1324 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMSI: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 50, NO.
ATIONS, VOL. 50, NO. 10, OCTOBER 2003
Theoretical Foundation of the Controlling UEP
Method for Direct Transient-Stability Analysis of
Network-Preserving Power System Models
Yun Zou, Ming-Hui Yin, and Hsiao-Dong Chiang, Fellow, IEEE
AbstractThe controlling unstable equilibrium point (CUEP)
method developed for the traditional network-reduction power-
system (transient-stability) model requires some modification for
direct stability analysis of the network-preserving power system
model. This is mainly due to the peculiar nonlinear jump behav-
iors occurring in network-preserving power system model. An ex-
tended CUEP method suitable for direct stability analysis of net-
work-preserving models is developed. The extended CUEP method
examines both external jump behaviors and stability regions of net-
work-preserving models. It is shown that the target point of the
fault-clearing point (i.e., the initial point of the post-fault system),
instead of the fault-clearing point as in classical case, plays a cru-
cial role in direct stability analysis of network-preserving power
systems models. A theoretical foundation for the extended CUEP
method is developed. A variation of the extended CUEP method is
presented.
Index TermsControlling unstable equilibrium point (CUEP)
method, direct methods, direct stability analysis, transient-stability
analysis.
I. INTRODUCTION
D IRECT-stability analysis methods have been developed
for the network-reduction (transient-stability) models,
where all the load representations are expressed as constant
impedance and the entire network representation is reduced
to the generator internal buses. Network-reduction models are
represented by a set of ordinary differential equations (ODE).
This type of classical stability models was commonly used in
the early development stage of direct methods for transient-sta-
bility analysis. Theoretical foundations for direct methods
developed for network-reduction models can be found, for
example, in [1], [6].
Network-preserving (structure-preserving) transient-stability
models have been proposed in the 1980s to improve some short-
comings of the classical model. Network-preserving transient-
stability models are represented as a set of different and alge-
Manuscript received August 8, 2001; revised December 4, 2003 and May 10,
2003. This work was supported in part by the National Science Foundatin of
China under Grant 60074007, in part by the Foundation for UKT by Ministry
of Education, China, and in part National Science Foundation, USA under the
Grant ECS-9812139. This paper was recommended by Associate Editor H. S.
H. Chung.
Y. Zou is with the Department of Automation, Nanjing University of Science
and Technology, Nanjing 210094, China.
M. Yin is with the Nanjing Automation Research Institute, State Power Cor-
poration, Nanjing 210003, China.
H.-D. Chiang is with the School of Electrical and Computer Engineering,
Cornell University, Ithaca, NY 14853 USA.
Digital Object Identifier 10.1109/TCSI.2003.817771
1057-7122/03$17.00 2003 IEEE
braic equations (DAE). There are several advantages of using
network-preserving transient-stability models. From a modeling
viewpoint, it allows the usage of more realistic representations
of power system components, such as load behaviors and gen-
erator dynamic models. From a computational viewpoint, it al-
lows the use of sparse matrix techniques for solving the involved
nonlinear algebraic equations. From the energy-function view-
point, the transfer conductance in the models is significantly
smaller than that in the network-reduction models; rendering the
resulting numerical energy functions are more accurate.
The controlling unstable equilibrium point (CUEP) method
has been recognized as, among several direct methods, the most
viable direct method for direct stability analysis of power sys-
tems [1]. The CUEP method and its theoretical foundation have
been developed for network-reduction models. For a transient-
stability model described by a set of ODEs, a unique CUEP is
well defined for a fault-on trajectory and a post-fault system. It is
defined as the UEP whose stable manifold is hit by the fault-on
trajectory for the first time when the fault-on trajectory exits the
stability region of the post-fault power system [6]. However, the
definition of CUEP is not directly applicable to a transient-sta-
bility model described by a set of DAEs.
The definition of the traditional CUEP needs revision for
DAEs. This is because several fundamental differences do exist
between DAEs and ODEs. For DAEs, the stable manifold of
every equilibrium point must lie on the algebraic submanifold of
the post-fault system; hence, the fault-on trajectory will not hit
the stability boundary of its DAE post-fault system because the
algebraic submanifold of the fault-on system and the algebraic
submanifold of the post-fault system are different. The singular
perturbation approach has been proposed, see for example, [1],
[10] and [18], to bridge the gap between the ODE system and
the DAE system and the associated energy function theory. For
instance, it was suggested in [1] that the DAE system be trans-
formed into a system described by a set of boundary-layer equa-
tions to guarantee that the fault-on trajectory will hit the stability
boundary of the BLE system. Hence, the CUEP for the DAE
system can be defined via the CUEP of the associated singu-
larly perturbed model. This definition of CUEP was employed
in the CUEP method for direct stability analysis of network-pre-
serving models proposed in [4].
Jump behaviors do occur in DAE systems [17], [20]. For net-
work-preserving models, jump behaviors are consisted of ex-
ternal jump behaviors and internal jump behaviors [23]. Jump
behaviors of DAE systems are complex and are partially un-
derstood. Generally speaking, the internal jump behavior, espe-
ZOU et al.: THEORETICAL FOUNDATION OF THE CUEP METHOD FOR DIRECT TRANSIENT-STABILITY ANALYSIS
cially the impasse points that include almost all the points in
singular surfaces, is resulted from the existence of singular sur-
faces located in the algebraic submanifold in the DAE system it-
self. The internal jump will not be considered in this paper. This
implies that we always assume that all the DAE trajectories in
the underlying problems are sufficiently far from the singular
surfaces. One key point in the analysis of the external jump in
DAE systems is to determine which algebraic submanifold the
trajectory will jump into. This piece of information is required
to determine the initial state of the post-fault system. In fact,
analysis of the external jump behavior occurring at the fault-
clearing point plays an essential role in extending the CUEP
method to transient-stability models described by DAEs. The lo-
cation of target point into which the fault-clearing point jumps
(i.e., the initial point of the post-fault system), instead of the
fault-clearing point as in classical case, is crucial for direct sta-
bility analysis of network-preserving power systems models.
In this paper, we will develop an extended CUEP method
suitable for direct stability analysis of the network-preserving
models. This development is built upon some suggestions made
in [1] and [23]. The extended CUEP method examines both the
external jump behavior and constrained stability boundary of
network-preserving models. A theoretical foundation for the ex-
tended CUEP method will be developed. To reduce the conser-
vativeness of the extended CUEP method, a hybrid extended
CUEP method will be presented.
II. BASIC SYSTEM MODELS AND PROBLEM FORMULATIONS
Network-preserving power system models are usually
described in the following DAE form:
Here, , and are the corresponding dynamical
and static variables of the systems, respectively. Regarding this
class of network-preserving power systems, the transient-sta-
bility problem can be formulated in the following mathematical
manner. In the prefault regime, the system model is represented
as
(1)
At time , the system undergoes a fault, which results in a
structural change in the transmission network. Suppose the fault
duration is confined to the time interval [ ]. During this
stage, the system is governed by fault-on dynamics
(2)
It is assumed that the fault is cleared at time and the system
is henceforth governed by the following post-fault system:
(3)
1325
The above DAE system can be interpreted as an implicitly dy-
namical system defined on the algebraic manifold characterized
by the corresponding algebraic equations
(4)
On the algebraic manifold , singular surfaces, defined as the
following:
(5)
may exist and decompose the algebraic manifold into sev-
eral disjoint components. If all the points on a component are
so that the corresponding Jacobian matrix has all
the eigenvalues with negative real parts, then the component is
stable; otherwise, it is a unstable component. Since the vector
field is unbounded on the singular surface, it can be expected
that, near the singular surface, trajectories move very fast. Once
the trajectory reaches the singular surface, an un-smooth jump
behavior will occur and force the trajectory to reach another ad-
jacent piece of the algebraic manifold.
Since the Jacobian is nonsingular at each of
these disjoint components, by the implicit function theorem,
there exists a function, say that the local behavior of the
system trajectory around can be described by .
Denote , which satisfies
, where is the stable equilibrium point (SEP) of the
post-fault system satisfying operation constraints. The corre-
sponding system dynamics can be then described by
(6)
The fundamental problem of transient stability is the fol-
lowing: starting from the system state immediately after the
fault-clearing point, (i.e., the initial
condition of the post-fault system), will the post-fault trajectory
of the DAE system (3) settle down an acceptable steady state?
Here, is the trajectory of the post-fault system (3). Suppose
that the post-fault system has an (asymptotically) SEP that
satisfies the operational constraints and is closest to the prefault
SEP. The problem can also be stated from the state-space view-
point as follows. Let ,
be the stability region of the SEP
( , ) of the post-fault system The transient-stability problem
is concerned with whether or not . In other
words, power-system stability analysis is to determine whether
the initial point of post-fault trajectory is located inside the
stability region of an acceptable SEP.
III. JUMP BEHAVIOR ANALYSIS
Due to the different sets of algebraic equations involved in the
prefault system model, fault-on system model and the post-fault
system model, the overall system trajectory is dis-continuous at
and . This leads to the external jump occurring at and
. Obviously, the changes of network topology cause changes
in the corresponding system dynamics because the algebraic
manifold on which the system dynamics depends also alters.
The difference between the fault-on algebraic manifold and the
post-fault algebraic manifold makes the initial condition of the
post-fault trajectory be instantaneously adjusted to satisfy the
1326 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMSI: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 50, NO. 10, OCTOBER 2003

post-fault algebraic manifold. Hence, jump behaviors usually respectively, starting from and
occur at . (and at ), which force the post-fault trajectory to .
instantaneously move from the fault-clearing point of fault-on By assumption A1, the problem of whether the trajectory
trajectory to one post-fault algebraic submanifold. This phe- starting from a fault-clearing point, say jumps to the
nomenon is termed the external jump behavior [23]. submanifold is equivalently transformed into the problem
Internal jump behaviors can occur once the system trajectory of whether the point lies inside the attracting area
intersects the so-called singular surface of the DAE system. The . If this is the case, we then call the target point of the
Jacobian matrix of each point of the singular surface is singular. fault-clearing point .
The singular surface decomposes each (connected) algebraic The concept of attracting area is similar to the
manifold into several disjoint components. Since the vector field concept of attraction band [21], [23] of manifold proposed
on the singular surface is unbounded, it can be expected that by Tikhonov. In fact, the Tikhonov Theorem on finite interval
trajectories move very fast near the singular surface; once the shows that for any , there exists a constant
trajectory reaches the singular surface, an unsmooth jump be- such that any trajectory of BLE (7) starting from the attract
havior will occur and force the trajectory to reach another adja- band satisfies (8).
cent piece of the algebraic manifold. This phenomenon is called Here, is the singular surface of DAE (3). This implies that
the internal jump. Detailed discussions of internal jump behav- .
iors can be found, for example, in [16], [17].
Physical behaviors of power systems do not exhibit both the
external jump and internal jump behaviors. These behaviors are IV. STABILITY ANALYSIS OF POST-FAULT DAE SYSTEM
due to an incomplete mathematical model of DAE system at-
tempting to describe power system dynamical behaviors. One Characterizations of the stability boundary of
approach to circumvent the singular properties in DAE system DAE systems have recently been developed. It has been shown
such as internal jump behaviors and impasse points is the sin- that under certain conditions, the stability boundary
gular perturbation approach [17], [22]. This approach treats the consists of two parts [12], [32]. The first part is the stable
algebraic equation as a limit of the fast dynamics: manifolds of the equilibrium points on the stability boundary,
. Thus, for the DAE system (3), we can while the second part contains points whose trajectories reach
define an associated boundary-layer equation (BLE) system singular surfaces. The second part can be further delineated as
a union of the stable manifolds of pseudo-equilibrium points
and semi-singular points on the stability boundary and parts of
(7) singular surface [16], [32].
The following results show an invariant topological relation-
For the above BLE system, the conditions for Tikhonov Theo- ship among equilibrium points between a DAE system and its
rems (see [21, p. 472, Theorem 8.4]) are assumed to be satisfied. associated singularly perturbed system.
i) The functions , , and their first partial derivatives with Fact [10, 16]: If an equilibrium point, say of DAE
respect to are bounded. The function and the Ja- system (3), lies on one stable component , then there exists
cobian have bounded first partial derivatives with an such that for all , it follows that:
respect to their arguments. The Jacobian has 1) is a hyperbolic equilibrium point of the DAE
bounded first partial derivatives with respect to . system (3) if and only if is a hyperbolic equilib-
ii) is the exponentially SEP uniformly in of the rium point of the singularly perturbed system (7);
BLE , where . 2) is a type- equilibrium point of the DAE system
Regarding the jump behaviors, we make the following as- (3) if and only if is a type equilibrium point of
sumption: the singularly perturbed system (7).
A1: The possible jumps of the DAE (3) at any can be
The above result shows that the type of the equilibrium point
modeled as the behavior of the limiting solution of the corre-
of the DAE system (3) is the same as the type of the corre-
sponding BLE (7) as if any applicable.
sponding equilibrium point of the singularly perturbed system
The jump behaviors of DAE system can be complicated. To
(7), provided is sufficiently small. The following result ex-
study the possible jump behaviors of the DAE system, we intro-
tends this local result to a global result and shows that the sta-
duce the following concept
bility boundaries of these two systems contain the same set of
Definition 1: Let be defined as in
equilibrium points on stable components.
(6). The set is said to be the attracting area of manifold
Fact [10, 16, 34]: Let and be the SEPs
, if for every there exists a
and UEPs of the DAE system (3) on the stable component ,
such that
respectively. Suppose that for each , the associated singu-
larly perturbed system (7) has an energy function and its equi-
(8) librium points are isolated. Then, there exists an such
that for all , lies on the stability boundary
holds uniformly with respect to . Here, is an arbitrarily of the DAE system (3) if and only lies on
small number and and are the tra- the stability boundary of the singularly perturbed
jectories of BLE systems (7) and the post-fault DAE system (3), system (7).
ZOU et al.: THEORETICAL FOUNDATION OF THE CUEP METHOD FOR DIRECT TRANSIENT-STABILITY ANALYSIS 1327

The above analytical results provide a theoretical basis for

direct stability analysis of a network-preserving system via the
stability analysis of its associated singularly perturbed system,
which is an ODE system. This enables the CUEP method devel-
oped for network-reduction transient-stability models to be ap-
plicable to network-preserving transient-stability models. Note
that trajectories of the singularly perturbed system (7) will not
be confined to the algebraic manifold , and they are not exactly
the same as that of the original DAE system (3). However, tra-
jectories generated by the singularly perturbed system are still
valid approximations to that of the DAE system, by Tikhonovs
theorem over the infinite time interval.
We next develop some analytical results which can be used to
design a criterion to directly assess the transient stability of the
post-fault DAE systems without resort of the associated singu-
larly perturbed system. These results will be useful in the devel-
opment of the extended CUEP method for network preserving
power system models. We first study a relationship between the
stability region of DAE system (3) and that of system (7). In par- Fig. 1. Pseudojump fault-on trajectory.
ticular, we examine the validity of approximating the stability
region of DAE system (3) via the stability region of the BLE 2) and
system when . implies .
Suppose the post-fault system (6) and the corresponding BLE
Proof: Appendix II.
system (7) have unique trajectories in a sufficient large domain
It is difficult to check whether a given point belongs to the
of interest. Let be the set of equilibrium points of the DAE
attracting set . To overcome this difficulty, one can de-
system (3) and the BLE system (7) be hyperbolic. For all suf-
sign a method based on the relationship between and
ficiently small system (7) is assumed to have an energy
established in Theorem 1 to examine the external jump be-
function. Let ( ) be a SEP and denote its
havior by checking whether the fault-clearing point lies within
stability region of the post-fault DAE system (3), where
instead of . Furthermore, one can apply the CUEP
method to the BLE system (8) in the limiting sense to check
whether the fault-clearing point lies within .
(9) We note that after the external jump behavior, the
fault-clearing point can lie far away from the corresponding
Let ( ) denote the stability region of ( ) of BLE target point (i.e., initial point of post-fault DAE system). For
(7) with . We define the following: each point, say of the fault-on trajectory which lies inside
, there exists a corresponding target point
that lies on the interested algebraic manifold . Likewise,
and for a fault-on trajectory which lies inside , the corre-
sponding target points form a well-defined
(10) curve on the interested algebraic manifold . This curve is
called pseudo-jump fault-on trajectory (see Fig. 1). Hence, to
Obviously, the set can be regarded as the limit set of
assess whether or not the post-fault trajectory will converge to
( ) as . The topological boundary of is denoted
a SEP without resort to time-domain simulation, one needs to
as . We note that the stability region ( ) is an open
check the following two issues
set and the set is the intersection of infinite number of open
set. Since the intersection of infinite number of nonempty open 1) whether the target point lies in the algebraic submanifold
sets may result in an empty set, the set defined in (10) can which contains the SEP of interest
be empty and hence ill defined. We next show that the set 2) whether the target point lies inside the stability region of
defined above is well defined. the SEP of the DAE system (3).
Lemma 1: The set has a nonempty domain. We present the following theorem which is useful to address
Proof: Appendix I. the above two issues. We define the following sets.
We next examine the relationship between the attracting set , is the complementary
, and and then derive a sufficient condi- set of the closed set , where represents
tion for the stability of post-fault DAE system. the topological boundary of .
Theorem 1: Let ( ) be the stability region of the Theorem 2: If assumption A1) is satisfied, then
post-fault DAE system (3). Then i) .
1) and ii) .
implies . Proof: Appendix III.
1328 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMSI: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 50, NO. 10, OCTOBER 2003

Fig. 2. BLE trajectory starting from p does not converge to a SEP.

Theorem 2 asserts that the post-fault trajectory is unstable angle and relative rotor frequency between two generators. The
if the fault is cleared outside the set . This is because the power flow equations can be written as
target point lies outside the stability region of the post-fault
SEP, according to part i) of Theorem 2. Furthermore, if
and if the fault-on trajectory is cleared outside the
set , then, according to part ii) of Theorem 2 the fault-clearing
point , i.e., the post-fault DAE trajectory will not
jump to the acceptable algebraic submanifold ; making the
dynamical behavior of the post-fault trajectory will not be gov- Using the singular perturbation approach the representation of
erned by (6). Hence, the post-fault trajectory will not converge the power-flow equations become
to . However, applying the traditional CUEP method,
which focuses only on the determination of whether or not the
initial point lies inside the stability region without checking
whether or not the initial point lies on the acceptable algebraic
submanifold may lead to an incorrect stability assessment.
We consider a simple power system with two generator buses
and one load bus. The two generators are assumed to have the We consider this simple power system with the initial point
same damping constant. The dynamical equations of this simple . Since the
system are state space of this simple system is four-dimensional, we
project the simulated trajectory onto two-dimensional (2-D)
planes ( ), ( ) respectively. Numerical simulation
shows that if the fault-clearing point , then, the trajec-
tory starting from does not jump to . Thus the post-fault
DAE trajectory is unstable (see Fig. 2). However, the post-fault
DAE trajectory starting from the target point converges to
the feasible SEP (see Fig. 3). This implies that the target
corresponding to lies inside , i.e., but
such a jump does not happen because the fault-clearing point
where and are the relative rotor does not lie inside the attracting set of ; in other words, the
ZOU et al.: THEORETICAL FOUNDATION OF THE CUEP METHOD FOR DIRECT TRANSIENT-STABILITY ANALYSIS 1329

Fig. 3. DAE trajectory starting from q converges to a post-fault SEP.

jump to the target point does not actually happen. Therefore, trajectory will converge to the SEP ( ). The two sufficient
the situation occurs in this simple conditions of Theorem 3 may be further simplified. It is still un-
power systems. clear to us whether one needs to check ,
This simple example also shows the importance of examining even if . Hence, the necessity of condition (C2)
the external jump behavior in assessing the stability of post-fault for Theorem 3 to hold is still under investigation. Nevertheless,
trajectory. It also illustrates that the situation Theorem 3 lays a theoretical foundation for extending the CUEP
can occur in power system. Motivated by Theorem 2 and this method to network preserving models represented by DAE sys-
example, we will enhance the current CUEP method with the tems and provides a basis for the extended CUEP method to be
ability to assess the external jump behavior. It follows from The- presented in this paper.
orem 2 that if the fault-clearing point , then the post-fault
trajectory will lie within . However, one still needs to deter-
V. CUEP FOR DAE SYSTEMS
mine whether or not the target point locates inside the stability
region in order to directly assess the stability of the From a nonlinear dynamical system viewpoint, transient-sta-
post-fault trajectory. From this remark and Theorem 2, we are bility analysis is essentially the problem of determining
in a position to state the main theorem as follows. whether or not the initial condition of the post-fault trajectory
Theorem 3: Let be a given fault-on trajectory of DAE lies inside the stability region of a desired SEP of the post-fault
system (2) starting from with the fault system. Hence, as far as direct methods are concerned, the
being cleared at . Let ( ) be the key point in transient-stability analysis is not concerned with
interested post-fault SEP of the DAE system (3). If the following estimating the entire stability boundary of the (post-fault) SEP.
two conditions are satisfied. Instead, only the relevant part of the stability boundary toward
(C1) The fault clearing point satisfies which the fault-on trajectory is heading is of concerned. To
. this end, the CUEP method uses the constant energy surface
(C2) The target point of satisfies passing through the CUEP to approximate the relevant part of
. the stability boundary toward which the fault-on trajectory is
Then, the post-fault trajectory of DAE system (3) is stable. heading. If, when the fault is cleared, the initial condition of
We note that condition (C1) in Theorem 3 requires that the the post-fault trajectory lies inside the constant energy surface
fault-clearing point satisfies that passing through the CUEP, then, the post-fault trajectory will
and lies inside the set (i.e., lies inside the attraction set be stable; otherwise, it may be unstable. This is the essence of
of , according to Theorem 2), while condition (C2) requires the CUEP method [1], [6].
the initial condition of the post-fault DAE trajectory lies inside The success of the CUEP method hinges on its ability to find
the stability region of SEP ( ) which ensures the post-fault the correct CUEP. The (correct) CUEP with respect to a fault-on
1330 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMSI: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 50, NO. 10, OCTOBER 2003
trajectory is defined as the UEP of the post-fault system whose
stable manifold is first hit, among the stable manifolds of all
the UEPs, by the fault-on trajectory. Using the energy value of
an incorrect CUEP as a critical energy is likely to give inac-
curate stability assessment [1], [6]. This definition is motivated
by the theoretical results that, for transient-stability models de-
scribed by ODEs, a sustained fault-on trajectory intersects with
the stability boundary of the post-fault system at a point which
must lie in the stable manifold of a UEP locating on the stability
boundary [6]. This UEP is the CUEP (of the post-fault system)
relative to the fault-on trajectory.
The concept of a CUEP is well defined for transient-stability
models described by ODEs. However, applying the concept of
CUEP to network-preserving models leads to the following dif-
ficulty: a fault-on trajectory will not hit the stability boundary
of the post-fault system since the algebraic manifolds of the
fault-on system and the post-fault system are different. Instead,
the DAE fault-on trajectory will hit the stability boundary of
the corresponding post-fault BLE system (7). Hence, the CUEP
of a DAE system (3) relative to a DAE fault-on trajectory (2)
can be defined via the CUEP of an associated BLE system. A
formal definition of CUEP for network-preserving models was
then suggested in [8]: the CUEP of a DAE system (3) relative to
a DAE fault-on trajectory (2) is the UEP of the post-fault BLE
system (7) whose stable manifold is first hit, among the stable
manifolds of all the UEPs of the post-fault BLE system (7), by
the fault-on trajectory.
We note that the BLE (7) is in the form of ODEs. By applying
the fundamental theorem of CUEP method for transient-sta-
bility models represented by ODEs [6], it follows that for every
, the post-fault BLE system (7) has a CUEP, denoted
by , which is uniquely determined by a given (sustained)
fault-on trajectory and by the stability boundary of the
post-fault BLE system (7). We will term such UEP the CUEP
relative to the DAE fault-on trajectory . CUEP method.
To further formulate the concept of (generalized) CUEP for
DAE systems, we introduce the following lemma.
Lemma 2: Let be a (sustained) fault-on trajectory of
the DAE system (2). If the trajectory starts from ,
it follows that
1) there is one sequence of -CUEP, as
, and each of the CUEP is determined by the fault-on
trajectory when it intersects with , and
2) there exists an such that for all , no
-CUEP can be determined by before it intersects with
.
Proof: See Appendix IV.
Motivated by Lemma 2, we define the following
Definition 2: Let be a given fault-on trajectory starting
from . Then a UEP, denoted by , is said to be
a candidate CUEP relative to the fault-on trajectory, if there is
a sequence such that it is the CUEP for . If
the candidate CUEP is unique, then it is called the (generalized)
CUEP relative to . the power flow equations at each bus. The terms
Definition 3: The stability region of BLE (7) is said to be
exactly local equi-continuous if for any finite , there
exist a UEP , an , and a neighborhood of
such that for all . Here,
is the stable manifold of .
We now present a sufficient condition for the uniqueness of
candidate CUEP.
Lemma 3: Let be a given fault-on trajectory starting
from . If the stability region of the corresponding
BLE (7) is exactly local equi-continuous, then, the candidate
controlling u.e.p is unique and the generalized CUEP relative to
exists.
VI. EXTENDED CUEP METHOD
We have shown in Theorem 3 that if the fault-clearing point
lies inside the attracting set of the algebraic submanifold con-
taining the post-fault SEP of interest and if the target point lies
inside the stability region of the post-fault SEP, then one can
ensure, without performing numerical integration of the DAE
system (3), that the post-fault trajectory will converge to the SEP
of interest. Therefore, knowledge of the stability region plays an
important role in direct methods. In this section, we will apply
the analytical results derived in previous sections along with
energy function theory to develop an extended CUEP method
for direct stability analysis of network-preserving power system
models.
The task of determining the stability region of large-scale
nonlinear dynamical system is generally very difficult. A great
number of methods of determining stability regions have been
proposed in the literature. They are mostly based on Lyapunov
functions; or energy functions. Unfortunately, the vast majority
of these methods usually come up with an estimated stability
region that is only a small subset of the entire stability region.
However, given a nonlinear dynamical system such as a power
system stability model, a tailored method can be developed by
taking into account the special need to effectively estimate some
part of the stability region; one such a tailored method is the
A majority of existing network-preserving models can be
rewritten as a set of general DAEs of the following compact
form [23]:
(11)
where and are instantaneous variables, while
, and are state variables. is
a positive definite matrix and and are diagonal positive
definite matrices. Here, differential equations describe gener-
ator and/or load dynamics, while algebraic equations express
,
, , and are vectors
representing the effects of the transfer conductance in the net-
work -bus matrix. With the aid of the singularly perturbed
ZOU et al.: THEORETICAL FOUNDATION OF THE CUEP METHOD FOR DIRECT TRANSIENT-STABILITY ANALYSIS 1331

systems, the compact representation of the network-preserving There are several numerical difficulties in applying the above
model becomes singular-perturbation-based CUEP method to direct stability
analysis of network-preserving power system models. One
difficulty is concerned with the numerical integration of the set
of stiff differential equations associated singularly perturbed
system which contains both fast variables and slow variables.
Solving stiff differential equations may encounter numerical
difficulty. This difficulty is analogous to ill-conditioning in
nonlinear algebraic equations. Another numerical difficulty
(12) is concerned with the determination of appropriate numerical
values for the parameter vector . To overcome this difficulty
where and are sufficiently small positive numbers. can be challenging since small values of parameter vector
The above singular perturbation version of the network-pre- leads to higher degree of stiffness while large values of
serving model can be put into the compact representation of parameter vector leads to inaccurate results. These numerical
existing network-reduction models. By employing the same difficulties of the singular-perturbation-based CUEP method
technique developed for the network-reduction power system may limit its practical application. We will present in this paper
models, one can construct analytical energy functions for the another version of CUEP method, a DAE-based CUEP method.
class of network-preserving models (12) without the transfer As discussed before, there are two types of dynamical be-
conductance described as follows. We consider the following haviors that require assessment for stability analysis of the net-
function : : work-preserving power system model (3):
i) external jump behavior between the fault-clearing point
(13) and the target point (i.e., the initial point of post-fault
system);
If along every nontrivial trajectory ii) post-fault trajectory starting from the target point.
of (12), with a bounded value of ( , , , , and ), the We next present two analytical results related to energy-func-
vector is also bounded for , then, tion based methods to assess the above two types of dynam-
( , , , , ) is an energy function for system (12) without the ical behaviors that are important for stability analysis of net-
transfer conductance. To take the transfer conductance into con- work-preserving power system model (3).
sideration, we modify the analytical function (13) by adding a Theorem 4: Let be a given fault-on trajectory starting
path-dependent potential energy function to construct a numer- from . Let be an energy function of the BLE
ical energy function for system (12) as shown in [33] system (7) that is independent of . Let , ,
be the candidate CUEPs for . If the fault-clearing point
(14) satisfies the following condition:
where is a numerical energy function
for (12), is the analytical function for (12)
without transfer conductance, and is a Then, .
path-dependent potential energy. The function described in (14) Proof: Appendix V.
is termed a numerical energy function instead of an analytical Let be a given fault-on trajectory
energy function, due to the existence of a path-dependent term starting from . Let the corresponding
in the equation. pseudo-jump fault-on trajectary
We next present a singular-perturbation-based CUEP method be well defined. We next present another main result
for direct stability analysis of the generic network-preserving which is a consequence of Theorem 4 and the classical CUEP
model (11). method.
Step 1. Determination of the critical energy. Theorem 5: Let be a given fault-on
Step 1.1: Find the -CUEP relative to the DAE fault-on trajectory starting from . Let be the
trajectory . Let the found corresponding pseudo-jump trajectary starting from
-CUEP be denoted as . with the fault being cleared at . Let
Step 1.2: The critical energy value W is the value of (numer- be an energy function of system and is the
ical) energy function ( , , , , ) at the. -CUEP; energy function, independent of , of the BLE system (7). If the
that is, . following conditions are satisfied:
Step 2. Determination of stability.
Step 2.1: Calculate the value of the energy function
and
at the (positive) time of fault
clearance , with the fault being cleared at ; i.e.,
. then
Step 2.2: If , then the post-fault trajectory is stable;
otherwise, it may be unstable.
1332 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMSI: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 50, NO. 10, OCTOBER 2003

We next present an extended CUEP method for direct stability

analysis of network-preserving power system model (3). The
method can be viewed as an extension of the CUEP method for
direct stability analysis of network-reduction models.
Extended CUEP Method:
Step 1. Derivation of sustained fault-on trajectory and its cor-
responding pseudo-jump fault-on trajectory.
Step 2. Determination of critical energy.
Fig. 4. One-generator two-buses system.
Step 2.1: Determine the generalized CUEP and the DAE
CUEP with respect to the sustained fault-on trajectory
Suppose the prefault system and the post-fault system are the
and its corresponding pseudo-jump fault-on trajectory.
same; and expressed as equation (14). We first compute the con-
Step 2.2: Compute the critical energy and
cerned algebraic manifolds , SEP, and impasse points (IP)
( ) or ( ).
expressed below and shown in Fig. 5.
Step 3. Determination of stability.
Step 3.1: Calculate the value of energy function and/or SEP:
at the time of fault clearance.
Step 3.2: If and IP1:
or , then the post-fault trajectory is stable;
otherwise, it may be unstable.
From a computational viewpoint, the task of numerically IP2:
integrating the BLE system can be very stiff. In such a case, a
stiff differential equation solver is recommended. We note that We next apply the extended CUEP method to analyze the
explicit integration methods are usually inefficient for solving transient stability of the sample system which undergoes a short-
stiff differential equations since a time-step appropriate for circuit fault at bus 2.
the slow variables gives little accuracy for the fast variables; Step 2.1: Computing the CUEP of the BLE system and DAE
a small time-step necessary to accurately compute the fast system.
variables leads to a hugh waste of computation for the slow a) Computing the CUEP of the BLE system. We compute the
variables. Implicit integration methods usually do not suffer CUEP by using the BCU method [1][3]. The computed CUEP
the problem of numerical instability to the same degree as is
explicit integration methods do for stiff differential equations.
The use of implicit integration methods removes the small time
constant numerical instability problem at the expense of the
complication of numerical implementation. b) Computing the CUEP of the DAE system. Note that there
We next illustrate the extended CUEP method on the fol- is no UEP in . The boundary of is composed of impasse
lowing simple system which is consisted of one machine, one points and the point lying within the algebraic manifolds with
load bus, and one infinite bus. the lowest energy is an impasse point. The stability of DAE
The system model is expressed as follows: system can be assessed via the energy of controlling impasse
point. The computed controlling impasse point is

Step 1.2: Computing the critical energy function value.

We consider the following energy function :

It follows that ; (Control-

ling IP) 18.1323.
Step 2.1: Computing the energy funticon value of the fault-
clearing point and the corresponding pseudo-jump point.
(15) Let the fault clearing point be
. Then the cor-
and shown in Fig. 4. responding pseudo-jump point is computed as
ZOU et al.: THEORETICAL FOUNDATION OF THE CUEP METHOD FOR DIRECT TRANSIENT-STABILITY ANALYSIS 1333

Fig. 5. Algebraic manifolds, SEP, UEP, and impasse points (IP).

Fig. 6. The post-fault trajectory with " = 0:01 in the state-space.

.
Hence, , .
Step 2.2: Determination of stability.
Since , it follows that the post-
fault system is stable. We have simulated the post-fault trajec-
tory and displayed it in the state-space (see Fig. 6) and in the
time-domain (see Fig. 7). It can be seen from these figures that
the post-fault trajectory is indeed stable.
We note that the proposed extended CUEP method is conser-
vative in stability assessment. It can classify some stable contin-
gencies as unstable. This conservativeness comes from both the
procedure of estimating the attracting set of the post-fault alge-
braic submanifold and the procedure of estimating the stability
region of the post-fault SEP. Compared with the conventional
CUEP method, the proposed extended CUEP method tends to
be more conservative in stability assessments.
The conservativeness of the proposed extended CUEP
method can be improved by replacing the procedure of Fig. 7. The post-fault trajectory with " = 0:01 in the time domain.
1334 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMSI: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 50, NO. 10, OCTOBER 2003

estimating the stability region of the post-fault algebraic procedure of estimating the attracting set of the post-fault alge-
submanifold by a time-domain simulation procedure to obtain braic submanifold and the procedure of estimating the stability
an approximated point for the target point. We note that one region of the post-fault SEP. Compared with the conventional
basic assumption of our analysis, i.e., Assumption A, is that CUEP method, the proposed extended CUEP method tends to be
the jump behaviors of the network-preserving model can be more conservative in stability assessments. To reduce the con-
modeled by the limiting behavior of the corresponding BLE. servativeness, we have proposed a hybrid CUEP method which
This assumption, even though not yet theoretically justified, is a modification of the proposed extended CUEP method by
is physically plausible. Hence, the simulated BLE trajectory replacing the procedure of estimating the attracting set of the
starting from the fault-clearing point can be used to analyze the post-fault algebraic submanifold by a time-domain simulation
external jump behaviors. We next improve the extended CUEP procedure to obtain an approximated point for the target point.
method by incorporating the simulated BLE trajectory. Another approach that can reduce the conservativeness is to in-
Hybrid ECUEP Method: Step 1. Integrating the BLE system corporate the method developed in [31] of estimating the sta-
(7) corresponding to the post-fault DAE system (3) to determine bility region of a stable equilibrium manifold into the proposed
whether the post-fault BLE trajectory converges to a target alge- extended CUEP method. This may lead to a promising method.
braic submanifold which contains the interested post-fault SEP.
If it converges, then go to Step 2; otherwise, the post-fault tra- APPENDIX I
jectory is unstable. PROOF OF LEMMA 1
Step 2. Determination of critical energy. It is clear that the equilibrium points set is finite and
Step 2.1: Determine the DAE CUEP with respect to the equilibrium points of (3) are uniformly isolated. From the
the (sustained) fault-on trajectory and its corresponding Tikhnov Theorem on infinite interval it is easy to see that there
pseudo-jump fault-on trajectory. is a domain
Step 2.2: Compute the critical energy ( ).
Step 3. Determination of stability.
Step 3.1: Calculate the value of energy function at (A.1)
the time of fault clearance.
Step 3.2: If , then the post-fault trajec-
such that ( ) and . Hence, is well
tory is stable; otherwise, it may be unstable.
defined nonempty domain. Here is the 2-norm in .
From the computational procedure, it is clear that the stability
assessment results obtained by using the ECUEP method tend to
APPENDIX II
be conservative, while the stability assessment results obtained PROOF OF THEOREM 1
by using the hybrid ECUEP method tend to be less conservative.
Another approach to reduce the conservativeness is to apply the To show this theorem, we first show the following lemma.
method developed in [31] of estimating the stability region of Lemma A2: If ( ), then .
a stable equilibrium manifold to the proposed extended CUEP Proof: Let ( ). Without loss of generality,
method. This may lead to a promising method. let the fault is cleared at . Then there is a such
that the trajectory of (3) starting from satisfies
VII. CONCLUSION , say

The concept of a CUEP is well defined for transient-stability

models described by ODEs. However, applying the concept of
CUEP to network-preserving models leads to the following dif-
and for sufficiently small , the trajectory of (7)
ficulty: in addition to the possible internal jump due to the sin-
starting from satisfies
gular surface, the external jump caused by the fact that a fault-on
trajectory will not hit the stability boundary of the post-fault
system since the algebraic manifolds of the fault-on system and
the post-fault system are different. We have extended the con-
cept of CUEP to network-preserving models. This implies in turn ,
An extended CUEP method suitable for direct stability anal- . Thus Tikhnov Theorem on infinite interval implies that the
ysis of network-preserving models has been developed. The ex- trajectory of (7) starting from satisfies
tended CUEP method examines both external jump behaviors uniformly for all . Here
and stability regions of network-preserving models. It is shown is the trajectory of (3) starting from ,
that the target point of the fault-clearing point (i.e., the initial and >0 is an arbitrarily small number. The proof is completed.
point of the post-fault system), instead of the fault-clearing point Now, we show Theorem 1. Let and
as in classical case, plays a crucial role in direct stability anal- ( ). Then by Lemma A2, .
ysis of network-preserving power systems models. A theoretical This implies that there is an and a neighborhood ( )
foundation for the extended CUEP method has been developed. of such that
The proposed extended CUEP method is conservative in sta-
bility assessment. This conservativeness comes from both the
ZOU et al.: THEORETICAL FOUNDATION OF THE CUEP METHOD FOR DIRECT TRANSIENT-STABILITY ANALYSIS 1335

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Yun Zou received the B.S. degree in mathematics
from the Northwestern University, Xian, China, in
1983, and the M.S. and Ph.D. degrees in automatic
control engineering from Nanjing University of
Science and Technology, Nanjing, China, 1987, and
1990, respectively.
He is currently a Professor of Electrical En-
gineering at Nanjing University of Science and
Technology. His current research interests include
differential-algebraic equation systems, two-dimen-
sional systems, singular perturbations, transient
stability of power systems, and power market.
Dr. Zou is a Mathematical Reviewer of the journal Mathematical Reviews,
and a Member of American Mathematical Society.
Ming-Hui Yin was born in Nanjing, China, in July
1978. He received the B.S. and M.S. degrees in elec-
trical power engineering from Nanjing University of
Science and Technology, Nanjing, China, in 1999 and
2001, respectively.
He is currently an Assistant Engineer of Electrical
Network at Nari-China Group, Nanjing, China. His
research interests include stability and security of
electrical power network systems.
Hsiao-Dong Chiang (M87SM91F97) received the B.S. and M.S. degrees
in electrical engineering from National Taiwan University, Taipei, Taiwan,
R.O.C. and the Ph.D. degree in the electrical engineering and computer
sciences from University of California at Berkeley, in 1979 , 1981, and 1986,
respectively.
After receiving the Ph.D. degree in electrical engineering and computer sci-
ence, he worked on a special project at the Pacific Gas and Electricity Company,
San Francisco, CA. In 1987, he joined the faculty of the School of Electrical En-
gineering at Cornell University, Ithaca. NY. His current research interests are in
nonlinear systems theory, computation, and application to electrical circuits, sig-
nals and systems; power system stability and control, security assessments and
enhancements; distribution system analysis, control and design; intelligent in-
formation processing system; drawing digitization and automated mapping/fa-
cility management; and global optimization techniques and applications.
Dr. Chiang was named a recipient of an Engineering Research Initiation
Award by the National Science Foundation in 1988. In 1989, he received the
Presidential Young Investigator Award from the National Science Foundation.
In 1990, he was selected by a Merrill Presidential Scholar as the faculty
member who had the most positive effect on that students education at Cornell
University. He was an Associate Editor of IEEE TRANSACTIONS ON CIRCUITS
AND SYSTEMS in 19901991. He is currently Editor for Express Letters of IEEE
TRANSACTIONS ON CIRCUITS AND SYSTEMS I: FUNDAMENTAL THEORY AND
APPLICATIONS. He holds five U.S. patents and several Consultant positions.