), 0.0 pu (b), and 0.4 pu (c).

lem requirements, the minimum singular value has been estimated for input over a wide range of operating conditions.
Specifically, for a range of 84 loading conditions specified
by P = [0.051.4] pu with a step of 0.05 pu and Q = [0.4
0.4] pu with a step of 0.4 pu, min has been estimated. At each
loading condition in the specified range, the system model
is linearized, the electromechanical mode is identified, and
the SVD-based controllability measure is implemented. The
capabilities of C-based stabilizer and -based stabilizer to
control the electromechanical mode over the specified range
of operating conditions are given in Fig. 6. It can be seen
that the controllability of the electromechanical mode with

Fig. 8. System response for a three-cycle fault disturbance with nominal

loading. (a) Rotor angle and (b) terminal voltage.

M.A. Abido / Electric Power Systems Research 73 (2005) 177185

183

5.2. Settings of the proposed stabilizers

The proposed approach has been implemented on a weakly
connected power system shown in Fig. 1. The detailed data of
the power system used in this study is given in Appendix A. It
was observed that one leadlag block for damping stabilizers
is quite satisfactory. The time constants are set as Tw = 5.0 s
and T2C = T2 = 0.50 s. The convergence rate of the objective
function J for both cases considered is shown in Fig. 7. It is
obvious that the objective function value is much less with
-based stabilizer which reflects less voltage and speed deviations. The final settings of the optimized parameters for the
proposed stabilizers are given in Table 1.
5.3. Nonlinear simulation results
For completeness and verification, the proposed stabilizers were tested under a three-cycle fault disturbance with
different loading conditions. The fault is cleared without line
switching. Specifically, the proposed stabilizers were tested
with the following loading conditions:
(a) nominal loading (P, Q, V) = (0.8, 0.2, 1.0) pu;
(b) heavy loading (P, Q, V) = (1.2, 0.4, 1.05) pu.

Fig. 9. System response for a three-cycle fault disturbance with heavy loading. (a) Rotor angle and (b) terminal voltage.

the C increases with loading. It can be also observed that

the controllability of the electromechanical mode through
 is much better than diat through C. Fig. 6 also shows
the robustness of the -based stabilizer as its controllability
exhibits approximately constant value over a wide range of
loading levels.

Fig. 10. dc voltage response with -based stabilizer for a three-cycle fault
disturbance.

Fig. 11. Control signals of both stabilizers for a three-cycle fault disturbance.
(a) Nominal loading and (b) heavy loading.

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M.A. Abido / Electric Power Systems Research 73 (2005) 177185

Fig. 8 shows the system response with the nominal loading

condition. It can be seen that the -based stabilizer provides
better damping characteristics and enhances greatly the first
swing stability compared to the C-based stabilizer. In addition, the terminal voltage response is also much better with
the -based stabilizer.
The system response with the heavy loading condition is
shown in Fig. 9. It can be seen that the system response with
the -based stabilizer is also much better compared to that
with the C-based stabilizer.
The dc voltage response with the -based stabilizer is
shown in Fig. 10 for the nominal and heavy loading conditions. It is clear that the proposed coordinated design approach improve the dc voltage response as well as the system
damping for low frequency oscillations. Control signals of
the damping stabilizers are shown in Fig. 11 for both loading
conditions. It can be concluded that the -based stabilizer
provides much less control effort compared to C-based stabilizer.
A pulse disturbance in mechanical power input is also
considered to assess the damping characteristics of both stabilizers. Fig. 12 shows the system response with 10% pulse
disturbance in mechanical power input Pm for 5 s. The results show clearly the superiority of the -based stabilizer

Fig. 13. dc voltage response with -based stabilizer for a 10% pulse disturbance in Pm with nominal loading.
Table 2
The CCT in seconds at different loading conditions for three-phase fault
disturbance
Case#

Nominal

Heavy

1 (PI controllers with C-based stabilizer only)

2 (PI controllers with -based stabilizer only)

0.2196
0.4587

0.1407
0.3014

in enhancing the system damping to low frequency oscillations. The dc voltage response is shown in Fig. 13 where the
-based stabilizer gives good damping characteristics.
It can be concluded that the -based stabilizer is more
effective and enhances greatly the system stability over a wide
range of operating conditions. This confirms the findings of
SVD analysis.
The critical clearing time (CCT) for both cases is calculated in order to assess the effectiveness of the proposed
stabilizers. Table 2 gives the CCT for both cases at the nominal and heavy loading conditions. It is clear that the CCT
with -based stabilizer is more than twice of that of C-based
stabilizer. It can be concluded that the -based stabilizer enhances greatly the system transient stability as it increases
significantly the critical clearing time. This confirms the findings of SVD analysis as well as the nonlinear time-domain
simulations.

6. Conclusion

Fig. 12. System response for a 10% pulse disturbance in Pm with nominal
loading. (a) Rotor angle and (b) terminal voltage.

In this study, the power system stability enhancement via

STATCOM-based stabilizers is presented and discussed. The
coordination between the STATCOM damping stabilizers
and the STATCOM internal voltage PI controllers is taken
into consideration to improve the system dynamic stability
as well as the system voltage regulation. The stabilizer design
problem has been formulated as a multiobjective optimization problem, which was solved by real-coded genetic algorithms. The proposed objective function ensures the improvement in the system damping as well as the ac and dc voltage

M.A. Abido / Electric Power Systems Research 73 (2005) 177185

regulations. In addition, a controllability of the electromechanical mode over a wide range of operating conditions by
a given control input has been measured using a singular
value decomposition-based approach. This study shows that
the electromechanical mode is more controllable through based stabilizer. The proposed stabilizers have been tested
on a weakly connected power system with different disturbances and loading conditions. The nonlinear simulation results show the effectiveness and robustness of the proposed
-based stabilizer to enhance the system stability and confirm
the findings of singular value decomposition analysis. It can
be also concluded that the -based stabilizer enhances greatly
the system transient stability as it increases significantly the
critical clearing time.
Acknowledgement
The author acknowledges the support of King Fahd University of Petroleum and Minerals.
Appendix A
The system data are as follows:
 = 5.044
Tdo

M = 6.0 s
xd = 0.3

D = 4.0

xd = 1.0

xq = 0.6
b = 0.0
Ts = 0.05

R1 = R2 = 0.0
KA = 10

X1 = X2 = 03
TA = 0.01

g = 0.0
Ks = 1.0

v = 1.0 pu

xt = 0.15

Cdc = 1.0

Vdc = 1.0

|uC | 0.2 pu

|u | 0.2 pu

All resistances and reactances are in pu and time constants

are in seconds.
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