DRPT2008 6-9 April 2008 Nanjing China

Analysis of Power System Linearized Model

with STATCOM Based Damping Stabilizer
Masoud Zarringhalami , and M.A.Golkar

Abstract--Power

system stability enhancement with

STATCOM-based damping stabilizers is investigated in this
study. Previously, the power system linearized model with
STATCOM was introduced by other authors. The linearizing
method is considered in this paper. With attention to presence of
STATCOM changes operating point, so the initial coefficients
should be calculated with new operating point. In this study, The
Coordination among the STATCOM internal AC and DC voltage
controllers and AC-damping stabilizers has been taken into
consideration. This aims to enhance both rotor angle stability and
voltage regulation of the power system. The design of STATCOM
parameters is considered as an optimization problem and GA is
used for searching optimized parameters. These studies are
performed for five operating points. The influence of STATCOM
on stability is compared with eigenvalues analysis and simulation,
in two cases of without STATCOM and with STATCOM. The
nonlinear simulation results show the capability of this method
for power system dynamic stability improvement.

method has been performed on coordination between internal

AC and DC voltage controllers [5]. In this study, to improve
power system dynamic stability and voltage regulation,
coordination among AC-damping stabilizer and internal AC
and DC voltage controller of STATCOM are performed. The
studies are performed on a single machine infinite-bus power
system. From power system linearized model is used for the
studies [6]. The parameters design is considered as an
optimization problem and the genetic algorithm is used for
searching optimized parameters. The parameters should be
designed so that the eigenvalues of system move to the left part
of the j axis as much as possible. The participation factors
method is used for identifying of modes type. The eigenvalues
analysis and the nonlinear simulation results show the
importance of the parameters design for dynamic stability
improvement of the system.

II. POWER SYSTEM MODEL

Index Terms-- Dynamic Stability, Optimization, Genetic

Algorithm, STATCOM

I. INTRODUCTION

owadays, low frequency oscillations have become the

main problem for power system small signal stability.
They restrict the steady-state power transfer limits, which
therefore affects operational system economics and security.
Using PSS create change in oscillation stability. To increase
power system oscillation stability, the installation of
supplementary excitation control, power system stabilizer
(PSS), is a simple, effective and economical method [1]. The
recent advances in power electronics have led to the
development of the flexible alternating current transmission
systems (FACTS).These devices in addition to main control
duties similar to voltage regulation and reactive power
injection should be able to damp power oscillations. From the
power system dynamic stability viewpoint, the STATCOM
provides better damping characteristics than the SVC as it is
able to transiently exchange active power with the system, so it
can improve oscillation stability better than SVC [2]. The
method of phase compensation [3] and damping torque
analysis method [4] are conventional methods for design and
control of power system stabilizers. Also multivariable design
The authors are with Electrical Engineering K.N.Toosi University of
Technology,Tehran,Iran ( e-mail: [email protected] ;
[email protected] ).

978-7-900714-13-8/08/ 2008DRPT

The power system is represented by a single machine

infinite-bus system. The system has an installed STATCOM in
transmission line as shown in Fig.1.The STATCOM is used at
the middle point in transmission line for voltage regulation and
power oscillations damping. The system is modeled for low
frequency oscillations studies and the linearized power System
model is used for this purpose.

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

A. Generator
The generator is represented by the third-order model
comprising of the electromechanical swing equation and the

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DRPT2008 6-9 April 2008 Nanjing China

generator internal voltage equation. Swing equations can be

expressed as:
 = b
 = (Pm Pe D ) M
(1)
E = ( E + E ) T
q

fd

do

B. Exciter
The IEEE Type-ST1 excitation system is considered in this
work. It can be described as:
1
K
(2)
E fd = E fd + A (Vto Vt )
TA
TA
In equations (1) and (2): Pe , Eq and Vt are related by the
following equations:
Eq = Eq + (xd xd )I tLd
Vt =

(3)

tLd

exciter respectively; Vto is the reference voltage. The terminal

voltage Vt can be expressed as:

Vtd = x q I tLq

Solving the above equation for I DC gives:

I DC = c( I Lod cos + I Loq sin )

(7 )

Where, CDC is the capacitor voltage,

q tLq

Where, K A and TA are the gain and time constant of the

Vt 2 = Vtd2 + Vtq2

(6)

c
VDC =
( I Lod cos + I Loq sin )
CDC

(E x I ) + (x I )
q

VDC I DC = real(Vo I Lo ) = real{cVDC (cos + j sin )( I Lod jI Loq )}

With attention to (7) and the equation between voltage and

current of capacitor, we have:

Pe = Eq I tLq + (xq xd )I tLd I tLq

2

AC voltage Vo , the active and reactive power exchange

between the STATCOM and the power system can be
controlled. Capacitor voltage dynamic has big influences on
power system, so capacitor voltage dynamic should be
considered. If converter is assumed to be lossless, the
exchanged active power between converter and system is equal
to the active power that exchange among capacitor and
converter ( PDC = PAC ). So with these assumptions the
relationship between voltage and current of capacitor, it can be
expressed as:

(8)
I DC is the capacitor

current and I Lod , I Loq are d and q axis of STATCOM current.

From (8) is used in part IV for modeling of capacitor voltage
dynamic on the Heffron-Phillips modified model.
C.1. STATCOM control system
As shown in Fig.1, the converter and step down transformer
in STATCOM can be modeled with a voltage source and a
reactance for an operating point. Changing modulation ratio
can change the amplitude of the output voltage of converter
and so the active power absorbed by the system. By changing
the converter voltage angle, reactive power exchanging with
system can be controlled. In this study, the P-I controllers are
used for voltage regulation.

(4)

Vtq = E q x d I tLd

C. STATCOM
As shown in Fig.1, The STATCOM consists of a three
phase gate turn-off (GTO) based voltage source converter
(VSC) and a DC capacitor. The STATCOM model used in this
study is founded well enough for the low frequency oscillation i. Terminal voltage controller
AC voltage controller regulates the voltage of terminal
stability problem. The STATCOM is installed through a stepdown transformer with a leakage reactance of X SDT . The according to requested reference that it accomplishes through
voltage difference across the reactance produces active and changing of converter output voltage magnitude. uc is input
reactive power exchange between the STATCOM and the signal for auxiliary damping stabilizer. The terminal voltage
transmission network. The STATCOM is one of the important controller is introduced in Fig.2.The proposed damping
FACTS devices and can be used for dynamic compensation of stabilizer of STATCOM is shown in Fig. 3. This stabilizer has
power systems to provide voltage support and stability a structure similar to PSS. In this stabilizer and U c are the
improvement. The VSC generates a controllable AC voltage stabilizer input and output signals respectively. This stabilizer
given by:
is used to create an additional damping signal for STATCOM.
(5)
VO = cVDC = cVDC (cos + j sin )
max
VL
uVAC
c0
Converter dynamic
PI controller
For PWM inverter c = mk , where m is the modulation ratio
ref
+
VL +
KF
c +
KI
c
defined by pulse width modulation (PWM), k is the ratio
KPAC + AC
1
+
sT
s

F
between the AC and DC voltage depending on the converter
min
uc
uVAC
structure. VDC is the DC voltage, and is the phase defined by
PWM. The magnitude and the phase of Vo can be controlled
through m and respectively. By adjusting the STATCOM

Fig. 2. AC voltage controller

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DRPT2008 6-9 April 2008 Nanjing China

sTW
1 + sTW

1 + sT1c
1 + sT2 c

K cAC

point. In the design of stabilizer parameters, the linearized

model around operating point is usually employed. With
linearizing (3) and using (11), (12),(14) and (15), the
differential equations (16) can be calculated:

umax
c

lead / lag Compensator

Gain

1 + sT3c
1 + sT4c

u c
umin
c

Fig. 3. AC-damping stabilizer

Pe = K1 + K 2Eq + K pDCVDC + K pc c + K p

ii. Capacitor voltage controller

The inner DC voltage controller regulates the voltage of
capacitor. The converter phase angle is calculated according to
capacitor voltage of reference with capacitor voltage. The
capacitor voltage controller is introduced in Fig.4.
VDC

PI controller

Converter dynamic

K F
1 + sTF

KI
KPDC + DC
s

ref
VDC

max
uVDC

0
+

Fig. 4. Capacitor voltage controller

III. LINEARIZED MODEL

A. Currents Calculation
For creating power system linearized model should be
calculated the output currents of Generator and STATCOM. In
here, the output currents of Generator and STATCOM are
calculated respectively:
i. Generator Current : With attention to Fig.1 , It can be
written :
V jxtL I tL VO
VL VO
= I tL t
jx SDT
jx SDT

(9)

(10 )

V t = jx tL I tL + jx LB I LB + V B

The generator current ( I tL ), in d-q is expressed as:

I tLd

x
1 + LB

x SDT

x
Eq VB cos LB cV DC sin

xSDT

x
x
xtL + x LB + xtL LB + 1 + LB xd
xSDT
xSDT

x LB
cVDC cos
xSDT
=

x
x
xtL + xLB + xtL LB + 1 + LB
xSDT
xSDT
VB sin +

I tLq

xq

Vt = K5 + K6 Eq + KvDCVDC + Kvcc + Kv
VDC = K7 + K8 Eq + K9 VDC + Kdc c + Kd

With using equations (16) and to considerate, inputs

( TM , Vref ) and converter controller signals ( c , ), the
state equation of power system can be extended to form of
below:

min
uVDC

I LB = I tL I LO = I tL

(11)

(12 )

 K1

M

K
E = 4
q

Tdpo
E fd K A K 5
V
DC
TA

K7
0

+ 0

KA
TA
0

0
1
M
0
0
0

0
K pc

M
K qc

Tdpo
K K
A vc
TA
K dc

0
K2
M
K
3

Tdpo
K AK6

TA
K8

D
M

0
0
0

0
0
1

Tdpo
1

TA
0

K pDC

M
K qDC

E q
M
E
fd

K K
A vDC V
DC
TA

K9

Vt jxtL I tL VO
jxSDT

K p

M Vref
K q T

m
c
Tdpo

K A K v

TA
K d

Using vector representation, the above equation can be written

as: x = Ax + Bu
The system has 5 state variables. 4 new state variables are
added to system with consideration of STATCOM controllers.
Three new state variables are added to the system with
consideration of damping stabilizer of STATCOM, so the
system has 12 state variables totally. The AC damping
stabilizer and STATCOM internal controller parameters should
be designed so that the eigenvalues of system move to the left
part of the j axis as much as possible and the small signal
stability of system has been improved. In Table I the related
state variables of power system is introduced.

(13)

The STATCOM current ( I Lo ), in d-q reference is

expressed as:
I LOd =
I LOq =

Eq
xSDT

xd + xtL
cV sin
I tLd DC
xSDT
xSDT

cVDC cos xq + xtL

I tLq
xSDT
xSDT

(14 )
(15)

B. Heffron-Phillips Modified Model

The power system linearized model with STATCOM is
introduced in Fig.5. The operating point of system changes
with STATCOM connection to power system. Accordingly in
this state, the model should be linearized in new operating

(17 )

ii. STATCOM Current : With attention in Fig.1 , the I Lo

can be calculated to this form :
I LO =

(16)

Eq = K4 + K3Eq + KqDCVDC + Kqc c + Kq

Fig. 5.The Power System Linearized Model with STATCOM

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DRPT2008 6-9 April 2008 Nanjing China

IV. PROBLEM FORMULATION

TABLE I
CLASSIFFICATION OF SYSTEM STATE VARIABLES
The State variables :

x = Ax x + B x u

Generator and Exciter

x1 =

Capacitor Dynamic
STATCOM Internal Voltage
Controllers
AC Damping Stabilizer

x 2 = [V DC ]

E q

E fd

A. Objective Function
The objective function consists of two individual objective
functions with weighed coefficients. The advantage of this
function is consideration of all modes in stability evaluation. In
other word, it can move the eigenvalues to the left part of j
axis with parameters optimization. Also, the damping of
oscillation mode can be increased. Flowchart of the proposed
objective function is introduced in Fig.7. The objective
function can be expressed in 3 parts:

x4 = [xc1

xc 2 uc ]

x = [x1

Total of State Variables

x 3 = x c

x 2

x 4 ]121

x3

C. Initial Conditions Calculation

Considering the operating point of system, the initial
conditions can be calculated. Initial conditions are used for
calculating the coefficients of the Heffron-Phillips modified
model. In this study is used power flow for calculation of
initial conditions [7]. MATLAB program is used for the initial
conditions calculation [8]. In here the generator bus is
considered as a PV bus. These studies are performed for 5
operating points. The studies are performed without
STATCOM and with STATCOM in 5 operating points. The
amount of Q in each operating point is calculated with Power
Flow program. The considered operating point and the results
of power flow have been shown in Table II. Also the calculated
initial conditions with STATCOM are shown in Fig.6.

( 1 > 2 ). If ith eigenvalue of system became as an

electromechanical
mode,
the
coefficient K = 1 and
else K = 2 . The K is a weight coefficient that is used in part
of ii and iii for Objective Function.
ii.In the second part, the real parts of eigenvalues are evaluated.
The area in the left j axis is divided to n1 vertical parallel
bands. The amount of n1 is calculated with (18). In
here a1 = 0 , b1 = 5 and S = 0.1 are supposed. So if the real
part of eigenvalues become more negative with parameters
changing, the amount of J 1 can be increased more.
1

Calculated Initial Conditions

1.6
Vtd

Vtq

ItLd

ItLq

E'q

delta

1.4

1.347

1.2
1.1342

1
Value (PU)

i.In the first part, two coefficients 1 and 2 are defined

1.0189

1.0078
0.97314

1.0018
0.99293

1.0877

0.98152

0.94427

0.89942
0.86449

0.83614

0.8

iii.In the third part, the damping ratios of eigenvalues are

evaluated. Like to second part, the left area j axis is
divided to n2 radial part. The amount of n2 is calculated with

(18).In here a2 = 0 , b2 = 2 and S 2 = 0.01 are supposed. To

limit maximum overshoot, the parameters of the stabilizer
may be selected with evaluation of J 2 .

0.69741
0.62166

0.6

0.54864

0.4

0.38371

0.2

0.23023

0.11872

0.11553

ni =

0.373

0.32918
0.23908
0.19787

0.62253

0.50894

0.47289

3
Operating Point

Fig.6. Calculated Initial Conditions in Operating Points (with STATCOM)

TABLE II
POWER FLOW RESULTS WITHOUT STATCOM AND WITH STATCOM
Operating Point
Parameters

1
0.2

1
0.4

1
0.6

1.05
0.8

1.15
1

Qt (Without STATCOM )

0.012

0.048

0.112

0.281

0.569

Qt (With STATCOM )

0.006

0.024

0.054

0.267

0.708

Vo (With STATCOM )

1.002

1.007

1.016

1.003

0.967

(With STATCOM )rad

0.061

0.120

0.181

0.242

0.304

Vt
Pt

i = 1,2

(18 )

0.37352

0.24892

0.029708

bi ai
si

iv. The single objective problem described maybe converted to

a multiple objective problem by assigning distinct weights to
each objective [9]. With attention to flowchart in Fig.7 the
objective function consists of two individual objective
functions with weighted coefficient w, so a unified objective
Function J is created. . The parameters of stabilizer may be
selected to minimize the following objective function :
J = ( J 1 + wJ 2 )

(19)

In Fig.8 the considered area for eigenvalues evaluation by

objective function has been shown. As shown in Fig.8 the left
area of j axis is divided to small areas. With this
procedure we can allocate a mark for each eigenvalue with
attention to its place in j plane. So the objective function
can evaluate stability easily.

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C. Electromechanical Mode Identification

The state equations of the linearized model can be used for
eigenvalues calculation of matrix A. Out of these eigenvalues,
there is a mode of oscillation related to machine inertia. To
ensure an effective operation of the stabilizers, it is extremely
important to identify the eigenvalues associated with the
electromechanical mode. In this study, the participation factors
method [10] is used.
D. Genetic Algorithm
The genetic algorithm is used for optimization of system
parameters. This algorithm has been programmed in MATLAB
software based on continuous search algorithm [11]. The
algorithm considers many search points simultaneously, so the
probability of converging to local minimums is decreased. For
all of operating points the Generation and Population are
considered, 50 and 1000 respectively. Also Crossover and
Mutation are considered, 0.6 and 0.02 respectively.
V. RESULT AND DISCUSSION
A. Setting of Parameters
In papers the analysis and assessment of STATCOM for
power system stability has been studied [12]. In here the
coordinated design of AC-damping stabilizer and internal PI
voltage controllers of STATCOM is performed and the results
illustrate that the power system stability have been improved.
The proposed approach has been implemented on a weakly
connected power system as shown in Fig.1. The detailed data
of the power system used in this study is given in Appendix.
With attention to block diagram in Fig.4, the damping
stabilizer has 6 parameters. The parameters of T2 c and T4 c are

Fig.7 .Flow chart of proposed Objective Function

considered equal to 10 and only T1c , T3 c and K cAC are

optimized. The STATCOM internal AC and DC voltage
controllers have 6 parameters. The parameters of K F and TF
have been supposed before and only 4 parameters are
optimized in the STATCOM internal AC and DC voltage
controllers. In this study, design of AC damping stabilizer and
the STATCOM voltage controller parameters is accomplished
in coordinated form. The final setting of the optimized
parameters for five operating points has been given in Table
III. The eigenvalues of electromechanical oscillation mode for
each operating point have been shown in Table IV.

Fig.8.The S-plane divided regions via objective Function

TABLE III
OPTIMAL PARAMETER SETTING

B. Optimization Problem
In this study, the proposed objective function J is minimized.
The problem constraints are the stabilizer optimized parameter
bounds. Therefore, the design problem can be formulated as
the following optimization problem:
Minimize {J } :

(20 )

Operating Point
Parameters

KPDC
KI DC

K cAC

4.26
86.68
7.51
45.77
4.73

4.03
69.48
13.59
76.42
8.34

3.73
43.17
4.89
34.52
11.21

3.51
22.39
3.82
32.51
7.39

3.69
42.52
5.20
40.56
8.79

T1c

2.91

1.32

1.25

3.73

2.35

T3 c

4.93

6.45

7.89

1.33

9.23

KPAC
KI AC

K xmin K x K xmax
min
max
Tx Tx Tx

The proposed approach employs genetic algorithm to solve this

optimization problem and search for optimal set of STATCOM
parameters.
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TABLE IV
EIGENVALUES OF SYSTEM
Without STATCOM
Operating
Point
1
2
3
4
5

Oscillation
Mode (EM)
-0.166 7.249i
-0.161 7.271i
-0.142 7.242i
-0.115 7.419i
-0.098 7.812i

0.023
0.022
0.019
0.015
0.012

With STATCOM
Oscillation
Mode (EM)
-0.770 7.535i
-0.818 6.531i
-1.004 4.732i
-1.261 3.012i
-1.267 2.072i

0.102
0.124
0.207
0.386
0.522

B. Nonlinear Simulation Results

Nonlinear simulation has been used for checking the design
accuracy. This work has been accomplished with a disturbance
creation in system. In here, a 10% pulse disturbance in input
mechanical torque is considered. The simulation time equal to
5 seconds is considered. The results in two cases, Without
STATCOM and with STATCOM for five operating points
have been shown in Fig.9 to Fig.16.
Case i. Without STATCOM: The time responses of variables
( , Vt and Pe ) for a disturbance in mechanical torque
have been introduced in Fig.9 to Fig.11. In here, with attention
to Table IV, the amounts of (damping ratio) and
electromechanical oscillation frequency can be calculated. For
example in last operating point the oscillation frequency is
equal to 1.243 Hz and is equal to 0.012. Also we observe
with increase in output active power generator (changing
operating point), the amount of is decreased. Because
amount of power angle is increased with active power
increasing .So Power System stability is decreased.
Case ii. With STATCOM: The system response ( , ,
Vt , VDC and Pe ) for a Pulse disturbance in mechanical
torque have been introduced in Fig.12 to Fig.16. In here, like to
previous case, with attention to Table IV, the amounts of
(damping ratio) and electromechanical oscillations frequency
can be calculated. For example in last operating point the
oscillation frequency is equal to 0.329 Hz and is equal to
0.522. In comparison to case of without STATCOM, we can
observe the amount of is increased and oscillation frequency
is decreased. So the STATCOM increases power system
stability, but the oscillation frequency is changed with
STATCOM. Also we can observe with increase in output
active power generator, the amount of is increased because
the amount of power angle has been increased with increase of
active power .But the STATCOM can control the amount of
output reactive power of generator. So in this case with
attention to increase of power angle the amount of generator
output reactive power is controlled with STATCOM. In result,
the dynamic stability is improved. These results with
comparison two cases can be observed.

Fig.9. Time response of

Fig.10. Time response of Vt

Fig.11. Time response of Pe

Fig.12. Time response of

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DRPT2008 6-9 April 2008 Nanjing China

VI. CONCLUSION
In this study, the coordination among STATCOM internal
AC and DC voltage controller and AC-damping stabilizer was
presented and discussed for power system dynamic stability
improvement. The design problem was formulated as an
optimization problem and the GA was used for searching
optimized parameters. The results of coordinated design show
dynamic stability improvement. Also In second case with
nonlinear simulation has been shown that the oscillations are
damped properly.
VII. APPENDIX
Fig.13. Time response of

TABLE V
THE POWER SYSTEM DATA RELATING TO FIG.1
POWER SYSTEM
GENERATOR

EXCITER

LINE

Tdo

xd

xd

xq

KA

TA

xtL

x LB

5.044

0.3

0.6

10

0.1

0.3

0.3

STATCOM
CAPACITOR,TRANSFORMER

CDC VDC
1

X SDT

0.15

Power flow

CONVERTER

KF
1

TF
0.05

STABILIZER

TW
5

T2c

T4c

10

10

VIII. REFERENCES
Fig.14. Time response of Vt

Fig.15. Time response of Pe

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[8] Y.N.Yu , "Electric Power System Dynamics", Chapter 3 , Academic
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[1]

Fig.16. Time response of VDC

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