1

Comparison of FACTS STATCOM models for

Damping Oscillations in Power System due to
Small Perturbations
A. Petean-Pina, and P. B. de Araujo

Abstract—This paper presents small-signal stability studies of Vs Voltage magnitude of the STATCOM
a multimachine power system, considering Static Synchronous VAC AC terminal voltage of the
Compensators (STATCOM) and discussed control modes of the STATCOM
STATCOM. The Power Sensitivity Model (PSM) is used to
represent the electric power system. The study is based on modal VDC DC terminal voltage of the
analysis and time domain simulations. The results obtained allow STATCOM
concluding that the STATCOM improves the stabilization in the Vkref Reference voltage at bus k
electric power system. Vsref Reference voltage of the STATCOM
Index Terms—Electric Power System, Power Sensitivity Model, VDCref DC voltage reference
Static Synchronous Compensators (STATCOM). E0k Internal voltage of generator in bus
k
I. N OMENCLATURE R1km , R2km , R3km Coefficients of reactive power on the
transmission line k-m
A1km , A2km , A3km Sensitivity coefficients of the active
R1jk , R2jk , R3jk Coefficients of reactive power on the
power on transmission line k-m
transmission line j-k
A1jk , A2jk , A3jk Sensitivity coefficients of the active
Rk , RDC , Rc , RΨ Sensitivity coefficients of the reac-
power on transmission line j-k
tive power of the STATCOM
Ak , ADC , Ac , AΨ Sensitivity coefficients of the active
KS , KP , KC , KΨ Gains of the first order controllers
power of the STATCOM
xSDT Leakage reactance of the STATCOM
c, Ψ Control variables of the STATCOM
transformer
Ccc Capacitance of the STATCOM
x0d Direct axis transient reactance of the
IDC Electric current on the DC side of
generator
the STATCOM
Zkm Impedance of the transmission line
IS Electric current supplied or absorbed
between the busses k and m
by the STATCOM
Zjk Impedance of the transmission line
Ik Electric current of generator in bus
between the busses j and k
k
θs Voltage angle of the STATCOM
PGk Active power generated by generator
θk Angle of the voltage at bus k
installed in the bus k
θkm Difference between the angles of bus
Pkm Active power flow between the
voltages k and m (θkm = θk − θm )
busses k e m
Ωk Set of neighboring busses to the bus
PLk Active load on the bus k
k
PS Active power of the STATCOM
ωn Natural frequency of the electrome-
QGk Reactive power generated by
chanical loop
generator of bus k
ξ Damping coefficient
Qkm Reactive power flow between the
(r, m) Coordinate system (real and imagi-
busses k and m
nary axes)
QLk Reactive load on the bus k
QS Reactive power of the STATCOM
Sk Apparent power of the STATCOM II. I NTRODUCTION
installed at bus k
Tc , T Ψ
Vk
Time constants of the controller
Voltage magnitude at bus k N OWADAYS, it is necessary to improve the power trans-
mission system because there is a power consumption
increase due to industrial and home activities growth.
This work was supported by the National Counsel of Technological and This work discusses and compares different control tech-
Scientific Development (CNPq), Brazil. niques for damping undesirable inter-area oscillations in
A. Petean-Pina and P. B. de Araujo are with Universidade Es-
tadual Paulista (UNESP - Ilha Solteira), São Paulo, Brazil, e-mails: power systems [6], [7] by Static Synchronous Compensators
percival@dee.feis.unesp.br and aline pina@globo.com. (STATCOM) [4].
 2

Vk
Studies referred to the inclusion of the FACTS (Flexible
Alternating Current Transmission Systems) [1] STATCOM de-
Transformer
vice in the PSM (Power Sensitivity Model) [2] are developed.
The aim is to study the electric power system stability under
CA terminal Vs
small perturbations.
FACTS devices were designed in order to control the power Is
flow on transmission lines and also to increase its transmission
capacity, providing a more reliable system [3]. Converter
With the introduction of this type of controller in power
systems, the stability presents more degrees of freedom to DC terminal CCC
large and small disturbances, since these devices have the
ability to add damping to electromechanical oscillations [3].
Fig. 1. Basic configuration of the STATCOM FACTS device
The damping of these oscillations will be the focus of this
work that use the PSM expanded to multimachine power
Vs
systems [2].
Controllers for the FACTS STATCOM device, which are Qs
described by first order blocks, are also suggested.
Two models are considered for the device: the first one Is
allows only the reactive power compensation, this will be
known as simplified model; while the other one allows the
reactive or active compensation, then it will be known as
enhanced model [5].
Fig. 2. Simplified representation of the STATCOM FACTS device

III. BASIC C ONFIGURATION AND O PERATING P RINCIPLE

OF THE STATCOM
where Is is the current supplied or absorbed by the STATCOM,
Generally, reactive power static compensators are responsi-
and Vs is the magnitude of the voltage where the device is
ble for generating or absorbing reactive power controllable by
located [10], [11].
synchronized switching of capacitors or reactors. In practice,
these devices act as a shunt impedance that can be adjusted
Qs = Vk Is (1)
according to the need for compensation of the transmission
network. Assuming small variations around a stable equilibrium
With the advances in power electronics, Voltage Source point, (1) can be linearized, which represents the simplified
Converters (VSCs) where developed [8]. The VSC uses GTO model of the STATCOM.
(Gate Turn-Off) thyristors to convert a DC voltage input
provided by a capacitor in a three-phase sinusoidal AC voltage ∆Qs = Is ∆Vk + Vk ∆Is (2)
output with the same fundamental frequency of the system.
These converters are operated as voltage and current sources Variations ∆Is and ∆Vs are supplied by some controlling
and produce reactive power without the need for storage device coupled to the STATCOM as, for example, the con-
components of energy through the circulation of alternating troller represented by a block of first order (consisting of a
current between the phases of the electric power system [5]. static gain Kc and time constant Tc ) to express the dynamic
In Fig. 1, a basic configuration of the FACTS STATCOM behavior of the control variable Is (4). Moreover, the gains KP
is shown, where Vk , Vs , Is and CCC are, respectively, the and KS modulate the input of the controller (∆Vs and ∆y).
magnitude of the bus voltage where the device is located, the The signal ∆Vsref is the variation of the reference voltage
magnitude of the voltage on the AC side of the STATCOM, of the bus where the STATCOM is connected. ∆y is an input
the current on the STATCOM AC side, and the capacitance signal to the controller and, in this paper, the variation of active
on the DC side [5]. power flow of the line (∆Pkm ) is used as the input signal (3).
Diagram in Fig. 3 shows the elements described above.
IV. STATCOM DYNAMIC M ODEL – S IMPLIFIED M ODEL
In the derivation of a simplified model of a typical ∆Pkm = A1km ∆(θk − θm ) + A2km ∆Vk + A3km ∆Vm (3)
STATCOM, to study the stability to small perturbations, only 1 Kc Kc
∆İs = − ∆Is − Ks ∆Vs + Ks ∆Vsref
the exchange of reactive power with the electric power system Tc Tc Tc
will be considered. Thus, the STATCOM will be represented Kc Kc
+ Kp A1km ∆θk − Kp A1km ∆θm (4)
as a controllable current source coupled to a generic shunt Tc Tc
Kc Kc
bus s of the electric power system, according to the diagram + Kp A2km ∆Vk + Kp A3km ∆Vm
shown in Fig. 2, [4], [5], [9]. Tc Tc
With this consideration, the expression of reactive power Consider the generic busses j, k, and m of an electric
exchanged with the electric power system (Qs ) is shown in (1), power system, where a STATCOM represented by a shunt
 3

Equations (9) and (10) provide the modified equations of the

MSP-multimachine reflecting the inclusion of the simplified
– Kc STATCOM model.
+ +
+

y X A1jk ∆(θj − θk ) + A2jk ∆Vj + A3jk ∆Vk

− [A1km ∆(θk − θm ) + A2km ∆Vk + A3km ∆Vm )] = 0
Fig. 3. Simplified model of the controller of the STATCOM FACTS device
m∈Ωk
(9)
R1jk ∆(θj − θk ) + R2jk ∆Vj + (R3jk − Is )∆Vk
current (see diagram in Fig. 4) is connected at the bus k. The
X
− [R1km ∆(θk − θm ) + R2km ∆Vk + R3km ∆Vm ]
application of the nodal power balance at node k (in its linear m∈Ωk
form) results in (5) and (6) for balances of active and reactive −Vk ∆Is = 0
power, respectively. (10)
The full state system for the simplified model, including
∆Pjk − ∆Pkm = 0 (5) constants (A1km and R1km , for example) can be found in
[12].
∆Qjk − ∆Qkm − ∆Qs = 0 (6)
V. STATCOM DYNAMIC M ODEL – E NHANCED M ODEL
Vj j Vk k Vm m To develop the enhanced model of the STATCOM consider
Zjk Zkm the diagram shown in Fig. 6 [5], which shows two control
Pjk Pkm variables (c and Ψ).
Qjk Qkm
Vk
Qs

Is jxSDT Transformer

Fig. 4. Electric power system with a STATCOM operating (simplified model) CA terminal Vs
Is

c
The fundamental concept of the PSM is the application of Converter
active and reactive power balance in each bus of the system
[2]. Thus, for a generic bus k, connected to two other busses IDC CCC DC terminal
l and m (according to Fig. 5), generated active and reactive
power variations delivered to bus k (∆PGk and ∆QGk ) must VDC
be equal to the sum of active and reactive flows variations on
Fig. 6. Enhanced representation of the STATCOM FACTS device
transmission lines k-m (∆Pkm and ∆Qkm ) and k-l (∆Pkl and
∆Qkl ). To generalize this concept, consider the set of every
bus connected to bus k named Ωk , giving (7) and (8). Changing the ratio c anables the converter to adjust the
magnitude of the AC voltage (Vs ) and thus the exchange of
X reactive power with the network. Changing the phase shift
∆PGk − ∆PLk − ∆Pkm = 0 (7) Ψ between the network voltage and the voltage generated by
m∈Ωk the converter (Fig. 7) makes possible an exchange of active
X
∆QGk − ∆QLk − ∆Qkm = 0 (8) power, which is used for controlling the DC voltage (VDC ) at
m∈Ωk a reference value [5].
m

Vm m
Vs
Vk k

E’k Zkm s
Ik Pkm Qkm Vk
x’d
PGk QGk k
Zkl r
Pkl Qkl Fig. 7. Phasor Diagram: Voltages V̄k and V̄s

Vl l

Fig. 5. Power flows in a multimachine power system

For the deduction of the enhanced model of the STATCOM
in the MSP-multimachine consider that its installation in the
 4

electric power system occurs in a generic bus k, as shown in Seeing small variations around a stable equilibrium point,
diagram of Fig. 8. (18a) can be linearized, resulting in (19).
Vk k Vm m

Zkm ∆Ps = Ak ∆Vk +ADC ∆VDC +Ac ∆c + AΨ ∆Ψ (19)

Ps, Qs where
c
Converter ∂Ps cVDC senΨ
Ak = = (20a)
∂Vk xSDT
∂Ps Vk csenΨ
ADC = = (20b)
Fig. 8. Electric power system with a STATCOM operating (enhanced model) ∂VDC xSDT
∂Ps Vk VDC senΨ
Ac = = (20c)
Voltage at terminal AC and voltage at terminal DC of the ∂c xSDT
STATCOM, as well as voltage at bus where the device is ∂Ps Vk cVDC cosΨ
installed, are given by (11), (12) and (13), respectively. AΨ = = (20d)
∂Ψ xSDT
Similar procedure can be performed with (18b), resulting in
V̄s = Vs 6 θs (11) (21).
Z
1
VDC = IDC dt (12)
CCC
∆Qs = Rk ∆Vk +RDC ∆VDC +Rc ∆c + RΨ ∆Ψ (21)
V̄k = Vk 6 θk (13)
where
Voltage introduced by STATCOM (V̄s ) can be controlled in
magnitude (with c) and phase (with Ψ) as the definition of ∂Qs 2Vk − cVDC cos Ψ
Rk = = (22a)
this voltage given in (14) [5]. ∂Vk xSDT
∂Qs V2 − Vk c cos Ψ
V̄s = Vs 6 θs = cVDC 6 Ψ + θk (14) RDC = = k (22b)
∂VDC xSDT
From Fig. 6, the current that circulates through the ∂Qs Vk2 −Vk VDC cosΨ
STATCOM (Īs ) is given by (15), where xSDT is the leakage Rc = = (22c)
∂c xSDT
reactance of the STATCOM transformer.
∂Qs Vk cVDC senΨ
V̄k − V̄s RΨ = = (22d)
Īs = (15) ∂Ψ xSDT
jxSDT From (12) can be written (23), which introduces a new state
Equation (16) describes the current that circulates through variable in the enhanced model of the STATCOM (voltage on
the STATCOM, decomposed into real and imaginary parts. the DC side of the STATCOM - VDC ).
1
Vk senθk −cVDC sen(Ψ + θk ) V̇DC = IDC (23)
Īs = CCC
xSDT (16)
Vk cosθk −cVDC cos(Ψ + θk ) Considering the converter without losses, active power in
−j terminal DC (PDC ) must equal active power in terminal CA
xSDT
(PCA ), such is shown in (24).
Complex power developed by the STATCOM is given by
(17).
PDC = VDC IDC = PCA = Real V̄s Ī∗s
 
(24)
Ṡk = V̄k Ī∗s = Ps + jQs (17) From (25), current in the STATCOM DC side, is obtained
(26).
where
Vk cVDC senΨ cVk senΨ
Ps = (18a) IDC = (25)
xSDT xSDT
1 cVk senΨ
Vk2 −Vk cVDC cosΨ V̇DC = (26)
Qs = (18b) CCC xSDT
xSDT
The linearization of (26) around a stable equilibrium point,
The analysis of (18) leads to the observation that the power provides (27).
developed by the STATCOM does not depend on the angle of
the voltage at bus k (angle θk ). Moreover, it is also possible ∆V̇DC = k1CC ∆c + k2CC ∆Vk + k3CC ∆Ψ (27)
to verify that this power depend on the control variables of
the STATCOM (c and Ψ). where
 5

VI. S IMULATIONS AND R ESULTS

∂∆V̇DC 1 Vk senΨ A hypothetical power system [9], whose diagram is shown
k1CC = = (28a)
∂c CCC xSDT in Fig. 10, is addressed in this work; and for the simulations
the MatLab R
software will be used. The discussion of results
∂∆V̇DC 1 csenΨ will be made in time-domain and frequency-domain, using the
k2CC = = (28b) STATCOM in its simplified and enhanced models.
∂Vk CCC xSDT

6 7 9
∂∆V̇DC 1 cVk cos Ψ 1 5 4
k3CC = = (28c) 10 G4
G1
∂Ψ CCC xSDT

For inclusion of the STATCOM device in the MSP is

necessary to define a controller for c and Ψ, such is shown in L7 L8
2 3
Fig. 9.
G2 Area 1 Area 2
G3
Vkref
+ Fig. 10. Multimachine test system
c
c
Pkm
+ –
Vk

A. Base Case – Without STATCOM

VDC
–
Dominant eigenvalue of the electric power system for the
KΨ base case, together with the damping coefficient (ξ) and natural
VDCref +
frequency (ω n ) associated with them, are presented in Table I.
Fig. 9. Enhanced model of the STATCOM controller
TABLE I
D OMINANT E IGENVALUES

For Ψ, the control block is defined by the time constant TΨ , Eigenvalues ξ ωn (rad/s) ωn (Hz)
-0.2356 ± j6.2953 0.0374 6.2997 1.0026
representing the delay inherent in the firing of the GTOs, and -0.1585 ± j5.8779 0.0270 5.8800 0.9358
the static gain KΨ . For c, is defined similarly a constant Tc 0.0460 ± j4.1382 -0.0111 4.1385 0.6587
and a static gain Kc , which uses as input signal the changes
in power flow on the transmission line where the STATCOM
is installed. So that: Analyzing the data shown in Table I, it follows the existence
of three oscillation modes: two stable (negative real part) and
one unstable (positive real part).
∆PGk −∆PLk −
X
(∆Pkm )−∆Ps = 0 (29) The numerical values of the frequencies shown indicate that
m ∈ Ωk
the stable modes refer to local modes, whose typical frequency
X range is 0.7 to 2,0 Hz [9]. The unstable mode corresponds to
∆QGk −∆QLk − (∆Qkm )−∆Qs = 0 (30) an oscillation inte-arrea mode (which have frequencies in the
m ∈ Ωk
range 0.2 to 0.8 Hz). To make it stable the inclusion of the
then: STATCOM in the power system is proposed.
For the simulations will be adopted fixed values for the
parameters of the controllers (Kc = 200, Tc = 0.01, Ks = 1
and Kp = 1) for the simplified model. For the enhanced
Xjk ∆(θj − θk ) + A2jk ∆Vj + (A3jk − Ak )∆Vk −
A1
− [A1km ∆(θk − θm ) + A2km ∆Vk + A3km ∆Vm )]− model were considered Kc = 200, Tc = 0.01, KΨ = 150 and
m∈Ωk TΨ = 0.01.
(ADC ∆VDC + Ac ∆c + AΨ ∆ψ) = 0
(31) B. Performance of the STATCOM – Simplified Model
R1jk ∆(θj − θk ) + R2jk ∆Vj + (R3jk − Rk )∆Vk −
X Considering step perturbation of 0.05 pu in the mechanical
− [R1km ∆(θk − θm ) + R2km ∆Vk + R3km ∆Vm ]− torque of Generator 1 (G1 in Fig. 10), new simulations
m∈Ωk were performed. The results obtained for a frequency-domain
(RDC ∆VDC + Rc ∆c + RΨ ∆ψ) = 0 analysis are listed in Table II.
(32)
TABLE II
Note that for this model of the STATCOM, both changes in E IGENVALUES – S IMPLIFIED STATCOM MODEL
the active power and reactive power are modified, differently Eigenvalues ωn (Hz) ξ Area
when the simplified model is considered. -0.1197 ± j1.3778 0.2201 0.0866 Inter-area
-0.2447 ± j6.2894 1.0017 0.0389 1
The full state system for the enhanced model can be found -0.1498 ± j5.8212 0.9268 0.0257 2
in [12].
 6

For an analysis in time-domain, the internal angular varia-
tions of generators 2, 3 and 4 (G2 , G3 and G4 in Fig. 10)
with respect to the internal angle of G1 are shown in Fig. 11.
In figures 13, 14 and 15, the internal angular variation
in Generator 3 referred to Generator 1, the variation of
the voltage magnitude in bus 8 (bus installation of the
STATCOM), and the variation of active power flow on the
transmission line between the busses 7 and 8, respectively, for
the STATCOM represented by the simplified and enhanced
models are shown.

Fig. 11. Angular variation. Simplified STATCOM model

C. Performance of the STATCOM – Enhanced Model Fig. 13. Angular variation in Generator 3 referred to Generator 1
(∆δ3 − ∆δ1 ). Simplified and enhanced STATCOM models
Simulations of the test system considering the operation
of the STATCOM represented by the enhanced model are
presented in this section. Results are presented in Table III.
TABLE III
E IGENVALUES – E NHANCED STATCOM MODEL
Eigenvalues ωn (Hz) ξ Area
-0.1341 ± j1.2118 0.1940 0.1100 Inter-area
-0.2449 ± j6.2892 1.0017 0.0389 1
-0.1506 ± j5.8209 0.9267 0.0259 2

For the analysis in time-domain, the dynamic behavior of

the generators (Generator 1 as reference for the multimachine
system) is shown in Fig.12.

Fig. 14. Variation of the voltage magnitude in bus 8 (∆V8 ). Simplified and
enhanced STATCOM models

Fig. 12. Angular variation. Enhanced STATCOM model

D. Comparison Between the Modeling of the STATCOM – Fig. 15. Variation of active power flow on the transmission line between the
Simplified and Enhanced Models busses 7 and 8 (∆P78 ). Simplified and enhanced STATCOM models

In comparing the two models of the STATCOM developed

in this work, will be adopted only reactive compensation, since To evaluate the influence of modeling the STATCOM
the simplified model only allows this behavior. FACTS device in the final values of some quantities of interest,

consider Table IV which shows the steady-state values of
the voltage magnitude of the bus where the STATCOM is
installed (∆V8 ), the internal anglular variations of generators
2 and 3 referred to Generator 1 (∆δ2 − ∆δ1 and ∆δ3 − ∆δ1 ,
respectively) and active power flow on the transmission line
between the busses 7 and 8 (∆P78 ).
TABLE IV
S TEADY- STATE VALUES : ∆V8 , ∆δ2 − ∆δ1 , ∆δ3 − ∆δ1 , AND ∆P78 –
S IMPLIFIED AND ENHANCED STATCOM MODELS
Model ΔV8 (pu) Δδ2 - Δδ1 (rad) Δδ3 - Δδ1 (rad) ΔP78 (pu)
Simplified -0.0456 -0.0160 -0.0698 0.0512
Detailed -0.0618 -0.0199 -0.0920 0.0607
Analyzing the data presented, it can be concluded that
the way the STATCOM is modeled in the electric power
system alters the final values of the magnitudes considered.
Furthermore, the enhanced model provides more deviations
for the measurements under study than the simplified model
(note that in all curves shown, those related to the enhanced
model are tending to higher steady-state values when they are
compared with the curves related to the simplified model).
By analyzing the curves shown in figures 11, 12 and 13, and
by comparing the damping rates, it is clear that the enhanced
model has a better performance with regard to introduce
damping to the electric power system, i.e., the enhanced model
is providing more damping to the test system (it is emphasized
that this statement is correct for the considered operating point
and adjustment of controllers using typical values found in the
related literature).
VII. C ONCLUSIONS
This paper presented two models for the STATCOM FACTS
device: one called “simplified” and another called “enhanced”.
These models differ in both composition and functioning of the
device. These models were used to obtain preliminary results
of the study of stability to small perturbations, which allowed
the linearization of these models.
Equating of the STATCOM FACTS device in its simpli-
fied form was developed. In this model, the STATCOM is
represented by a controllable current source connected in shunt
mode with the electric power system; due to not controlling
the phase of this current source, this model can only perform
the compensation of reactive power.
After deduction of the simplified model, a first order con-
troller for actuation in the control variable of the device (IS )
was modeled, whose input signal chosen was the variation of
active power on the transmission line between the busses in
one of which the STATCOM was connected.
Likewise, the enhanced model was developed. In this
model, the voltage magnitude entered by the FACTS device
is controllable via the ratio c, while the voltage phase is
controllable by the phase shift Ψ. Thus, the STATCOM
device can perform reactive power compensation in addition
to exchange active power with the electric power system.
After obtaining their linearized equations, the modeling of
the controllers of the control variables c and Ψ was held. These
equations were combined to the original MSP-multimachine,
7
resulting in a more complete model for the electric power
system.
In the simulations performed in a test system that proved
unstable due to an oscillation inter-area mode, the STATCOM
was intentionally installed to add damping to this mode.
Results allowed the comparison between the two models
studied and made it possible to conclude that the model
that allows both the reactive and active power compensa-
tion (enhanced model) not only adds a greater versatility to
the device, as well as increased complexity and improved
the power system performance against small perturbations,
injecting greater amount of damping torque, compared with
the simplified model.
VIII. R EFERENCES
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[10] “Power System Technology. Proceedings. POWERCON ’98
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[11] A. L. S. Pereira, “Utilização de Redes Neurais Artificiais no Ajuste
de Controladores Suplementares e Dispositivo FACTS STATCOM para a
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IX. B IOGRAPHIES
Aline Petean Pina obtained the B.Sc. and M.Sc. from Universidade Estadual
Paulista (UNESP - Ilha Solteira), in 2007 and 2010, respectively. She is
currently towards the Ph.D. degree at UNESP - Ilha Solteira, Brazil. Her
main research interest is on Small Signal Stability in Electric Power Systems.
Percival Bueno de Araujo obtained the B.Sc. degree from Universidade Es-
tadual Paulista (UNESP - Ilha Solteira), the M.Sc. degree from Universidade
Federal de Santa Catarina (UFSC) and the Ph.D. degree from Universidade
de So Paulo (USP), in 1982, 1988 and 1998, respectively. He is currently an
Assistant Professor at Electrical Engineering Department of UNESP - Ilha
Solteira, Brazil. His main research interest is on Small Signal Stability in
Electric Power Systems.