American Journal of Scientific Research

ISSN 1450-223X Issue 39(2011), pp. 55-65

EuroJournals Publishing, Inc. 2011
http://www.eurojournals.com/ajsr.htm



Power System Stability Improvement using a PSO-Based
Coordinated Design of IPFC and PSS


Amin Safari
Young Researchers Club, Ahar Branch
Islamic Azad University, Ahar, Iran
E-mail: asafari1650@yahoo.com
Tel: +98-4262235438; Fax: +98-4262235438

Navid Rezaei
Electrical Engineering Department
Iran University of Science and Technology, Tehran, Iran
E-mail: navidrezaei66@yahoo.com

Elnaz Mazloumi
Young Researchers Club, Ahar Branch
Islamic Azad University, Ahar, Iran
E-mail: elnaz_mazloumi_69@yahoo.com


Abstract

In this paper, in order to overcome the problem of interactions between different
power system stabilizers like Power System Stabilizers (PSSs) and Flexible AC
Transmission System (FACTS) devices, a simultaneous design of PSS and Interline Power
Flow Controller (IPFC) is investigated. The Particle Swarm Optimization algorithm is
employed to optimize the stabilizers in a single machine power system which is modulated
by the Heffron-Phillips model. Tuning the proposed damping controller parameters is
performed under various operating conditions and due to a severe disturbance. The non-
linear time domain simulation is applied to evaluated the efficiency of the optimization
procedure. The robustness of the proposed approach is verified by the ITAE performance
index. The results of this study show that the simultaneous designed stabilizers are superior
to other individual controller designs in damping power system oscillatory modes.


Keywords: Power System Stabilizer (PSS), Interline Power Flow Controller (IPFC),
Power System Damping, Particle Swarm Optimization (PSO).

1. Introduction
Modern power systems are interconnected large nonlinear systems that have some inherent
electromechanical oscillatory modes with light damping. These electromechanical oscillations which
are usually low frequency swings, in the range of 0.1 to 3 Hz, may have some disruptive effects on the
power system operation such as limitation the system power transfer capability, endangering the
system security, interruption of connected areas or even black-out in parts of the system. Thus an on-
time and robust control scheme to these oscillations seems to be necessary. Traditionally, extension of
Power System Stability Improvement using a PSO-Based Coordinated Design of IPFC and PSS 56

damping margins of power systems is exerted by Power System Stabilizers (PSSs). PSSs provide the
supplementary control signals for AVR and the turbine regulatory system. However, PSSs suffer a
drawback of being liable to cause great variations in the voltage profile and they may even result in
leading power factor operation and losing system stability under severe disturbances, especially those
three-phase faults which may occur at the generator terminals (Machowski, 1997 and Padiyar, 2008).
In recent years, considering the fast development in power-electronics, FACTS devices meet this
opportunity to be applied in power systems for improving the power system controllability limits. In
1999, (Gyugyi et al., 1999) proposed Inter-line Power Flow Controller (IPFC) as one of the most
powerful and versatile FACTS devices, in which two or more Voltage Source Converter (VSC) are
utilized to manage power flow and voltage control, enhance the transient or oscillatory stability
margins, etc. When the IPFC is applied to the interconnected power systems, it can also provide
significant damping effect on tie line power oscillation through its supplementary control (Gyugyi et
al., 1999). There are different modeling methods for IPFC considering the research purpose in
literature, such as Heffron-Phillips (Kazemi, 2006), energy function (Azeb, 2009), power injection
(Vasquez-Arnez, 2008), etc. The most suitable model for single machine stability analysis, is the
Heffron-Phillips modeling.
However, the impact of individual FACTS controllers on control center operations might be
marginal in some cases (Ramirez, 2002). Thus, applying a supplementary controller to boost the
FACTSs injection signal cause better performance. On the other hand, FACTS devices and PSSs are
both fast acting power system devices, and they may be deteriorative to expected system performance,
because of their potentials of interaction with each other, especially in the clearance of a critical fault
(Shayeghi, 2010). Thus, in recent years, many researchers focus on simultaneous tuning of PSSs and
various types of FACTS devices such as SVC (Abido, 2003), TCSC (Abdel-Magid, 2004), STATCOM
(Ramirez, 2004), and UPFC (Nguyen, 2007) to improve the overall system performance. However, in
the literature, a little works have done to investigate the simultaneous design of IPFC and PSS to
increase damping of power systems. To have a robust and exhaustive control scheme considering to the
continuing changes in system operation points, various optimization methods are applied to select the
optimal damping controller parameters from gradient to meta-heuristic algorithms. The PSO is a novel
population based meta-heuristic, which utilize the swarm intelligence between the particles in a swarm
and has emerged as a useful tool for the optimization. This algorithm has also been found to be robust
in solving problems featuring non-linearity, non-differentiability and high-dimensionality (Del Valle,
2008 and Shi, 2008).
In this paper, the optimal decentralized design of a supplementary lead-lag controller of the
IPFC is investigated. The problem of the simultaneous controller design is formulated as an
optimization problem and PSO technique is used to solve it. A performance index is defined based on
the system dynamics after an impulse disturbance alternately occurs in system and it is organized for a
wide range of operating conditions and used to form the objective function of the design problem. The
effectiveness of the coordinated controller is demonstrated through the nonlinear time simulation
studies and the Integral time multiplied Absolute value of Error (ITAE) performance index to damp the
low frequency oscillations under different operating conditions. In this study, the suprior effect of the
simultaneous tunning of PSS and IPFC comparing to the individual design is proved.


2. Review of the PSO Technique
In the last decades, due to the intrinsic problems of gradient based methods such as stucking in local
optima, inefficiency in face with integer or discrete design variables and interdependency to the
convexity nature of the objective functions, application of meta-heuristic optimization techniques have
been grown dramatically. In 1995, Kennedy and Eberhart, presented a multi-agent general meta-
heuristic method based on the swarm intelligence which is called Particle Swarm Optimization
algorithm. In other words, PSO is a nature-inspired stochastic search algorithm, that can provide a
near-optimal solution in a reasonable time. This search algorithm is based on the knowledge gained by
57 Amin Safari, Navid Rezaei and Elnaz Mazloumi

both the swarm and each individual, called a particle. Each particle in the swarm, represents a
candidate solution of the optimum design problem (Del Valle, 2008). The most important features of
the PSO algorithm are easy implementation, fewer adjustable parameters, suitable for the nature of the
problem, efficiency in maintaining the diversity of the swarm for improvement of the particle
information and simplicity and easy to coded. Another advantage of PSO is that the initial population
is maintained and so there is no need for applying operators to the population, thus the optimization
process is time and memory-storage-consuming. In addition, PSO is based on constructive cooperation
between particles, in contrast with the genetic algorithms, which are based on the survival of the fittest
(Eberhart, 1995 and Shi, 2008). In other words, the PSO technique can be used to solve many of the
same kinds of problems as GA, and does not suffer from some of the GAs difficulties.
The PSO is initialized with a group of random particles and searches for the optimal point by
updating generations. In each iteration, particles are updated by the best values of itself and the
swarms. The ith particle is represented by X
i
= (x
i1
,x
i2
, . . . ,x
iD
). Each particle keeps track of its
coordinates in hyperspace, which are associated with the fittest solution it has achieved so far. The
value of the fitness for particle i (pbest) is also stored as P
i
= (p
i1
, p
i2
, . . . ,p
iD
). The global version of
the PSO keeps track of the overall best value (gbest), and its location, obtained thus far by any particle
in the population. The PSO consists of, at each step, changing the velocity of each particle toward its
pbest and gbest according to Eq. (1). The velocity of particle i is represented as V
i
= (v
i1
, v
i2
. . . v
iD
). The
position of the ith particle is then updated according to Eq. (2) (Del Valle, 2008).
1 1 2 2
( 1) ( ) ( ( ) ( )) ( ( ) ( ))
id id id id gd id
v t v t c rand P t x t c rand P t x t + = + + (1)
( 1) ( ) ( 1) x t x t v t + = + +

(2)
Where, P
id
and P
gd
are pbest and gbest. In the PSO, the trade off between the local and global
exploration abilities is mainly controlled by inertia weights (). The inertia weight which is formulated
as in Eq. (3) varies linearly from 0.9 to 0.4 during the run (Del Valle, 2008).
max
min
.
max
max
iter
iter


(
=
(
(

(3)
Where,
max
is the initial value of the inertia weight,
min
is the final value of the inertia weight,
iter
max
is the maximum iteration number and iter is the current iteration number. Figure 1 shows the
flowchart of the PSO algorithm.

Figure 1: Flowchart of the proposed PSO technique


Evaluate the fitness of each particle

Optimal value of the damping controller parameters

Satisfying stopping
criterion

Update pbest and gbest

End

Start

Select parameters of PSO: N, c
1
, c
2
, c and

Generate the randomly positions and
velocities of particles
Initialize, pbest with a copy of the position
for particle, determine gbest

Update velocities and positions according to
Eqs. (1)

No

Yes


Power System Stability Improvement using a PSO-Based Coordinated Design of IPFC and PSS 58

3. Power System Modeling
3.1. Dynamic Model of Power System with IPFC
The IPFC consists of two series coupled transformers to each transmission lines, two three-phase GTO
based Voltage Source Converters (VSCs), and a DC link capacitor. The control parameters of each
IPFCs branch are the magnitude and the angle of series injected voltage, i.e., m
1
, m
2
,
1
, and
2
,
respectively (Kazemi, 2006). Consequently, by changing these parameters other system parameters
such as bus voltages, active and reactive power flows, could be controlled. For an IPFC to perform
properly, the active power injected by a VSC in the first branch equals the active power injected by a
VSC in the second branch, but in opposite direction (Azeb, 2009). Figure 2 shows a SMIB power
system equipped with an IPFC. The synchronous generator is also utilized a PSS. The system data are
given in the Appendix.

Figure 2: SMIB power system equipped with IPFC and PSS

2 2
m
1 1
m


Fig. 2. shows a SMIB power system equipped with an IPFC. The synchronous generator is
delivering power to the infinite-bus through a double circuit transmission line and an IPFC. By
applying the Parks transformation and neglecting the resistance and transients of the transformers, the
IPFCs dynamic model in order to study the small-signal stability of a power system can be modeled as
following [4]:
0 ( cos ) / 2
, 1, 2
0 ( sin ) / 2
injkd kd tk k dc k
injkq kq tk k dc k
V i x m V
k
V i x m V

( ( ( (
= + =
( ( ( (

(4)
2
1
3 / 4 .( cos sin )
dc k dc kd k kq k
k
V m C i i
=
= +

(5)
Where, v
inj1
, i
1
, v
inj2
, and i
2
are the voltage of the transformer of line 1, current of line 1, voltage
of the transformer of line 2 and the current of line 2, respectively; C
dc
and v
dc
are the DC link
capacitance and voltage. The nonlinear model of the SMIB system as shown in Fig. 2. is described by
[4]:
0
( 1) =

(6)
[ ( 1)] /
m e
P P D M =
(7)
/
q fd q do
E E E T =

(8)
The IEEE Type-ST1 excitation system represented in Fig. 3. is considered in this study. It can
be described as:
( ) /
fd A ref t PSS fd A
E K V V u E T =

(9)
From Fig. 2. it can be written that:
59 Amin Safari, Navid Rezaei and Elnaz Mazloumi

min max
;
sei s ei sei i
V V V
(10)
Where, i = 1, 2; and
min
sei
V ,
max
sei
V are the minimal and maximal voltage limits of
sei
V ,
respectively. The series-injected voltages by VSCs and the corresponding currents in the branches in d-
q coordinates are obtained as follows:
1 1 1 1 1
1 1 1 1 1
2 2 2 2 2
2 2 2 2 2
0.5 cos
0.5 sin
0.5 cos
0.5 sin
se d t q dc
se q t d dc
se d t q dc
se q t d dc
V x I V m
V x I V m
V x I V m
V x I V m

= +
= +
= +
= +
(11)
1 11 12 11 2 2 12 1 1 11
1 11 12 2 2 12 1 1 11
2 21 22 21 2 2 22 1 1 21
1 21
0.5( ) sin 0.5 sin cos
0.5( ) cos 0.5 cos sin
0.5( ) sin 0.5 sin cos
0.5(
d d q d d dc d dc d b
q q q dc q dc q b
d d q d d dc d dc d b
q q
i x E x x V m x V m x V
i x x V m x V m x V
i x E x x V m x V m x V
i x



= +
= + +
= +
= +
22 2 2 22 1 1 21
) cos 0.5 cos sin
q dc q dc q b
x V m x V m x V +
(12)
Where:
2 2 1 1 2 2
2 2 1 1 2 2
11 2 2 12 2 2
21 1 1 22
11 2 2 12
[( )( ) ( )( )]
[( )( ) ( )( )]
( ) / , ( ) /
( ) / , ( ) /
( ) / , (
B d t t L t L d t t L
P d t t L t L d t t L
d t L B d d t t L B
d t L B d d t B
q t L P q
X x x x x x x x x x x
X x x x x x x x x x x
x x x X x x x x x X
x x x X x x x X
x x x X x
= + + + + + + +
= + + + + + + +
= + = + + +
= + = +
= + =
2 2
21 1 1 22
) /
( ) / , ( ) /
d t t L P
q t L P q d t P
x x x x X
x x x X x x x X
+ + +
= + = +
(13)
2 2
1 2 1 2
; ( )
; ;
;
e td td tq tq q q d d td
td q tq tq q d td t td tq
td d d tq q q
P V I V I E E x x I
V x I V E x I V V V
I i i I i i
= + = +
= = = +
= + = +
(14)
and i
t
and v
b
, are the armature current and infinite bus voltage, respectively. From the above equations,
we can obtain: the x
t
, x
t1
, x
t2
, x
d
, x
'
d
and x
q
which are the power transformer reactances, the inserting
transformers 1 and 2 reactance's, d-axis reactance, d-axis transient reactance, and q-axis reactance,
respectively.

3.2. Power System Linearized Heffron-Phillips Model
The linearized Heffron-Phillips model of power system as shown in Figure 2 is given as follows:
o
=

(15)
( ) /
e
P D M = + (16)
/
q fd q do
E E E T =

(17)
( ) /
fd A ref t fd A
E K V V E T =

(18)
1 2 1 1 1 1 2 2 2 2 e q pd dc pm p pm p
P K K E K V K m K K m K

= + + + + + + (19)
4 3 1 1 1 1 2 2 2 2 q q qd dc qm q qm q
E K K E K V K m K K m K

= + + + + + + (20)
5 6 1 1 1 1 2 2 2 2 t q pv dc vm v vm v
V K K E K V K m K K m K

= + + + + + + (21)
7 8 9 1 1 1 1 2 2 2 2 dc q dc cm c cm c
V K K E K V K m K K m K

= + + + + +

(22)
Where, K
1
, K
2
K
9
, K
pv
,K
qv
and K
vv
are the linearization constants and:
Power System Stability Improvement using a PSO-Based Coordinated Design of IPFC and PSS 60

1 1 2 2 1 1 2 2
1 1 2 2 1 1 2 2
[ ]; [ ];
[ ]; [ ];
p pm p pm p q qm q qm q
v vm v vm v c cm c cm c
K K K K K K K K K K
K K K K K K K K K K


= =
= =
(23)
The block diagram of the linearized dynamic model of the SMIB power system with IPFC is
shown in Figure 3.

Figure 3: The block diagram of the IPFC Heffron-Phillips model

1
K
2
K 4
K
5
K
6
K
8
K
7
K
p
K
c
K
v
K
q
K
qv
K
pv
K
vv
K
D Ms +
1
9
1
K s +
A
A
sT
K
+ 1
do
T s K +
3
1
ref
V
e
P
m
P
dc
V
U
+
+
+
+
+
+
+
+
+
+

s
0

q
E


3.3. IPFC and PSS Based Damping Controllers
The damping controller produces an electrical torque in phase with the speed deviation ,
considering as the input for the damping controller, to improve damping low frequency oscillations.
The four control parameters of the IPFC (m
1
, m
2
,
1
and
2
) can be modulated in order to produce the
damping torque. In this paper only m
1
is modulated in order to simultaneous design with the PSS
damping controller. The structure of the IPFC and PSS based damping controllers (Gyugyi et al., 1999)
are shown in Figure 4 and Figure 5 respectively.
They comprise gain block, signal-washout block and lead-lag compensator. The parameters of
the damping controller are obtained using PSO algorithm.

Figure 4: The damping controller of IPFC

|
|

\
|
+
+
|
|

\
|
+
+
+
4
3
2
1
1
1
1
1
1 ST
ST
ST
ST
ST
ST
K
W
W
S
S
ST
K
+ 1

ref
U


61 Amin Safari, Navid Rezaei and Elnaz Mazloumi

Figure 5: The damping controller of PSS

|
|

\
|
+
+
|
|

\
|
+
+
+
pss
pss
pss
pss
W
W
pss
ST
ST
ST
ST
ST
ST
K
4
3
2
1
1
1
1
1
1
A
A
ST
K
+ 1

fd
E
PSS
U
ref
V
t
V



4. Problem Formulation
The four control signals of the IPFC can be modulated in order to produce the damping torque.
However, in this study we consider only the m
1
control signal in order to the coordinated design. The
parameters of the both PSS and IPFC lead-lag damping controllers are obtained using PSO algorithm.
Thus, we employed PSO algorithm to determine the optimal parameters of the controllers and use a
performance index based on the system dynamics in the power system to form an objective function of
the designed problem. In this paper, the objective function is an Integral of Square value of the Error
(ISE) and is defined as follows (Ramirez, 2004):
2 2
1
0
( )
tsim
NP
i ti
i
J V dt
=
= +

(24)
In Eq. (24), NP

is the total number of operating points to carry out the optimization, t
sim
is the
time range of simulation and is the deviation of the rotor speed of the generator in SMIB. The
design problem can be formulated as the following constrained optimization problem, where the
constraints are the controller parameters bounds:
Minimize J Subject to:
min max
min max
1 1 1
min max
2 2 2
min max
3 3 3
min max
4 4 4
K K K
T T T
T T T
T T T
T T T





(25)
The controller gains and time constants are varies in the [0.01-100] and [0.01-1] ranges,
respectively. Using the time domain simulation model of the power system on the simulation period,
the objective function is calculated and by considering the multiple operating conditions, the optimal
parameters of the controller is carried out. The operating conditions are considered as:
Base case: P = 0.8 pu, Q = 0.1 pu and X
L1
=0.4 pu. (Nominal loading)
Case 1: P = 1.2 pu, Q = 0.25 and X
L1
=0.4 pu. (Heavy loading)
Case 2: P = 0.25 pu, Q = 0.02 and X
L1
=0.4 pu. (Light loading)
Case 3: P = 0.8 pu, Q = 0.1 pu and X
L1
=0.5 pu. (25% increase in the line reactance)
In this work, the value of NP is 4 corresponding to the above four cases and the simulation run-
time equals to 10s. In order to acquire better performance, number of particle, particle size, number of
iteration, c
1
and c
2
are chosen as 50, 10, 100, 2 and 2, respectively. It should be noted that the PSO
algorithm is run several times and then the optimal set of IPFC controller parameters is selected. The
final values of the optimized parameters with the objective functions, J, are givenintheTable1. Figure 6
shows the convergence rate of the objective function J with number of iterations.


Power System Stability Improvement using a PSO-Based Coordinated Design of IPFC and PSS 62

5. Simulation Results
To assess the robustness and effectiveness of the proposed controllers and the coordinated design
approach, a severe disturbance scenario is considered as following description.

5.1. Description the Considered Scenario
A severe disturbance is considered for different loading conditions; that is, a 6-cycle, three-phase fault
is occurred at
1 = t
sec at the middle of the one transmission lines. The fault is cleared without any line
tripping.

Table 1: Optimized parameters of proposed controllers

Control Parameter
Individual Design Simultaneous Design
PSS m
1

PSS & m
1

PSS m
1

K 66.9983 92.0157 65.7068 68.7660
T
1
0.7792 0.8970 0.8936 0.5434
T
2
0.9874 0.3132 0.2179 0.4785
T
3
0.5127 0.4854 0.5464 0.2955
T
4
0.3035 0.4203 0.9468 0.6268

Figure 6: The objective function convergence ratio with the iterations: Solid (coordination design), Dashed
(PSS) and Dotted (m
1
)



The system response to this scenario in the frame of speed, terminal voltage and control signal
deviations are shown in Figures 7 to 9. It can be seen that the proposed objective function based
optimized simultaneous design has better performance in damping low frequency oscillations compare
to individual design of PSS and IPFC m
1
controller and stabilizes the system more quickly.

Figure 7: Dynamic response of : a) nominal b) heavy c) light loading conditions within Solid (coordinated
design), Dashed (PSS) and Dotted (m
1
)


0 20 40 60 80 100
0
Iteration
40
80
F
i
t
n
e
s
s

V
a
l
u
e

0 5 10

-4

0
14
Time(sec)


S
p
e
e
d

D
e
v
i
a
t
i
o
n


(a)
x 10
-3

0 5 10

-2
0
12
Time(sec)

S
p
e
e
d

D
e
v
i
a
t
i
o
n


(b)
x 10
-3

0 5
10
0
30
Time(sec)

S
p
e
e
d

D
e
v
i
a
t
i
o
n


-15
(c)
x 10
-3

63 Amin Safari, Navid Rezaei and Elnaz Mazloumi

Figure 8: Dynamic response of V
t
: a) nominal b) heavy c) light loading conditions within Solid (coordinated
design), Dashed (m
1
) and Dotted (PSS)



Figure 9: Dynamic response of Control Signal Deviation: a) nominal b) heavy c) light loading conditions
within Solid (coordinated design), Dashed (PSS) and Dotted (m
1
)



5.2. Performance Index Assessment
To demonstrate the effectiveness of the proposed approach, the Integral Time multipled Absolute value
of Error based on the speed deviations of the system response is defined as:
0
100
sim t
i
ITAE t dt =

(26)
Where, the speed deviations of the machine are represented by . It is worth mentioning that
the lower the value of ITAE index is the better the system response in terms of time-domain
characteristics. To investigate the effect of changing the transmission line reactances it is assumed the
25% variation in line reactance and in the nominal loading and the corresponding ITAE index is
measured. Numerical results of performance robustness for all system loading cases and corresponding
to each scenario are represented in Figure 10. It can be seen that the values of this system performance
characteristics with the coordinated based tuned controller are smaller compared to the individual
design of PSS or IPFC control signal design. This demonstrates that the overshoot, undershoot, settling
time and speed deviations of the machine are greatly reduced by applying the proposed simultaneous
design of PSS and IPFC.

Figure 10: The ITAE performance index values in: a) Loading conditions b) changing the line reactance

0
10
20
30
40
50
Li ght Nominal Heavy
PSS m1 m1&PSS

0
5
10
15
20
25
PSS IPFC(m1) m1&PSS
0.75XL XL 1.25XL

(a) (b)
0
5

10
0
0.8
Time (sec)
T
e
r
m
i
n
a
l

V
o
l
t
a
g
e

D
e
v
i
a
t
i
o
n


-0.6
(a)

0 5

0
0.8
Time (sec)
T
e
r
m
i
n
a
l

V
o
l
t
a
g
e

D
e
v
i
a
t
i
o
n

10

(b)

-0.6
0 5

10
0
1
Time (sec)
T
e
r
m
i
n
a
l

V
o
l
t
a
g
e

D
e
v
i
a
t
i
o
n


-1.5

(c)

0 5 10

-1

0
3
Time(sec)
C
o
n
t
r
o
l

S
i
g
n
a
l

D
e
v
i
a
t
i
o
n


(a)

0

5 10

-1
0
2.5
Time(sec)

C
o
n
t
r
o
l

S
i
g
n
a
l

D
e
v
i
a
t
i
o
n


(b)

0 5 10

-3

0
5
Time(sec)


C
o
n
t
r
o
l

S
i
g
n
a
l

D
e
v
i
a
t
i
o
n

(c)

Power System Stability Improvement using a PSO-Based Coordinated Design of IPFC and PSS 64

6. Conclusions
In this paper, considering to the some features of the PSO algorithm like easy implementation, fewer
adjustable parameters, suitable for the nature of the problem and easy coding, the PSO-based
simultaneous design of PSS and IPFC is investigated. Parameters of the proposed controllers are well
optimized the ISE objective function under various operating conditions and due to a severe
disturbance. The m
1
control signal of IPFC is used to simultaneous design with PSS. Assessment the
time domain simulation results and their verification through the ITAE performance index, supported
the effectiveness of the designed damping controllers and show the superior performance of
coordinated tuning to both PSS and IPFC proposed damping controllers.


References
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[4] Kazemi, A. and Karimi, E., 2006. The effect of interline power flow controller (IPFC) on
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65 Amin Safari, Navid Rezaei and Elnaz Mazloumi

Appendix

Table A: System parameters and initial conditions

Generator
M=8 MJ/MVA s . T
do
044 5 =

X
d
= 0.4 p.u.
X
q
= 0.6 p.u. . u . p . X
d
3 0 =

D = 0
Excitation system & PSS K
a
= 100 T
w
=10 s T
a
= 0.01 s
Transformers X
t1
= 0.2 p.u. X
t2
=0.2 p.u. X
t
=0.8 p.u.
Transmission lines X
L1
= 0.3 p.u. X
L2
=0.3 p.u. X
tie-line
=0.4 p.u.
Operating condition P=0.8 p.u. V
b
=1 p.u. V
t
=1 p.u.
DC link parameter V
dc
=2 p.u. C
dc
=1 p.u.
IPFC parameter m
1
=0.15 m
2
=0.1 K
s
=1 T
s
=0.05
1
= -80.56
o

2
=85.44
o