Renewable and Sustainable Energy Reviews 25 (2013) 318 334

Contents lists available at SciVerse ScienceDirect

Renewable and Sustainable Energy Reviews

journal homepage: www.elsevier.com/locate/rser

A literature survey on loadfrequency control for conventional and distribution generation power systems
Shashi Kant Pandey, Soumya R. Mohanty, Nand Kishor n
Department of Electrical Engineering, Motilal Nehru National Institute of Technology, Allahabad-211004, India

art ic l e i nf o
Article history: Received 16 August 2012 Received in revised form 8 April 2013 Accepted 20 April 2013 Keywords: Distribution generation Deregulated power systems Loadfrequency control Optimal control Articial intelligent techniques

a b s t r a c t
In this paper an extensive literature review on loadfrequency control (LFC) problem in power system has been highlighted. The various conguration of power system models and control techniques/ strategies that concerns to LFC issues have been addressed in conventional as well as distribution generation-based power systems. Further, investigations on LFC challenges incorporating storage devices BESS/SMES, FACTS devices, winddiesel and PV systems etc have been discussed too. & 2013 Elsevier Ltd. All rights reserved.

Contents 1. 2. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Type of power system models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 2.1. Conventional power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.1.1. Single area thermal power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.1.2. Single area hydro power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.1.3. Two area power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.1.4. Three area power systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.1.5. Four area power systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2.1.6. Power system with HVDC-link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2.1.7. Deregulated power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2.2. Distributed generation power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Control techniques for conventional power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3.1. Classical control approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3.2. Optimal control approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3.3. Sub-optimal control approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3.4. Adaptive and self-tuning approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Control strategies for conventional power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 4.1. Centralized control approaches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 4.2. Decentralized control approaches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 4.3. Two-level and multi-level control strategies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Soft computing techniques in LFC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 5.1. Articial neural network (ANN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 5.2. Fuzzy logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 5.3. Genetic algorithms (GAs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3.

4.

5.

Corresponding author. Tel.: +91 532 2271411. E-mail addresses: nand_research@yahoo.co.in, nand_scorpio@yahoo.co.in (N. Kishor). 1364-0321/$ - see front matter & 2013 Elsevier Ltd. All rights reserved. http://dx.doi.org/10.1016/j.rser.2013.04.029

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334

319

5.4. Particle swarm optimization (PSO) algorithms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 5.5. Tabu search algorithms (TSA) and bacterial foraging optimization algorithm (BFOA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 6. Other controllers for LFC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 6.1. Variable structure controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 6.2. Robust controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 7. Use of SMES, BESS and facts devices in conventional power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 7.1. SMES and BESS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 7.2. Flexible AC transmission systems (FACTS) devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 8. LFC in distributed generation power systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 8.1. PV, wind farms, diesel engine and energy storage system based hybrid DG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 8.2. Other DG systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 9. Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1. Introduction Loadfrequency control (LFC) is of importance in electric power system design and operation. The objective of the LFC in an interconnected power system is to maintain the frequency of each area within limits and to keep tie-line power ows within some pre-specied tolerances by adjusting the MW outputs of the generators so as to accommodate uctuating load demands. A well designed and operated power system must cope with changes in the load and with system disturbances, and it should provide acceptable high level of power quality while maintaining both voltage and frequency within tolerance limits. Subjected to any disturbance, the nominal operating point of a power system changes from its pre-specied value. As a result the deviation occurs about the operating point such as nominal system frequency, scheduled power exchange to the other areas which is undesirable. The LFC issues have been tackled with by the various researchers in different time through AGC regulator, excitation controller design and control performance with respect to parameter variation/uncertainties and different load characteristics. As the conguration of the modern power system is complex, the oscillation incurred subjected to any disturbance may spread to wide areas leading to system black out. In this context, advance control methodology such as optimal control, variable structure control, adaptive control, self-tuning control, robust and intelligent control were applied in LFC problem. The further research in this area has been carried out by use of various soft computing techniques such as articial neural network (ANN), fuzzy logic and fusion of these such as neuro-fuzzy, neuro-genetic etc. to tackle the difculties in the design due to non-linearity in various segregated components of the controller. The controller parameters plays a vital role for its performance, thus it should be tuned properly with suitable optimization

techniques. In this context, the application of genetic algorithm (GA), particle swarm optimization (PSO), simulated annealing (SA) etc. is exploited to address the optimization objective. Due to nonlinearity in the power system components and also the uncertainty in the system parameters, the performance differs from actual models, so robust control design is indispensible to achieve acceptable deviation in frequency about the nominal operating point. Various robust control techniques such as Riccati equation, H, m-synthesis, robust pole assignment, loop shaping, linear matrix inequality (LMI) has been adopted to tackle the LFC problems. Now, there is rapid momentum in the progress of the research to tackle the LFC in the deregulated environment, LFC with communication delay, and LFC with new energy systems, FACTS devices, and HVDC links as well. This survey paper comprehensively highlights the LFC problems in conventional and distribution generation based power system. A comprehensive review on conventional power system as single area, multi-area with interconnection, the power system with HVDC links and control problem in the deregulation environment is presented. Further LFC issues in renewable energy systems and its integration with the grid is also discussed. In addition to this, the recent trends in LFC such as communication delays, wide area monitoring, phase measurement unit and penetration of different renewable energy sources impact on the LFC is also discussed. The layout for survey carried out on LFC is shown in Fig. 1.

2. Type of power system models The conventional power system that has been in use since centuries from the generation and transmission level to the distribution was mainly dominated by hydro, thermal and nuclear

Survey on LFC

Control techniques for LFC incorporating BES, LFC by soft computing LFC in distribution conventional power SMES, PV and FACT approaches: ANN, FL generation power systems systems devices Type of power system Other controllers for LFC Control strategies for Optimization techniques in models conventional power LFC: GA, PSO,and Tabu systems Search

Conventional power systems

Distribution generation power systems

Fig. 1. Illustration of survey on LFC.

320

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334

power generation which is integral component of the conventional power system. But in the twenty rst century due to depletion of fossil fuel and threats to the environment pollution, the nonconventional energy sources plays a vital role, in form of distribution generation (DG) based power system. Thus the LFC problem which is an important issue has to be the addressed in the conventional as well as DG. 2.1. Conventional power systems Any power system that has the fundamental control problem of matching real power generation to load including losses is called loadfrequency control. Most of the works reported so far has been carried out by considering various linearized model of thermal/ hydro of single area or multi-area power systems. The frequency is dependent upon the active power which comes from the load generation mismatch. Thus primary control loop comprises of speed governing load followed by the secondary control with droop control mechanism. Thus at the control centre, supplementary control is also provided at the secondary control level. The primary control comprises of governor and turbine which constitutes the mechanical system with sluggish response. The secondary control plays a vital role which comprises of droop control mechanism, integral square error etc. in addition to that the supplementary control and auxiliary control such as power system stabilizer (PSS). Decades back, the power system structure remained simple and limited. The primary source of generation to meet the demand in the region was from hydro, thermal or both. However, increase of electricity demand had lead to restructure it. Thus the incorporation of exible transmission system and other auxiliary devices came into existence. Again in the market driving power system, the independent player came into the role with the concept of deregulation. Thus in this context the LFC problem in the conventional power system is a challenging task, which has been the focus of several researchers since early eighties of last century. Our survey paper is comprises of different sections. Sections 2.1.1 to 2.1.7 discusses the several structure of the conventional power system such as single area and multi-area, the structure with HVDC link. And the deregulation environment is discussed separately for easier understanding in the LFC issues. 2.1.1. Single area thermal power systems The LFC problem for single area thermal power systems is presented in [16]. The LFC of single-area thermal power system including generation rate constraint (GRC) is presented in [2,4]. The LFC scheme of one-area thermal system with single time delay is presented in [5]. The LFC with multi-source (thermalhydro gas) as single area is proposed in [6]. 2.1.2. Single area hydro power systems The LFC problem for single area hydro power system is presented in [79]. The transient speed response of a single, isolated, governed hydro-generator operating at, or near, full load is discussed in [7]. The automatic generation control of hydroplant is presented in [8]. The LFC of an isolated small-hydro power system with reduced dump load is described in [9]. 2.1.3. Two area power systems The LFC problem for two area power systems is presented in [1047]. Due to non-linearities in the connected load and governor dead bands, the actual system response characteristic is nonlinear. Therefore, a linear tie-line bias characteristic does not match the actual system response characteristic. This mismatch

causes unnecessary fuel consumption and increased wear and tear on generators. Doraiswami [17] presented LFC for a two-area interconnected system taking into account the nonlinearity and stochastic nature of the load and using an optimal linear strategy aided by stability analysis. Nanda and Kaul [15] investigated the stability and optimum settings of conventional automatic generation controllers for an interconnected power system having reheat steam plants. Oni et al. [22] investigated the nonlinear tie line bias control in interconnected power systems. This study was performed by utilizing the UMC hybrid simulator to simulate a typical power system including governor dead band, frequency, and voltage sensitivity of loads. The discrete-type loadfrequency regulator of a two-area reheat-type thermal system with GRC is presented in [23]. The effect of reheat and governor dead-band nonlinearity on LFC is considered in [24]. In [25], a combination of thermal-hydro power system is considered. The application of magnetic energy storage unit as loadfrequency stabilizer in twoarea thermal power system is presented in [29]. It has been shown that small sized superconducting magnetic energy storage (SMES) units with suitable control can effectively reduce the frequency and tie-line power oscillations following sudden small load perturbations. The effect of SMES and batteries in two-area thermal power system considering dead-band and GRC is presented in [32] and [33], respectively. The proposed adaptive control scheme is very effective in damping out oscillations caused by load disturbances and its performance is quite insensitive to controller gain parameter changes of SMES [33]. The inuence of SMES coordinated with solid-state phase shifter on LFC is discussed in [35]. Again in [38], the discrete-mode automatic generation control (AGC) of a two-area reheat thermal system with new area control error (ACE) is considered. The LFC of two-area reheat thermal power system with dead zone and GRC incorporated with SMES in both areas are proposed in [39]. The interconnected two-area reheat thermal power system with GRC and boiler dynamics including SMES units for LFC is considered in [40]. The LFC of two-area hydrohydro power system with proportionalintegralderivative (PID) controller based on maximum peak resonance specication that is graphically supported by the Nichols chart is discussed in [41]. The automatic generation of three types of interconnected two-area multi-unit all-hydro power system, all-thermal and thermal-hydro mixed have been investigated in [42]. The reheat thermal power system with governor dead zone is discussed in [43], while reheat thermal power system with GRC is presented in [44]. The LFC of two-area thermal thermal power system with time delay is considered in [45]. The two-area interconnected thermal reheat power system with interline power ow controller (IPFC) and redox ow batteries (RFB) units for LFC is proposed in [46]. The two-area power system consisting of identical reheat turbines interconnected via AC link and AC/DC links are presented for LFC in [47].

2.1.4. Three area power systems The LFC challenges in three area power systems are presented in [4862]. The three area interconnected [48] consists one steam plus one hydro unit, which forms area 1, while one steam plus one hydro unit of area 2 and area 3 with one steam. The thermal power system interconnected as three areas is presented in [49,51,54,55]. The three interconnected areas that consists two thermal and one hydro unit in each area is considered in [50]. Three thermal generating units in each area of three-area interconnected power system are considered in [52,56]. Two different interconnections (a) radial type and (b) ring type with thermal unit in three area power systems have been considered in [53]. The LFC problem for three-area thermal power system with communication delays is discussed in [57]. In order to

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334

321

consider AGC, the area-1is modeled by two generators while the other two areas have single generator equivalents of four and three generators in area-2 and area-3, respectively. The LFC for three area power system with time delays has been also discussed in [58,59]. The load frequency controller for a three area thermal power system is proposed in [60,61]. The LFC for three-area power system with different turbine units, such as non-reheat, reheat and hydraulic is considered in [62]. 2.1.5. Four area power systems The LFC problem for four area power systems is presented in [6371]. Two types of interconnected longitudinal 4-area systems are considered in [63]. In the rst model, all the areas consist of non-reheated system plant while in second type of model, each area has the different types of plants, i.e. steam with GRC and hydro plants without GRC. The different kinds of generating units (non-reheat, reheat and hydro-turbine type), linked together in an interconnection and also considering GRC and governor deadband non-linearities is presented in [64]. Studies on a 4-area power system including GRC and governor dead-band is presented in [65]. The combination of ring and longitudinal manner connected thermal units as four areas is considered in [66], while three thermal and one hydro unit is proposed in [67,68]. The LFC problem for four-area power system with different turbine units, such as non-reheat in area 1 and area 2 while hydro unit in area 3 and area 4 has been considered in [69]. The reheat thermal units for area 1, 2 and 3 while hydro unit in area 4 for LFC has been considered in [70]. The four identical thermal units for four area interconnected power systems for LFC problem is considered in [71]. 2.1.6. Power system with HVDC-link The HVDC transmission has emerged as an alternate link in the power system scenario, due to its numerous technical and economical advantages, for the need of power transfer over large distances [7276]. The two and three plants with AC and DC tie-lines between plants are considered in [72]. A 3-level optimal controller for LFC in the power system which is composed of several subsystems interconnected by asynchronous tie-lines is presented in [74]. The two area power systems interconnected via parallel AC/DC transmission links are considered in [75,76]. 2.1.7. Deregulated power systems In the electricity market driven, power system deregulation plays a vital role. The deregulated power system consists of GENCOs, TRANSCOs, and DISCOs with an open assess policy. In the newly emerged structure, the GENCOs may or may not participate in the LFC task. As a matter fact, independent system operator leads to make the LFC scheme more reliable. The power system models based on deregulated scenarios has been proposed in [7787]. Most of the study considers the control problem issue associated with thermal power plants. The LFC study in deregulated structure of three-area power system is presented in [83,84,88]. The AGC in deregulated environment for four area interconnected power system is given in [89,90]. 2.2. Distributed generation power systems As discussed in the previous section, the DG system is considered economical for electrical power supply to remote and isolated areas where the electric power is not easily available from the grid. The power system model for LFC has been also proposed incorporating wind turbine generator (WTG), photovoltaic (PV), and FACTS devices. Jovanovic et al. [91] investigated a knowledge-based feedback

controller designed to enhance the quality of control of generator speed and power system frequency. In [92], an identication procedure for hydro-generator plant using an adaptive technique is presented. The LFC problem in DG systems is presented in [93 100]. The frequency support from doubly fed induction generator driven by wind turbine is presented in [101111]. The frequency control for HVDC link connected wind farms are presented in [112 116]. The frequency control of standalone wind energy conversion system (WECS) using permanent magnet synchronous generator is presented in [117]. Next wind-hydro hybrid system using induction generators and battery storage is proposed in [118,97]. The interconnection of energy resources like PV, fuel cell and wind system are important due to intermittent environmental characteristics [119 121,98] to supply reliable power. A control scheme without using communication signals to improve the transient response of parallelconnected inverters is suggested in [119]. The dynamic and transient analysis of power distribution systems using fuel cell is presented in [122,123]. To enhance the performance of a grid-connected PV-fuel cell (FC) hybrid system is presented in [124]. The power uctuation compensation in hybrid power generation system that consists of offshore-wind turbine and tidal turbine is proposed in [125]. The LFC in winddiesel hybrid system is discussed in [126,127,100]. Akie et al. [128] presented a frequency control problem in isolated power system by considering wind farm and battery through load estimation. Senjyu et al. [121] proposed a new stand-alone hybrid power system consisting of WTGs, diesel engine generators (DEGs), FC, and aqua electrolyzers (AE). The effect of these systems on the LFC is considered and these ensure supply of high-quality power. The effect on grid frequency control by electric water heaters as controllable loads is presented in [129]. An assessment of the impact of wind generation on system frequency control is discussed in [130]. The PV-diesel hybrid power system is proposed in [131133], while winddiesel for LFC in a small power system is presented in [134]. The timedomain simulation for small-signal analysis of a hybrid power generation/energy storage system is presented in [135]. The system consists of three WTGs, DEG, FC and PV, along with battery and ywheel as energy storage units. In [136], autonomous hybrid generation systems consisting of WTGs, solar thermal power system (STPS), PV, DEGs, FCs, battery, ywheel, ultracapacitors (UCs) and AE have been considered. The LFC by considering control of FC and double-layer capacitor in an autonomous hybrid renewable energy power generation is presented in [137]. The LFC of wind energy with storage system is proposed in [138]. The impact of doubly fed induction generator (DIFG) type wind turbines (WTs) on LFC in multi-area interconnected thermal power system is proposed in [139], while on single thermal unit is given in [131]. The authors [140] propose the integration of steady-state models of several types of wind generators into a power ow algorithm with automatic LFC. The DFIG based wind farm for LFC in two-area interconnected power system consisting of multi-unit reheat type thermal and hydropower system with coordinated control of TCPS and SMES is proposed in [141], while in [142], identical thermal interconnected two-area power system is considered. The supplementary LFC method by use of a number of both electric vehicle (EV) and heat pump water heater as controllable loads is proposed in [143], for the power system model with large integration of wind and PV generation. A two-bus power system consisting of varying load, a diesel-synchronous generator and WTG topologies with either a DFIG or a permanent magnet synchronous generator (PMSG) are considered in [144]. The wind-hydro autonomous microgrid for LFC is proposed in [145]. The authors [146] proposed a method for tracking a secondary LFC signal with groups of plug-in hybrid electric vehicles (PHEVs), controllable thermal household appliances under a duty-cycle

322

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334

coordination scheme, and a decentralized combined-heat-andpower generation unit. The above paragraphs suggests a wide spread application of DG systems for the LFC issues. However, the increased penetration level of DG also affects the LFC problem tremendously. The impact of penetration of WTGs on LFC for three-area interconnected power system is discussed in [147]. The AGC structure for smart power grids is presented in [148], which consists of the constant pressure steam, hydro and variable pressure steam units. The authors [149], proposed an autonomous distributed vehicle-togrid (V2G) control schemes, while in [150] aggregated electric vehicle (EV)-based battery storage representing a V2G system is modeled for the use in long-term dynamic power system.

3. Control techniques for conventional power systems 3.1. Classical control approaches Conventionally, for issues related to automatic generation control (AGC), the frequency deviation is minimized by the ywheel type of governor of synchronous machine. However, the signicant control is not achieved for the LFC objective. In this context, the supplementary control is introduced to the governor via signal directly proportional to the frequency deviation plus its integral action. The initial stage of research work carried out by Cohn et al. is reported in [151155]. Quazza [156] proposed the approach with non-interaction between frequency and tie-line power control and each control area responsible for its own load variations. Aggarwal and Bergseth [157] investigated study on large signal dynamics of systems. The technique based on coordinated system-wide correction of time error and inadvertent interchange is incorporated for AGC study by Cohn [158]. A number of classical control techniques namely, Nyquist, Bode reveal that closed loop transient response will result into relatively large overshoots and transient frequency deviation [159161]. 3.2. Optimal control approaches The LFC regulator design techniques using modern optimal control theory enable the power engineers to design an optimal control system with respect to given performance criterion. The optimal control theory has made a new direction to solve the large multivariable control problems in a simplied form. The control scheme considers the state variable representation of the model and an objective function to be minimized. Fosha and Elgerd [162], used a state variable model and regulator problem of optimal control theory to develop new feedback control law for two-area interconnected non-reheat type thermal power system. Milon Calovic [48] presented linear regulator design for the load frequency control based on optimal linear regulator theory. In [163], the author has investigated the effect of plant response time on the closed loops poles, designed using linear optimal control theory. In [12], a more realistic model of the LFC system is developed and studied, by including the voltage-regulator excitation system and optimal responses are computed under various load conditions. Kwatny et al. [164] presented a review of recent efforts in applying optimal linear regulator theory with intent to clarify the objectives of LFC, particularly as regard to the application of modern control theory. In [25], Hsu and Chan presented a systematic approach to design an optimal variable-structure controller (VSC) for the LFC in the interconnected power system. The feasibility of an optimal AGC scheme requires the availability of all state variables for feedback. However, these efforts seem unrealistic, since it is difcult to achieve this. Then, the problem is to reconstruct the unavailable states from the available

outputs and controls by an observer design. Considering state reconstruction, many signicant contributions have been made [165170]. Bohn and Miniesy [165] have studied the optimum LFC of a two-area interconnected power system by making the use of (i) differential approximation and (ii) a Luenberger observer and by introducing an adaptive observer for identication of unmeasured states and unknown deterministic demands, respectively. Exploiting the fact that the nonlinearity of the power system model, namely, the tie-line power ow, is measurable, the observer has been designed to give zero asymptotic error, even for the nonlinear model. AGC schemes based on an optimal observer, which is a state estimator with decaying error at a desired speed, using a nonlinear transformation [166] and reduced-order models with a local observer [167] have been discussed. In [17], an observer for nonlinear system is presented. A simplied generating unit model oriented towards LFC and the method for its transfer function identication based on a two-stage procedure indirectly reducing both noise effects and transfer function order is presented in [170]. 3.3. Sub-optimal control approaches The computational complexity of a multi-area system leads to solve the optimal control problem in a modied form. Therefore, suboptimal control strategy is explored for the LFC problem. In order to remove the practical limitations in the implementation of regulators based on full order state feedback, suboptimal AGC regulator designs were considered [171173]. Moorthi and Aggarwal [171] presented suboptimal and near-optimal control using modern control theory. The AGC schemes based on an optimal observer, which is a state estimator with decaying error at a desired speed, using a nonlinear transformation [174] and reduced-order models with a local observer [175] is discussed. Hain et al. [176] reported a simplied generating unit model oriented towards LFC and the method for its transfer function identication based on a two-stage procedure indirectly reducing both noise effects and transfer function order. The sub-optimal AGC regulator design of a two-area interconnected reheat thermal power system using output vector feedback control strategy is presented in [47]. The design method employing modal and singular perturbation techniques to affect decoupling of the interconnection into its subsystem components is considered in [177]. In the method, after achieving the decoupling, local controllers for each subsystem are designed individually to place the closed-loop poles of each subsystem in some pre-specied locations in the complex plane, and then, the resulting controllers are used to generate local control inputs, using local information only. The AGC regulator design using Lyapunov's second method and utilizing minimum settling time theory is proposed in [178]. The importance of the dominant time constant of the closed-loop systems in designing the regulators has been emphasized. The author has reported a bangbang AGC policy based on this method. 3.4. Adaptive and self-tuning approaches As the operating point of the system gets changed, the controller performance in the system may not be optimal. As a matter of fact to keep the system performance near the optimal value, it is desirable to track the operating point of the system and accordingly update its parameter to achieve a better control scheme. The self-tuning control (STC) approach also includes an integral part of the adaptive control scheme. The self-tuning regulator strategy implemented for adaptive LFC seems a viable solution. A number of research works has been reported on adaptive [179184] and STC [185189] schemes for LFC in the

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334

323

power system. Ross [179] described control criteria in LFC and the related practical difculties encountered to achieve this criterion. Pan and Liaw [182] presented an adaptive controller for LFC using a PI adaptation to satisfy the hyper-stability condition to take care of the system parameter changes. The effectiveness of proposed controller for considering the generation rate limit was also conrmed. In [31], a new method to design a multivariable selftuning regulator with the inclusion of interaction of voltage on load demand is presented. Similarly in [32], self-tuning type of adaptive controllers for main AGC loop and SMES, which is incorporated as a stabilizer to improve AGC performance is discussed. A multi-area adaptive LFC developed for a comprehensive AGC simulator is presented in [183] and a reduced-order adaptive LFC for interconnected hydrothermal power system is suggested in [184]. Wang et al. [4], proposed a combination of robust control, the Riccati equation and adaptive control to design a new robust adaptive load-frequency controller for power systems with parameter uncertainties. A multilevel adaptive algorithm based on a relatively fast implicit self-tuning regulator for multi-area power systems is investigated in [190]. Jovanovic et al. [91] presented an application of knowledge-based adaptive turbine governor control. In [191], a self-tuning steam turbine control scheme designed to improve the quality of control of power system frequency is discussed.

4. Control strategies for conventional power systems 4.1. Centralized control approaches The implementation of global controller requires information about all the states of the power system. In the beginning, the LFC problem was based on centralized control strategy [156,159,162,173]. On the basis of classes of disturbances the control strategy has been proposed in [156]. Elgerd and Fosha [159] suggested a feedback and loop gain to eliminate the disturbance, and new feedback control law is developed by using a state variable model and the state regulator problem of optimal control theory [162]. 4.2. Decentralized control approaches Contrary to the centralized control for a large scale power system, decentralized control is preferable, because it reduces the computational burden with pass of the communication between different systems and make the control more feasible and simple. Many research papers using this approach for continuous and discrete time system models are published [192199]. In order to overcome the problem arising out of the centralized control, the decentralized control approach has been addressed. The basic objective of later technique is to make the composite system divided into subsystem, each of which control separately. The design of decentralized LFC is presented in [14,16,26,30,50, 51,63,66,83,200203]. In [204], the design of decentralized load frequency regulators presented for two-area thermal power systems, starting with stochastic state and output models, is presented by making use of modelingerror-compensation technique along with bias-estimation procedure. Shirai [16], reported the decentralized LFC for two-area thermal power system through a governor and voltage controls by a new approach based on Siljak's theory. Edward et al. [50] presented the decentralized load frequency control of a three area power system consisting of nine synchronous machines described by a 119th order model. Hiyama [63], proposed a design of decentralized regulator for an interconnected longitudinal 4-area system. Similarly, the analysis and solution of the LFC problem wherein the feedback control law constrained to two different structures; decentralized and/or

output feedback algorithm used to solve a non-classical linear quadratic problem based on property of the associated Riccati equation is presented in [200]. Feliachi [26] presented a novel methodology for the design of optimal decentralized LFC for multi-area interconnected power systems. Aldeen and Marsh [30] reported a simple and computationally efcient decentralized control design based on reducedorder observer and a proportional-plus-integral controller in each area of two-area interconnected power system. This ensured zero static change in area-frequency and tie-line power. A local loadfrequency controller uses only its area's state measurements. It does not use any feedback from other areas. The overall N-area power-system stability becomes a concern to control engineers when all the local loadfrequency controllers work together. In addition, system parametric uncertainties exist in the real power plant. The controllers which are designed based on a xed plant model may not work when some system parameters have varied. A robust decentralized control approach is used in [51], based on the Riccati-equation for multi-area power systems with parametric uncertainties. Several authors applied the concept of variable-structure systems to design the load-frequency controllers. Yang et al. [66] proposed decentralized load-frequency controller based on structured singular values. The LFC problem for deregulation environment based on H2/H [83] and LMI [85] technique is presented in multi-area (3-area) interconnected power system. Taher and Hematti [201] have discussed use of multivariable QFT method in deregulated environment for 2-area power system with a wide range of parametric uncertainties. The design of multi-objective evolutionary algorithm (MOEA) based decentralized load frequency controllers with ACDC parallel tie-line for (two-area) interconnected power systems is presented in [202]. Additionally, GA-based decentralized controller in two-area power systems with redox ow battery considering TCPS reported in [203]. The design of loadfrequency controller based on singular structure variable is presented in [205]. The authors [206] adopted two-degreeof-freedom (TDF) internal model control (IMC) method to tune decentralized PID-type controller for LFC in four area power systems with deregulated environments. The TDF-IMC-PID method has been studied in [207,68] for LFC in conventional situation and the performance of the control system is only related to two tuning parameters. The design of decentralized load frequency controller for three-area interconnected power systems is described in [60]. In the design of proposed controller, each local area network is overlapped with states representing the interconnections with the other local area networks in the global system. Then, a decentralized control scheme is developed as function of local area state variables and those resulting from the overlapped states which represent an approximation of the interconnection variables. 4.3. Two-level and multi-level control strategies In decentralized control, the feedback gains associated with some states of the neighboring area is not taken into consideration in order to reduce the cost of communication. The strong interaction between the areas makes the overall system unstable. To overcome these limitations, two-level or multi-level control scheme is addressed. Premakumaran et al. [20], proposed a perturbation approach to develop a two-level control strategy to optimize the performance of a two-area LFC system. Next, Bengiamin et al. [49] proposed a design by use of modern optimal control and multilevel system techniques. A 3-level optimal controller for power systems interconnected by asynchronous tie-lines is discussed in [74]. Premakumaran et al. [208], proposed some aspects of multilevel LFC of a two-area power system. Further, the study incorporates the effects of governor controls and an excitation system. Miniesy and Bohn [209], suggested a two-level suboptimal

324

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334

controller. However, this approach does not ensure zero steady state error, and hence, a multilevel nite time optimal controller design that ensure zero steady-state error has been reported in [210]. Rubaai et al. [190] proposed a multilevel adaptive LFC based on the self-tuning regulator (STR). A global controller, capable to exploit the possible benecial aspects of interconnections, has been applied in the LFC study [211], and favorable results are reported. In [180,181] control strategy based on singular perturbation approach is presented. In the study, the system is decomposed into slow and fast subsystems and controllers are designed for each subsystem, with these two combined to yield a composite controller. A hierarchical optimal robust LFC for reheat thermal units in areaone, two and three, with hydro unit in area-four is presented in [70]. In this study, the multi-area power system is decomposed into several sub-systems or areas and then two-level control strategy is used to obtain the overall optimal solution.

5. Soft computing techniques in LFC With increased size and changes in structure of the power system due to integration of renewable energy sources, the traditional LFC may not be feasible. In the robust control scheme, the structural complexity and reshaping of the plant may be required. To circumvent this problem, the intelligent control scheme with use of soft computing techniques such as articial neural network (ANN), fuzzy logic, genetic algorithm (GA), particle swarm optimization (PSO) algorithms, etc. has been explored. In this context to address the non-linearities, system uncertainties, the intelligent LFC scheme may be the suitable alternative, than the traditional controls. Over the years, number of soft computing techniques has been applied in LFC problem for better control objective. 5.1. Articial neural network (ANN) The ANN is a black box which correlates the non-linear relationship between output and input without information of system structure. The ANN has been applied to achieve better control strategies especially in a non-linear complex power system. Beaufays et al. [212] discussed the application of layered neural networks in nonlinear power systems, while Birch et al. [213] investigated the use of neural networks to act as the control intelligence in conjunction with a standard adaptive LFC scheme. Chaturvedi et al. [214] have developed an automatic load frequency controller using ANN to regulate the power output and system frequency by controlling the speed of the generator through water or steam ow control. Demiroren et al. [215] designed the controller, taking into account the governor deadband effect and reheat effect in two area interconnected power system. Ahamed et al. [216] have viewed AGC problem as a stochastic multistage decision-making problem or a Markov Chain control problem and have presented algorithm for design of AGC based on a reinforcement learning approach. Talaq et al. [217] proposed an adaptive controller which requires less training patters as compared with a neural network based adaptive scheme and performance is observed better than xed gain controller. 5.2. Fuzzy logic Fuzzy logic has been widely used in the control related problems in power system. Contrary to the traditional control which is mostly based on linearized mathematical model, the fuzzy logic control approach solves the problem based on experience and knowledge about the system. Indulkar et al. [218] initially designed a controller using fuzzy logic for AGC and responses were compared with classical integral controller. The LFC problem using fuzzy gain

scheduling of PI controllers in a four area interconnected power system with dead-bands and GRC is addressed in [219]. Denna et al. [220] have proposed used of tabu search algorithm for the automatic denition of the fuzzy rules. Ghoshal [221] presented a self-adjusting, fast acting fuzzy gain scheduling scheme for conventional integral gain AGCs in a radial and ring connected three equal power system areas. The study on two area interconnected thermal power system with fuzzy controller is presented in [222,223]. Chia and Chun [224] proposed a GA based fuzzy gain scheduling for two-area thermal power system with consideration of governor dead-band and GRC. In [54], the optimal integral and PID gains have been determined by GA. An on-line fuzzy logic controller realization with GA in a 4-area power system including GRC and saturation as nonlinearities for AGC is presented in [67]. Juang and Lu [55] proposed fuzzy-PI controller to decide adaptively the proper proportional and integral gains according to the ACE and their changes. Saravuth et al. [225] focused their study on multiple tabu search algorithm for fuzzy based PI load frequency controller. A multi-stage fuzzy PID controller in a restructured power system is described in [84]. Sinha et al. [226] proposed GA and PSO tuned fuzzy controller for AGC in three area power system. The fuzzy logic controlled SMES as frequency stabilizer for interconnected two-area thermal power system is proposed in [39]. The generation of optimal fuzzy rule based on fuzzy C-means clustering for decentralized LFC in two-area reheat thermal power system with GRC is proposed in [44]. The Type-2 fuzzy approach is proposed for LFC of two-area interconnected power system including SMES and considering GRC and boiler dynamics in [40]. Nowadays the complexity issues in power system are being solved with the use of GAs, PSOs, bacterial foraging optimization algorithm (BFA). These are some of the heuristic techniques having immense capability of determining global optimum being discussed in subsequent subsections. 5.3. Genetic algorithms (GAs) The GA is a global search optimization technique based on operation of natural genetics and Darwinian survival-of-the-ttest with a randomly structured information exchange. The GAs have been widely applied to solve complex nonlinear optimization problems in a number of engineering elds in general and in the area of AGC of power systems in particular [52,92,227233]. The use of basic genetic algorithm on a digital computer to identify a hydro-generator plant is discussed in [92]. Dangprasert et al. [234] proposed GA based intelligent controller for LFC problem. The GA based fuzzy gain scheduling approach for power system LFC is discussed in [224,235]. Magid and Dawoud [228] proposed their study on optimal adjustment of the classical AGC parameters using GA. The use of controllers to regulate the power output and system frequency by controlling the speed of the generator with the help of fuel rack position control is presented in [227]. The authors in [236] proposed GA for parameter optimization of PID sliding mode LFC for AGC in multi-area power systems with nonlinear element. Rerkpreedapong et al. [52] obtained a higher order robust dynamic performance with LFC design based on GA and LMIs. Next, Ghoshal [233] proposed GA/GA-SA-based fuzzy AGC scheme in a multi-area thermal plant. The hybrid GA-SA technique yields more optimal gain values than GA. Du and Li [67] proposed on-line fuzzy logic controller realization by GA in AGC problem. In [55], the LFC by fuzzy-PI controller is proposed. The optimization of control parameters for robust decentralized frequency stabilizer by using micro GA is presented in [237]. A new design of multi-objective evolutionary algorithm based decentralized loadfrequency controllers for interconnected power system with AC-DC parallel tielines is proposed in [202]. Comparison of articial intelligence methods for LFC study is discussed in detailed in [238]. In [56], the authors have discussed the design of load frequency controller in

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334

325

multi-area power system by use of multi-agent reinforcement learning approach. The LFC problem for four-area power system with discrete-sliding mode control using GA for proper tuning of the gains is discussed in [69]. The multi-objective optimization based GA used to optimize the gains of PI/PID-controllers for LFC of three-area thermal power systems is presented in [61]. 5.4. Particle swarm optimization (PSO) algorithms The PSO conducts searches using a population of particles which correspond to individuals in the GA. The PSO is a population based stochastic optimization technique, inspired by social behavior of bird ocking or sh schooling. To ease the design effort and thereby improve the performance of the controller, the design of fuzzy PI controller by hybridizing GA and PSO is presented in [55]. With the use of control scheme based on adaptive neuro-fuzzy inference and PSO with gains being updated in real time, a better dynamic and steady state response is obtained in [86]. Similarly the design of multi-objective PID controller for LFC based on adaptive weighted particle swarm optimization in two-area power system is described in [239,240]. Since PSO is less susceptible to local optima unlike GA, SA, the heuristic evolutionary search technique based hybrid particle swarm optimization has been adopted for determination of optimal PID gains for LFC in four-area power systems having deregulation environments [89]. 5.5. Tabu search algorithms (TSA) and bacterial foraging optimization algorithm (BFOA) The TSA is an iterative search that starts from some initial feasible solution and attempts to determine a better solution in the manner of a hill-climbing algorithm. The TSA has a exible memory which maintains the information about the past step of search and uses it to create and exploit the better solutions. Maurizio et al. [220] presented an approach for the automatic denition of fuzzy rules in fuzzy controller based on TSA and the authors describe improvement in learning of fuzzy rule by using heuristic symbolic meta rules. Saravuth et al. [225] presented a new optimization technique of a fuzzy logic based PI-LFC by the multiple tabu search algorithm. Another known optimization techniques; the BFOA is motivated by the natural selection which tends to eliminate the animals with poor foraging strategies and favor those having successful foraging strategy. The foraging strategy is governed by four processes namely chemotaxis, swarming, reproduction, elimination and dispersal. The fractional-order-PID controller tuned by bacterial foraging technique is used for LFC in three-area power systems with deregulated environment in [88], including other parameters such as order of integrator and differentiator of PID controller also tuned by BF approach. The investigation on effect of redox ow batteries that coordinate with intertie power ow controller for LFC in two-area interconnected system is presented in [46], having gain of integral controller tuned by BFA.

structure controller for two area thermal and multi-area interconnected power system with consideration of nonlinearities, such as GRC and governor dead band is presented in [64]. Malik et al. [65] presented a study based on the concepts of discontinuous control, dual-mode control and variable structure systems for four-area interconnected power systems including nonlinearities. Similarly, Yang et al. [66] proposed a decentralized controller based on the structured singular values. 6.2. Robust controller The conventional LFC is mostly simple classical tuned controller, having parameter adjustments heuristically. Thus, it is incapable of providing good dynamical performance over a wide range of operating conditions and various load scenarios. Thus, novel modeling approach is strongly required to obtain a new trade off between a market outcome and market dynamic (robustness). The robust controller based on Riccati-equation approach is presented in [3,12,51,200,241,242]. Goshaidas et al. [242] have presented a robust controller based on the Riccati-equation in single area thermal power system. Lim et al. [51] proposed a decentralized load frequency controller based on the Riccati-equation approach in three area power systems with parametric uncertainties. Robust controller for LFC in a deregulated two area thermal power systems by using a m-synthesis approach is given in [243]. Similarly the controller based on H control design using LMI technique in order to obtain robustness against uncertainties is presented in [52]. A decentralized H damping control design based on the mixed-sensitivity formulation in the LMI framework is reported in [244]. A new decentralized robust control strategy based on the mixed H2/H control technique for LFC problem in a deregulated three area power systems is proposed in [83,85]. Ngamroo et al. [237] proposed robust decentralized frequency stabilizer design of static synchronous series compensators by taking system uncertainties into consideration for three area interconnected power system. The design of robust PI controller for LFC in three area interconnected power system based on H static output feedback control technique is solved by using a developed iterative LMI is addressed in [245]. Robust analysis and design of load frequency controller is described in [246]. The LMI approach based LFC including communication delays is proposed in [57], while a robust decentralized PI controller design based on the mixed H2/H control technique using LMI approach for three-area interconnected power systems with communication delays is proposed in [58]. The robust decentralized LFC for fourarea interconnected power systems is proposed in [71], in which a detailed structured singular value method is proposed for localarea robustness analysis, and an eigenvalue method is derived for tie-line robustness analysis. The design of decentralized robust controller based on the concept of active disturbance rejection control is proposed in [62]. The authors [5] investigate the delaydependent stability of the LFC scheme by using Lyaponuv-theory based delay-dependent criterion and LMI techniques for one-area and multi-area LFC schemes installed with PI-controllers. The delay-dependent/independent design of H controller for LFC of two-area interconnected power system is presented in [45].

6. Other controllers for LFC 6.1. Variable structure controller The variable structure controllers change the system structure in accordance to some law of structure change, in order to improve the dynamic performance and thereby make the controller insensitive to the plant parameter changes. Hsu and Chan [25] proposed the LFC problem for interconnected two-area hydro-thermal power systems using the theory of variable-structure systems and linear optimal control theory. A discreet version of a variable 7. Use of SMES, BESS and facts devices in conventional power systems 7.1. SMES and BESS In order to reduce the system frequency deviation to a minimum value, the storage system such as SMES or battery energy storage system (BESS) can be incorporated. The use of BESS to improve the LFC dynamics of West Berlin Electric Supply System

326

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334

has been presented in [247]. Aditya and Das [248] have revealed that use of BESS is helpful in meeting sudden requirements of real power and is effective in reducing the peak deviations of frequency and tie-line power. Thus it reduces the steady-state values of time error and inadvertent interchange accumulations. Banerjee et al. [29] presented the effectiveness of small sized magnetic energy storage units (both superconducting and normal loss types) to improve the load-frequency dynamics of two-area thermal power system. Chun et al. [249] studied the effect of governor dead-band and GRC, along with the effect of BESS on LFC. Tetsuo [250] presented the rechargeable batteries such as redox ow, which are not aged by frequent charging and discharging. It is said to have a quick response equivalent to SMES and outstanding overload capability. Fuzzy gain scheduled SMES unit for improvement of LFC in two-area thermal power system is presented in [251]. Tripathi and Juengst [252] have presented feasibility of using an IGBT convertor instead of thyristor convertor as a power conditioning system with the SEMS. An improved system transient response with SMES has been achieved. Some more applications of SMES for improving the LFC are also mentioned in [253257]. 7.2. Flexible AC transmission systems (FACTS) devices In last one or two decade, the use of FACTS devices has become a common practice in order to make full utilization of existing transmission capacities instead of adding new lines. El-Emary and El-Shibina [258] have presented a new technique of AGC regulator design based on static var compensators (SVC). The thyristor controlled phase shifter (TCPS) is expected to be an effective apparatus for the tie-line power ow control in an interconnected power system. It injects a variable series voltage to affect the power ow by modifying the phase angle. The design of decentralized controller based on GA with and without redox ow batteries including TCPS is presented in [203]. The used of TCPS to provide an active control facility of LFC problem in the deregulated three-area power system is presented in [259]. In [237] a robust decentralized frequency stabilizer design through static synchronous compensators by taking system uncertainties in consideration is proposed. The LFC of interconnected two-area system with one area as multi-unit of all-hydro power system and second area as allthermal/thermal-hydro mixed have been investigated in [260]. The authors present a coordinated control between TCPS and SMES, with the gains of the integral controller in AGC loop and parameters of TCPS/SMES being optimized by craziness-based PSO.

8. LFC in distributed generation power systems The above sections presented LFC issues in conventional power systems. However, with rapid decline of the fossil fuel and advancement in green energy, the DG such as wind, solar comes into play to meet the scarcity of load demand. Hence the LFC problem associated with DG is discussed in the subsequent section. 8.1. PV, wind farms, diesel engine and energy storage system based hybrid DG The PV power generating systems are expected to play a key role in meeting future demands for electricity. The relatively high cost of PV generated electricity makes it attractive only for remote stand-alone loads or small applications. In isolated operation of winddieselphotovoltaic hybrid power system, the intermittency in wind speed, and solar radiation causes a large uctuation in

system power and frequency. The inuence of PV power generation on LFC is presented in [261]. Besides BESS, SMES units, a favorable effect of integrating a FC into the power system has also been evident [262]. The authors [133] presented a coordinated control approach for output power uctuation leveling of PV systems using fuzzy logic concept with consideration of power system condition and insolation condition. A coordinated control approach based on the minimal-order observer for the LFC problem is presented in [132]. The LFC problem of isolated utility-connected large PV-diesel hybrid power system based on simple fuzzy logic approach is also proposed in [263]. The LFC problem becomes complex by integration of wind farm grid because of the uctuating output power due to intermittent nature of wind speed. Thus in such cases, the LFC needs to be addressed differently. The studies related to LFC incorporating the dynamics of wind farms are presented in [264267]. In [264], the authors have presented modication in unit commitment, economic dispatch, regulation and frequency controls, when the level of wind generation capacity is signicant. Curtice et al. [265] presented a study to analyze the effects of small wind turbines output on the LFC. The effect of large number small wind turbines on LFC is presented in [94]. The LFC of WT based power system is discussed in [268]. In [269], a wind-turbine driven self-excited induction generator is considered as variable speed, constant voltage, and constant frequency supply with isolated resistive load connected. The simplied model is used to develop a control strategy that aims to maintain the generator terminal voltage and frequency constant in case of variations in the load and/or wind speed. The wind farms with HVDC with participation in LFC or active power sharing during system load or generation change is discussed in [116]. In [128], frequency control method is presented by the WF and the BESS using load estimation, in which the frequency deviation in low and high frequency domain are reduced by the WF using pitch angle control and charge/discharge, respectively. The frequency control with controlling speed of wind turbine is presented in [270285]. The frequency support from DFIG wind turbines are presented in [101109,111]. The winddiesel hybrid system is an economically viable action for large as well as small communities. Bhatti et al. [100] designed a load frequency controller for isolated winddiesel hybrid power systems, and evaluated its effect on the transient performance of the system. Milanovic and Soultanis [286] analyzed the operation of autonomous winddiesel system with the load control. The study is carried out using the PSCAD/EMTDC computer simulation package. Next, the authors in [121] analyzed the effect of stand-alone hybrid power system consisting WTGs, DEG, FC, and AE on frequency variation. Goya et al. [126] presented H control theory based on droop characteristics for the frequency control by using parallel operated battery in isolated island. The PSO based design of the robust fuzzy logic-based-PID controller for LFC in isolated winddiesel hybrid power system is proposed in [100]. The design of robust frequency controller of SMES in a hybrid winddiesel power system by using loop shaping control technique and tuning of controller parameters using GA is discussed in [127]. The time-domain simulation for small-signal analysis of a hybrid power generation/energy storage system is presented in [135]. The authors concluded that the power generation from the WTG, PV, DEG, and FC with energy stored or released from the FESS/BESS can effectively meet the variations in load power demand. Also, the system frequency deviation can be properly controlled within a very small range. The impact of wind power generation on system frequency control is discussed in [130]. The LFC by coordination control of WTG and the double layer capacitor in an autonomous hybrid renewable energy power generation is presented in [137]. In the proposed method, the

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334

327

load variation is reduced in low and high frequency domain by FC and capacitor, respectively. The GA based PID controller for LFC of autonomous hybrid generation systems consisting different renewable energy generation/storage systems such as three WTGs, a DEG, FCs and a PV, a BESS, and an FESS is proposed in [40]. The frequency control of wind energy storage system (BESS taken as energy storage system) based on model predictive control approach, having tested on real measurement from a power grid is discussed in [138]. The authors [263] presented a stable active power control of DFIG with wind power variations. Depending upon the rotor speed condition, the DFIG can be controlled to trace operator's active power command. The moving-average with K deviation method is also introduced to preserve a certain amount of wind power reserve for wind power frequency regulation in the study. The LFC of two/three-area interconnected power system in the DFIG based wind turbine using the model predictive control (MPC) technique is proposed in [139]. The robust performance is demonstrated against uncertainties due to governors and turbines parameters variation and load disturbances. The LFC of variable speed, variable pitch wind generators are discussed in [144], in which two control strategies are used. The rst one is based on overspeeding, de-loading for wind speed control to avoid over loading of the converter of DFIG, and second one uses pitch-controlled deloading fast LFC action. The dynamic participation of DFIG based wind farm for LFC with coordinated control of TCPS and SMES is proposed in [141], while in [142], the identical thermal interconnected two-area power system with DFIG based WTs is considered for LFC including frequency linked pricing. The LFC for three-area interconnected power system with high penetration of WTs, using fuzzy logic approach is proposed in [147]. The authors [134] presented an integrated control approach for WF to control the frequency deviations of winddiesel power system. In study, the frequency control is achieved by load estimation and short-term ahead wind speed prediction. The minimal-order observer as disturbance observer is used for load estimation, while the leastsquares method is used for the prediction of short-term ahead wind speed. The predicted wind speed adjusts the output power command of the WF as a multiplying factor with fuzzy logic concept. The authors [140] proposed mathematical modeling of several types of wind generators taking into account their dependence with respect to system frequency variations. These models are then implemented in a Newton-based power ow algorithm with frequency control devices to estimate their electrical response after the action of the primary frequency regulation. 8.2. Other DG systems Wayne et al. [287] presented transient stability analysis for Sohio Prudhoe Bay emergency power system. A small-isolated power system of such type is susceptible to stability problems. These power systems, having two or more generator sets operating in parallel with remarkably different mechanical and control characteristics, require transient stability analysis. These are dened having unit ratings less than 100 kW. They are often situated in remote communities or area. Douglas [288] described the original research and development of microprocessor based electronic load governor that incorporates three-phase balancing. The combined study and testing of transient behavior of the governor indicated the need for an improved control algorithm. Doolla and Bhatti [97] presented a novel technique for LFC in an isolated small-hydro plant. In general, the frequency is controlled by using a dummy load, whose rating is equal to the rated output power of the plant. The scheme proposed reduces the size of the dummy load by controlling input power of the hydro power plant using on/off control strategy. Kourosh et al. [98] discussed study of a

distribution system that has enough generation to track its load without the help of a substation. Specically, it addresses the presence of solid-oxide fuel cells in the DG mix. Two control loops are proposed (i) to guarantee that the fuel cell is protected by maintaining its cell utilization within its admissible range and (ii) to track load changes and regulate the frequency. A distribution area error is introduced to formulate the frequency-control problem. In [289], the authors presented a method for cooperative control of DC power feeding system with power producer and supplier owned dispersed generators under the balancing rule. In this work, FC, PV and ultracapacitor as dispersed generators are introduced. Prakash et al. [112] proposed small-signal analysis of isolated as well as interconnected autonomous hybrid DG system for sudden variation in load demand, wind speed and solar radiation. The hybrid systems compromise of different renewable energy resources such as wind, PV, FC and DEG along with the energy storage like battery and ywheel units. Further, in the study, ultra-capacitors as an alternative energy storage element and interconnection of hybrid system through tie-line are incorporated into the system for improved performance. Katiraei et al. [99] addressed real and reactive power management strategies of electronically interfaced DG units in the context of a multiple-DG micro-grid system. Prakash et al. [290] presented LFC of isolated autonomous hybrid system consisting of different renewable energy resources. The GA based loadfrequency PI controller of an autonomous hybrid generation system is presented in [291,292]. The supplementary LFC method by use of a number of both electric vehicle and heat pump water heater as controllable loads is proposed in [143]. The aggregate LFC of a wind-hydro autonomous micro-grid system is described in [145]. The LFC by PHEVs, controllable loads, and a cogeneration unit is discussed in [146]. The authors [148] address the current AGC structure and its drawbacks, and new AGC with cyber architecture to accommodate intermittency of high penetration, non-dispatchable distributed energy resources for smart power grids. The autonomous distributed vehicle to grid control scheme providing a distributed spinning reserve for the unexpected intermittency of the renewable energy sources is proposed in [149]. The study presents a droop control based on the frequency deviation at plug-in terminal. The aggregated electric vehicle-based battery storage representing vehicle to grid system, modeled for use in long-term dynamic power system is proposed in [150].

9. Conclusion The techniques and strategies of LFC for conventional and DG systems attracted much discussion in the recent past. An effort has been made to present critical and comprehensive revive on this subject. Emphasis has been given how to tackle the LFC issues in DG system. A detail survey has been done and presented. Light has been thrown on categorizing various power system structure/ layout reported in the literature that focusses on LFC control techniques adopted and their shortcomings. It has been observed in this literature survey that most of the researchers have done work on LFC problems conned to conventional power system. Some of the statistical attributes in time domain are given in the Appendix. Further, it can be said that there exists a lot of research opportunities in DG systems on issues related to LFC. This survey paper will serve as a valuable reference for researchers to work on LFC problem in DG system. Appendix Please see Table A1.

Table A1 Short summary of time domain performance.

Comparative results of Ref. [39,42] and [40]. Ref. no. Conguration of system Control approach Operating conditions Undershoot [pu] f1 [39] Two-area reheat thermal power system with governor dead zone(GDZ), GRC, and coordination of SMES Two-area with multi-units of three type of systems with TCPS and SMES Fuzzy logic controlled SMES stabilizer and conventional PI SMES stabilizer Without GDZ but with SMES Pd1 0.02 pu Without GDZ but with SMES Pd2 0.02 pu Hydro-Hydro Pd1 Pd2 0.02 pu Thermalthermal Pd1 Pd2 0.02 pu Thermalhydro Pd1 Pd2 0.02 pu Pd1 0.01 pu Pd2 0.01 pu Pd1 Pd2 0.01 pu PI SMES FL SMES PI SMES FL SMES 0.029 0.02 0.019 0.012 0.49 0.18 0.19 0.015 0.013 0.013 f2 0.019 0.014 0.025 0.02 0.39 0.22 0.55 0.012 0.013 0.017 Ptie 0.08 0.005 +0.008 (Overshoot) +0.005 (Overshoot) 0.121 0.003 +0.0005(Overshoot) 0.0001 Settling time (s) f1 4.5 4.5 5.5 5 50 15 50 12 10 13 f2 4.5 4.5 5 4.8 70 20 50 12 11 10 Ptie 5 5 5 4.8 45

328

[42]

Integral Controller and its gain and parameters of TCPS and SMES is optimized by CPSO

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334

15 15 20

[40]

Two-area reheat thermal power system with boiler dynamic effect and SMES

Type-2 fuzzy logic controller

Comparative results of Ref. [52] and [61]. Ref. no. [52] [61]
Results of Ref. [57,58] and [5]. Ref. no. Conguration of system Controller design Operating conditions Undershoot [pu] f1 [57] Interconnected three-area thermal power systems with time delays Conventional AGC AGC with full state LMI control AGC with LMI decentralized control LMI controller with ACE delays and telemetry delays to the control areas of 4 s, 2 s and 4 s, respectively Multi-area connected systems Iterative LMI via H2/H based PI controller 5 s delay with 0.1 pu step load increase 8 s delay with 0.1 pu step load increase (four generating units as one control area) 6 s delay with a sequence of step load changes LMI based PI controller Integral controller (KI 0.05) PI controller (KP 0.2, KI 0.05) LMI based LFC 0.001 0.001 0.007 0.007 f2 0.001 0.0012 0.0098 0.0013 f3 0.005 0.004 0.0035 0.004

Conguration of system Interconnected three-area thermal power systems

Controller design GALMI based PI H GA based PI

Control structure PI 9th order PI

Operating conditions Pd1 100 MW, Pd1 100 MW, Pd1 100 MW, Pd1 100 MW, Pd2 80 MW Pd2 80 MW Pd2 80 MW Pd2 80 MW Pd3 50 MW Pd3 50 MW Pd3 50 MW Pd3 50 MW

ACE1 Avg [pu] 0.0122 0.0104 0.0104 0.0103

ACE2 Avg [pu] 0.0096 0.0102 0.0071 0.0087

ACE3 Avg [pu] 0.0056 0.0103 0.0063 0.0114

[58]

Interconnected three-area thermal power systems with time delays Results of Ref. [139,141] and [147].

[5]

0.004 0.005 The frequency deviation and ACE of the control area are properly maintained within a narrow band with smooth control efforts. Delay margin is within the range of [3.1 s, 3.4 s] for Stability region.

Ref. no.

Conguration of system

Control approach

Operating conditions

Undershoot [pu] f1 f2 0.03 0.03 0.02 0.01 Ptie 0.01 0.01 0.01 +0.005

Settling time (s) f1 12 15 7 8 f2 12 15 7 8 Ptie 15 20 8 10

[139]

Two-area and three-area thermal power system with wind turbines (WTs)

Model predictive control (MPC) technique

Conventional integrator K(s) 0.3/s, PL 0.02 pu,

Governor and turbine time constants are increased to

With MPC and WT 0.04 (two-area system) With MPC and without WT 0.045 (two-area system) With MPC and WT two-area system 0.03 0.02

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334

329

(10) 30 (f3)

(55) (53) (35)

10 12

10 (f3)

References
[1] Ashmo;e PH, Battebury DR, Bowdler RK. Power-system model for large frequency disturbances. Proceedings of the IEEE 1974;121(7):6018. [2] Pan CT, Liaw CM. Anadaptive controller for power system loadfrequency control. IEEE Transactions on Power Systems 1989;4(1):1228. [3] Wang Y, Zhou R, Wen C. Robust loadfrequency controller design for power systems. IEE Proceeding-C 1993;140(1). [4] Wang Y, Zhou R, Wen C. New robust adaptive load-frequency control with system parametric uncertainties. IEE ProceedingsGeneration Transmission and Distribution 1994;141(3). [5] Jiang,en L, Yao W, Wu QH, Wen JY, Cheng SJ. Delay-dependent stability for load frequency control with constant and time-varying delays. IEEE Transactions on Power Systems 2012;27(2):93241. [6] Singh Parmar KP, Majhi S, Kothari DP. Load frequency control of a realistic power system with multi-source power generation. Electrical Power and Energy Systems 2012;42:42633. [7] Foord TR. Step response of a governed hydro-generator. Proceedings of the IEEE 1978;125(11). [8] Kusic GL, et al. Automatic generation control for hydro systems. IEEE Transactions on Energy Conversion 1988;3(1):339. [9] Doolla S, Bhatti TS. Load frequency control of an isolated small-hydro power plant with reduced dumped load. IEEE Transactions on Power Systems 2006;21(4):19129. [10] Fosha C, Elgerd OI. The megawatt- frequency control problem: a new approach via optimal control theory. IEEE Transactions on Power Apparatus and Systems 1970;PAS-89(4):56377. [11] Malik NG, Tan OT, Julish PM, Tacker EC. Trajectory-sensitivity design of load frequency control systems. Proceedings of the IEEE 1973;120(10). [12] Moorthi VR, Aggarwal RP. Damping effects of excitation control in load frequency control system. Proceedings of the IEEE 1974;121(11). [13] Kwatny HG, Kalnitsky KC, Bhatt A. An optimal tracking approach to loadfrequency control. IEEE Transactions on Power Apparatus and Systems 1975;94(5):163543 PAS-vol. [14] Venkateswarlu K, Mahalanabis AK. Design of decentralized loadfrequency regulators. Proceedings of the IEEE 1977;124(9):61720. [15] Nanda J, Kaul BL. Automatic generation control of an interconnected power system. Proceedings of the IEEE 1978;125(5):38590. [16] Shirai Goro. Load frequency control using a governor and voltage controls via a new approach. Proceedings of the IEEE 1978;66(10):12935. [17] Doraiswami R. A nonlinear loadfrequency control design. IEEE Transactions on Power Apparatus and Systems 1978;97(4):127884PAS-vol. [18] Shirai Goro. Load frequency control using Lyapunov's second method: Bang Bang control of speed changer position. Proceedings of the IEEE 1979;67 (10):14589. [19] Bose A, Atiyyah I. Regulation error in load frequency control. IEEE Transactions on Power Apparatus and Systems 1980;PAS-99(2):6507. [20] Premakumaran N, Parthasarathy K, Khincha HP, Chidambara MR. Multi-level load frequency control (A Perturbational approach). Proceedings of the IEEE 1981;69(6):7624. [21] Shirai Goro. Load frequency sampled-data control via Lyapunov's second method. Proceedings of the IEEE 1981;69(1):12930. [22] Oni B, Gaham H, Walker L. Investigation of nonlinear tie line bias control of interconnected power systems. IEEE Transactions on Power Apparatus and Systems 1981;PAS-100(5):23506. [23] Hiyama T. Optimization of discrete-type loadfrequency regulators considering generation-rate constraints. Proceedings of the IEEE 1982;129(6):2859. [24] Tripathi SC, Hope GS, Malik OP. Optimization of loadfrequency control parameters for power systems with reheat steam turbines and governor dead band non-linearity. Proceedings of the IEEE 1982;129(1):106. [25] Hsu YY, Chan WC. Optimal variable structure controller for load-frequency control of interconnected hydro-thermal power systems. Butterworth & Co (publishers) Ltd., Electrical power & energy systems 1984;6(4):2219. [26] Feliachi A. Optimal decentralized load frequency control. IEEE Transactions on Power Systems 1987;PWRS-2(2):37985. [27] Hsu Yuan-Yih, Chan Wah-Chun. Coordinated frequency and voltage control of synchronous generators. IEEE Transactions on Aerospace and Electronic Systems 1987;AES-23(1):210. [28] Kothari ML, Nanda J, Kothari DP, Das D. Discrete-mode automatic generation control of a two-area reheat thermal system with new area control error. IEEE Transactions on Power Systems 1989;4(2):7308. [29] Banerjee S, Chatterjee JK, Tripathy SC. Application of magnetic energy storage unit as loadfrequency stabilizer. IEEE Transactions on Energy Conversion 1990;5(1):4651. [30] Aldeen M, Marsh JF. Decentralized proportionalplus-integral design method for interconnected power systems. Proceedings of the IEEE 1991;138(4):26374. [31] Yamashita Katsumi, Miyagi Hayao. Multi-variable self-tuning regulator for load frequency control system with interaction of voltage on load demand. Proceedings of the IEEE 1991;138(2):17783. [32] Tripathy SC, et al. Adaptive automatic generation control with superconducting magnetic energy storage in power systems. IEEE Transactions on Energy Conversion 1992;7(3):43441.

(f3)

8 9 (f3) +0.08 35 25 (+0.08) (35) (25) +0.07 30 23 (+0.005) (30) (23) +0.052 15 15 (+0.005) (25) (23)

+0.05 10 10 (+0.005) (20) (20) 0.16 30 30 (f3) 0.4 1.0 (0.37) (0.36) 0.15 0.16 TT-HHW (TT-TTW) with TCPS-SMES [147] Three-area ThermalThermal with wind farms Fuzzy logic controller

0.01 +0.005

8 10

Three-area (f3) system Two-area system 0.038 0.025 Three-area 0.022 0.01 system (f3) 0.65 1.8 (0.45) (0.5) 0.6 1.5 (0.4) (0.43) 0.42 1.0 (0.39) (0.39)

With MPC and without WT

TT-HH (TT-TT) TT-HH(TT-TT) with TCPS-SMES TT-HHW (TT-TTW)

[141]

Two-area of thermalthermal (TT) and hydro-hydro (HH) interconnected power system with TCPS, SMES and DFIG based wind farm in deregulated environment

Integral gains of AGC loop and parameters of TCPS and SMES are optimized by CRPSO

Start up, rated, and cut out wind speed are 5 m/s, 14 m/s, and 24.5 m/s, respectively. The wind power penetration is 10%. Same as above except that the wind power penetration is 30%.

With wind penetration but no power from DFIG. Wind penetration level and wind speed area considered to be 20% and 7.5 m/s, respectively in area-2.

31%, 95% in area-1 and 66%, 38% in area-2, respectively

0.1

0.1

0.1 (f3)

10

10

330

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334 [63] Hiyama T. Design of decentralized loadfrequency regulators for interconnected power systems. Proceedings of the IEE 1982;129(1):1723. [64] Kumar A, Malik OP. Discrete variable structure controller for load frequency control of multi-area interconnected power systems. Proceedings of the IEE 1987;134(Pt. C, 2):11622. [65] Malik OP, Kumar Ashok, Hope GS. A load frequency control algorithm based on a generalized approach. IEEE Transactions on Power Systems 1988;3 (2):37582. [66] Yang TC, Cimen H, Zhu QM. Decentralized loadfrequency controller design based on structured singular values. IEE Proceedings - Generation, Transmission and Distribution 1998;145(1):714. [67] Du Xiuxia, Li Pingkang. Fuzzy logic control optimal realization using GA for multi-area AGC systems. International Journal of Information Technology 2006;12(7):6372. [68] Tan Wen. Unied tuning of PID load frequency controller for power systems via IMC. IEEE Transactions on Power Systems 2010;25(1):34150. [69] Vrdoljak K, Peric N, Petrovic I. Sliding mode based load-frequency control in power systems. Electrical Power Systems Research 2010;80:51427. [70] Rahmani M, Sadati N. Hierarchical optimal robust load-frequency control for power systems. IET Generation Transmission & Distribution 2012;6(4):30312. [71] Tan W, Zhou H. Robust analysis of decentralized load frequency control for multiarea power systems. Electrical Power and Energy Systems 2012;43:9961005. [72] Aggarwal RP, Bergseth FR. Large signal dynamics of load-frequency control systems and their optimization using nonlinear programming: II. IEEE Transactions on Power Apparatus and Systems 1968;87(2):5328 PAS-vol.. [73] Yoshida Y, Machida T. Study of the effect of the DC link on frequency control in interconnected AC systems. IEEE Transactions on Power Apparatus and Systems 1969;88(7):103642 PAS-vol. [74] Bengiamin NN, Chan WC. 3-level load-frequency control of power systems interconnected by asynchronous tie lines. Proceedings of the IEE 1979;126 (11):1198200. [75] Ibraheem P, Kumar, Ahmad S. Dynamic performance enhancement of hydropower systems with asynchronous tie-lines. IE(I) JournalEL 2004;85. [76] Ibraheem, Kumar PK. Study of dynamic performance of power systems with asynchronous tie-lines considering parameter uncertainties. IE (I) Journal EL 2004;85:3542. [77] Christie RD, Bose A. Load frequency control issues in power system operations after deregulation. IEEE Transactions on Power Systems 1996;11 (3):1191200. [78] Kumar J, Ng Kah-Hoe, Sheble G. AGC Simulator for price based operation part 1: a model. IEEE Transactions on Power Systems 1997;12(2):52732. [79] Kumar Jayant, Ng Kah-Hoe, Sheble Gerald. AGC simulator for price-based operation part-II: case study results. IEEE Transactions on Power Systems 1997;12(2):5338. [80] Bakken BH, Grand OS. Automatic generation control in a deregulated power system. IEEE Transactions on Power Systems 1998;13(4):14016. [81] Donde V, Pai MA, Hiskens IA. Simulation and optimization in an AGC system after deregulation. IEEE Transactions on Power Systems 2001;16(3):4819. [82] Delno B, Fornari F, Massucco S. Load-frequency control and inadvertent interchange evaluation in restructured power systems. IEE Proceedings Generation, Transmission and Distribution 2002;149(5):60714. [83] Shayeghi Hossein, Shayanfar Heidar Ali. Design of decentralized robust LFC in a competitive electricity environment. Journal of Electrical Engineering 2005;56(9-10):22536. [84] Shayeghi Hossein, Shayanfar Heidar Ali, Jalili Aref. Multi stage fuzzy PID load frequency controller in a restructured power system. Journal of Electrical Engineering 2007;58(2):6170. [85] Shayeghi H. A robust decentralized power system load frequency control. Journal of Electrical Engineering 2008;59(6):28193. [86] Hosseini, Etemadi. Adaptive neuro-fuzzy inference system based automatic generation control. Electric Power Systems Research 2008;78:12309. [87] Abraham RJ, Das D, Patra A. Load following in a bilateral market with local controllers. Electrical Power and Energy Systems 2011;33:164857. [88] Debbarma S, Saikia LC, Sinha N. AGC of a multi-area thermal system under deregulated environment using non-integer controller. Electrical Power Systems Research 2013;95:17583. [89] Bhatt P, Roy R, Ghoshal SP. Optimized multi area AGC simulation in restructured power systems. Electrical Power and Energy Systems 2010;32: 31122. [90] Tan Wen, Zhang H, Yu M. Decentralized load frequency control in deregulated environments. Electrical Power and Energy Systems 2012;41:1626. [91] Jovanovic S, Fox B. Intelligent adaptive turbine controller. IEEE Transactions on Energy Conversion 1995;10(1):1958. [92] Wrate CA, Wozniak L. Hydro-generator system identication using a simple genetic algorithm. IEEE Transactions on Energy Conversion 1997;12(1):605. [93] Scott GW, Wilreker VF, Shaltens RK. Wind turbine generator interaction with diesel generators on an isolated power system. IEEE Transactions on Power Apparatus and Systems 1984;PAS-103(5):9337. [94] Curtice DH, Reddoch TW. An assessment of load frequency control impacts caused by small wind turbines. IEEE Transactions on Power Apparatus and Systems 1983;PAS-102(1):16270. [95] Asano H, Yajima K, Kaya Y. Inuence of photovoltaic power generation on required capacity for load frequency control. IEEE Transactions on Energy Conversion 1996;11(1):18893.

[33] Lu Chun-Feng, Liu CC, WU C. Effect of battery energy storage system on load frequency control considering governor dead-band and generation rate constraint. IEEE Transactions on Energy Conversion 1995;10(3):55561. [34] Talaq J, Al-Basri F. Adaptive fuzzy gain scheduling for load frequency control. IEEE Transactions on Power Systems 1999;14(1):14550. [35] Ngamroo I, Mitani Y, Tsuji K. Application of SMES Coordinated with solidstate phase shifter to load frequency control. IEEE Transactions on Applied Superconductivity 1999;9(2). [36] Yesil E, Guzelkaya M, Eksin I. Self tuning fuzzy PID type load and frequency controller. Pergamon, Energy Conversion and Management 2004;45:37790. [37] Cam E, Kocaarslan I. Load frequency control in two area power systems using fuzzy logic controller. Energy Conversion and Management 2005;46:23343. [38] Kothari ML, Nanda J, Kothari DP, Das D. Discrete-mode automatic generation control of a two-area reheat thermal system with new area control error. IEEE Transactions on Power Systems 1989;4(2):7308. [39] Hemeida AM. A fuzzy logic controlled superconducting magnetic energy storage, SMES frequency stabilizer. Electrical Power and Energy Systems 2010;80:6516. [40] Sudha KR, Santhi RV. Load frequency control of an interconnected reheat thermal system using type-2 fuzzy system including SMES units. Electrical Power and Energy Systems 2012;43:138392. [41] Khodabakhshian A, Hooshmand R. A new PID controller design for automatic generation control of hydro power systems. Electrical Power and Energy Systems 2010;32:37582. [42] Bhatt P, Ghoshal SP, Roy R. Load frequency stabilization by coordinated control of Thyristor controlled phase shifters and superconducting magnetic energy storage for three types of interconnected two-area power systems. Electrical Power and Energy Systems 2010;32:111124. [43] Tsay Tain-Sou. Loadfrequency control of interconnected power system with governor backlash nonlinearities. Electrical Power and Energy Systems 2011;33:15429. [44] Sudha KR, Raju YB, Sekhar AC. Fuzzy C-Means clustering for robust decentralized load frequency control of interconnected power system with generation rate constraint. Electrical Power and Energy Systems 2012;37:58 66. [45] Dey R, Ghosh S, Ray G, Rakshit A. H load frequency control of interconnected power systems with communication delays. Electrical Power and Energy Systems 2012;42:67284. [46] Chidambaram IA, Paramasivam B. Control performance standards based load-frequency controller considering Redox ow batteries coordinate with interline power ow controller. Journal of Power Sources 2012;219:292304. [47] Ibraheem, Kumar P, Hassan N, Nizamuddin. Sub-optimal automatic generation control of interconnected power system using output vector feedback control strategy. Electric Power Components and Systems 2012;40:97794. [48] Calovic Milan. Linear regulator design for a load and frequency control. IEEE Transactions on Power Apparatus and Systems 1972;91(6):227185 PAS-vol. [49] Bengiamin, Chan. Multilevel loadfrequency control of interconnected power systems. Proceedings of the IEEE 1978;125(6). [50] Davison Edward J, Tripathi Nand K. The optimal decentralized control of a large power system: load and frequency control. IEEE Transactions on Automatic Control 1978;AC-23(2):31224. [51] Lim KY, Wang Y, Zhou R. Robust decentralized load-frequency control of multi-area power systems. IEE ProceedingsGeneration, Transmission and Distribution 1996;143(5):37786. [52] Rerkpreedapong D, Hasanovic A, Feliachi A. Robust load frequency control using genetic algorithms and linear matrix inequalities. IEEE Transactions on Power Systems 2003;18(2):85561. [53] Ghoshal SP. Multi-area frequency and tie-line power ow control with fuzzy logic based integral gain scheduling. IE(I) JournalEL 2003;84:13541. [54] Ghoshal SP. GA-fuzzy based fast acting adaptive active power-frequency control of interconnected multiple thermal generating areas. IE (I) Journal EL 2005;85:20915. [55] Juang CF, Lu CF. Loadfrequency control by hybrid evolutionary fuzzy PI controller. IEE Proceedings - Generation, Transmission and Distribution 2006;153(2):196204. [56] Daneshfar F, Bevrani H. Load frequency control: a GA-based multi-agent reinforcement learning. IEE Proceedings - Generation, Transmission and Distribution 2010;4(1):1326. [57] Yu X, Tomsovic K. Application of linear matrix inequalities for load frequency control with communication delays. IEEE Transactions on Power Systems 2004;19(3):150815. [58] Bevrani H, Hiyama T. On loadfrequency regulation with time delays: design and real-time implementation. IEEE Transactions on Power Systems 2009;24 (1):292300. [59] Jiang L, Yao W, Wu QH, Wen JY, Cheng SJ. Delay-dependent stability for load frequency control with constant and time-varying delays. IEEE Transactions on Power Systems 2012;27(2):93241. [60] Alrifai MT, Hassan MF, Zribi M. Decentralized load frequency controller for a multi-area interconnected power system. Electrical Power and Energy Systems 2011;33:198209. [61] Daneshfar F, Bevrani H. Multi-objective design of load frequency control using genetic algorithms. Electrical Power and Energy Systems 2012;42: 25763. [62] Dong L, Zhang Y, Gao Z. A robust decentralized load frequency controller for interconnected power systems. ISA Transaction 2012;51:4109.

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334 [96] Hilloowala RM, Sharaf Adel M. A rule-based fuzzy logic controller for a PWM inverter in a standalone wind energy conversion scheme. IEEE Transactions on Industry Applications 1996;32(1):5765. [97] Doolla S, Bhatti TS. Load frequency control of an isolated small-hydro power plant with reduced dump load. IEEE Transactions on Power Systems 2006;21 (4):19129. [98] Sedghisigarchi K, Feliachi Ali. Impact of fuel cells on loadfrequency control in power distribution systems. IEEE Transactions on Energy Conversion 2006;21(1):2506. [99] Katiraei F, Iravani MR. Power management strategies for a microgrid with multiple distribution generation units. IEEE Transactions on Power Systems 2006;21(4):182131. [100] Chokanyasuwan, C, et al., Robust fuzzy logic-PID controller for winddiesel power system using particle swarm optimization. In: GMSARN international conference on sustainable development: issue and prospects for the GMS, 1214 Nov. 2008. [101] Gautam Durga, et al. Control strategy to mitigate the impact of reduced inertia due to doubly fed induction generators on large power systems. IEEE Transactions on Power Systems 2011;26(1):21424. [102] Chien LRC, Lin WT, Yin YC. Enhancing frequency response control by DFIGs in the high wind penetrated power systems. IEEE Transactions on Power Systems 2011;26(2):7108. [103] Ramtharan G, Ekanayake JB, Jenkins N. Frequency support from doubly fed induction generator wind turbines. IET Renewable Power Generation 2007;1 (1):39. [104] Ekanayake Janaka, Jenkins Nick. Comparison of the response of doubly fed and xed-speed induction generator wind turbines to changes in network frequency. IEEE Transactions on Energy Conversion 2004;19(4):8002. [105] Anaya-Lara O, et al. Contribution of DFIG-based wind farms to power systems short-term frequency regulation. IEE ProceedingsGeneration Transmission and Distribution 2006;153(2). [106] Miao Zhixin, et al. Control of DFIG-based wind generation to improve interarea oscillation damping. IEEE Transactions on Energy Conversion 2009;24 (2):41522. [107] Kayikci Mustafa, Milanovic Jovica V. Dynamic contribution of DFIG-based wind plants to system frequency disturbances. IEEE Transactions on Power Systems 2009;24(2):85967. [108] de Almeida Rogerio G, Pecas Lopes JA. Participation of doubly fed induction wind generators in system frequency regulation. IEEE Transactions on Power Systems 2007;22(3):94450. [109] Kanellos FD, Hatziargyriou ND. Control of variable speed wind turbines equipped with synchronous or doubly fed induction generators supplying islanded power systems. IET renewable power generation 2009;3(1):96108. [110] Zhang X, Li H, Wang Y. Control of DFIG-based wind farms for power network frequency support. In: International conference on power system technology; 2010. p. 16. [111] Michael Hughes F, et al. Control of DFIG-based wind generation for power network support. IEEE Transactions on Power Systems 2005;20(4):195866. [112] Ray PK, Mohanty SR, Kishor Nand. Small-signal analysis of hybrid distribution generation system with HVDC-link and energy storage elements. In: Second international conference on emerging trends in engineering and technology; 2009. [113] Li Risheng, Bozhko Serhiy, Asher Greg. Frequency control design for offshore wind farm grid with LCC-HVDC link connection. IEEE Transactions on Power Electronics 2008;23(3):108592. [114] Li R, Bozhko SV, Asher GM. Grid frequency control for LCC HVDC link connected wind farms. In: The 33rd annual conference of the IEEE industrial electronics society, Taiwan; Nov. 58, 2007. [115] Li, Risheng, et al., Grid frequency control design for offshore wind farms with naturally communicated HVDC link connection. In: IEEE ISIE 2006, Canada; July 912, 2006. [116] Fan Lingling, Miao Zhixin, Osborn Dale. Wind farms with HVDC delivery in load frequency control. IEEE Transactions on Power Systems 2009;24(4): 18945. [117] Singh Bhim, Sheeja V, et al., Voltagefrequency controller for standalone WECS employing permanent magnet synchronous generator. In: Third international conference on power systems, Kharagpur, India; Dec. 2009. p. 2729. [118] Goel PK, Singh Bhim, Murthy SS, Kishore N. Isolated wind-hydro hybrid system using cage generators and battery storage. IEEE Industrial Electronics 2011;58(4). [119] Guerrero JM, et al. A wireless controller to enhance dynamic performance of parallel inverters in distributed generation systems. IEEE Transactions on Power Systems 2004;19(5). [120] Salamah AM, Finney SJ, Williams BW. Autonomous controller for improved dynamic performance of AC grid, parallel-connected, single-phase inverters. IET Generation Transmission & Distribution 2008;2(2):20918. [121] Senjyu Tomonobu, et al. A hybrid power system using alternative energy facilities in isolated island. IEEE Transactions on Energy Conversion 2005;20 (2):40614. [122] Sedghigarchi K, Feliachi A. Dynamic and transient analysis of power distribution systems with fuel cells-part I: fuel-cell dynamic model. IEEE Transactions on Energy Conversion 2004;19(2):4238. [123] Sedghigarchi K, Feliachi A. Dynamic and transient analysis of power distribution systems with fuel cells-part II: Control and stability enhancement. IEEE Transactions on Energy Conversion 2004;19(2):42934.

331

[124] Ro K, Rahman S. Two-loop controller for maximizing performance of a gridconnected photovoltaic-fuel cell hybrid power plant. IEEE Transactions on Energy Conversion 1998;13(3):27681. [125] Rahman ML, Oka S, Shirai Y. Hybrid power generation system using offshorewind turbine and tidal turbine for power uctuation compensation (HOTPC). IEEE Transactions on Sustainable Energy 2010;1(2). [126] Goya T, et al. Frequency control in isolated island by using parallel operated battery systems applying H control theory based on droop characteristics. IET Renewable Power Generation 2011;5(2):1606. [127] Ngamroo Issarachai. Robust frequency control of winddiesel hybrid power system using superconducting magnetic energy storage. International Journal of Emerging Electric Power Systems 2009;10(3):126. [128] Uehara Akie, Senjyu Tomonobu, Yona Atsushi, Funabashi Toshihisa. A frequency control method by wind farm & battery using load estimation in isolated power system. International Journal of Emerging Electric Power Systems 2010;11(2):120. [129] Senjyu T, Tokudome M, Yona A., A frequency co.n.trol approach by decentralized generators and loads in power systems. In: Second IEEE international conference on power and energy; December 13, 2008, Malaysia. [130] Doherty R, Mullane A, Nolan G, Burke DJ, Bryson A, Malley MO. An assessment of the impact of wind generation on system frequency control. IEEE Transactions on Power Systems 2010;25(1):45260. [131] Datta M, Senjyu T, Yona A, Funabashi T, Kim CH. A frequency-control approach by photovoltaic generator in a PV-diesel hybrid power system. IEEE Transactions on Energy Conversion 2011;26(2):55970. [132] Datta M, Senjyu T, Yona A, Funabashi T. Minimal-order observer-basedd coordinated control method for isolated power utility connected multiple photovoltaic systems to reduce frequency deviations. IET Renewable Power Generation 2010;4(2):15364. [133] Datta M, Senjyu T, Yona A, Funabashi T, Kim CH. A coordinated control method for leveling PV output power uctuations of PV-diesel hybrid systems connected to isolated power utility. IEEE Transactions on Energy Conversion 2009;24(1):15362. [134] Kaneko T, Uehara A, Senjyu T, Yona A, Urasaki N. An integrated control method for a wind farm to reduce frequency deviations in a small power system. Applied Energy 2011;88:104958. [135] Lee DJ, Wang Li. Small-signal stability analysis of an autonomous hybrid renewable energy power generation/ Energy storage system part-I: Timedomain simulations. IEEE Transactions on Energy Conversion 2008;23 (1):31120. [136] Das DC, Roy AK, Sinha N. GA based frequency controller for solar thermal dieselwind hybrid energy generation/energy storage system. Electrical Power and Energy Systems 2012;43:26279. [137] Nayeripour M, Hoseintabar M, Niknam T. Frequency deviation control by coordination control of FC and double-layer capacitor in an autonomous hybrid renewable energy power generation system. Renewable Energy 2011;36:17416. [138] Khalid M, Savkin AV. An optimal operation of wind energy storage system for frequency control based on model predictive control. Renewable Energy 2012;48:12732. [139] Mohamed TH, Morel J, Bevrani H, Hiyama T. Model predictive based load frequency control design concerning wind turbines. Electrical Power and Energy Systems 2012;43:85967. [140] Castro LM, Esquivel CRF, Hernandez JHT. Solution of power ow with automatic loadfrequency control devices including wind farms. IEEE Transactions on Power Systems 2012;27(4):218695. [141] Bhatt SP, Ghoshal, Roy R. Coordinated control of TCPS and SMES for frequency regulation of interconnected restructured power systems with dynamic participation from DFIG based wind farm. Renewable Energy 2012;40:4050. [142] Verma YP, Kumar A. Participation of doubly fed induction generator based wind turbine in frequency regulation with frequency-linked pricing. Electric Power Components and Systems 2012;40:1586604. [143] Masuta T, Yokoyama A. Supplementary load frequency control by use of a number of both electric vehicles and heat pump water heaters. The IEEE Transactions on Smart Grid 2012;3(3):125362. [144] Moutis P, Papathanassiou SA, Hatziargyriou ND. Improved load-frequency control contribution of variable speed variable pith wind generators. Renewable Energy 2012;48:51423. [145] Serban I, Marinescu C. Aggregate load-frequency control of a wind-hydro autonomous micro-grid. Renewable Energy 2011;36:334554. [146] Galus MD, Koch S, Andersson G. Provision of load frequency control by PHEVs, controllable loads, and a cogeneration unit. IEEE Transactions on Industrial Electronics 2011;58(10):456882. [147] Bevrani H, Daneshmand PR. Fuzzy logic-based loadfrequency control concerning high penetration of wind turbines. IEEE System Journal 2012;6(1):17380. [148] Keyhani A, Chatterjee A. Automatic generation control Structure for smart power grids. IEEE Transactions on Smart Grid 2012;3(3):13106. [149] Ota Y, Taniguchi H, Nakajima T, Liyanage KM, Baba J, Yokoyama A. Autonomous distributed V2G (vehicle-to-grid) satisfying scheduled charging. IEEE Transactions on Smart Grid 2012;3(1):55964. [150] Pillai JR, Jensen BB. Integration of vehicle-to-grid in the western Danish power system. IEEE Transactions on Sustainable Energy 2011;2(1):129. [151] Concordia C, Kirchmayer LK. Tie line power and frequency control of electric power systems. American Institute of Electrical Engineers Transactions 1953;72(pt. II):56272.

332

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334 [184] Liaw CM. Design of a reduced-order adaptive LFC for an interconnected hydrothermal power system. International Journal of Control 1994;60 (6):105163. [185] Sheirah MA, Abid-Ei-Fattah MM. Improved load frequency self-tuning regulator. International Journal of Control 1984;39(1):14358. [186] Sheirah MA, Malik OP, Hope GS. Minimum variance strategy for load frequency control. International Journal of Electrical Power & Energy Systems 1986;8(2):1206. [187] Yamashita K, Miyagi H. Load-frequency self-tuning regulator for interconnected power systems with unknown deterministic load disturbances. International Journal of Control 1989;49(5):155668. [188] Lee KA, Yee H, Teo CY. Self-tuning algorithm for automatic generation control in an interconnected power system. Electric Power Systems Research 1991;20(2):15765. [189] Rubaai A, Udo V. Self-tuning LFC: multi level adaptive approach. Proceedings. of Institute of Electrical Engineering Generation, Transmission, Distribution 1994;141(4):28590. [190] Rubaai A, Udo V. Self-tuning load frequency control: multilevel adaptive approach. IEE ProceedingsGeneration, Transmission and Distribution 1994;141(4). [191] Jovanovic S. Self-tuning steam turbine controller in a multi-machine power system. IEEE Transactions on Energy Conversion 1999;14(4):157881. [192] Kawabata H, Kido M. A decentralized scheme of load frequency control power system. Electrical Engineering in Japan 1982;102(4):1006. [193] Park YM, Lee KY. Optimal decentralized load frequency control. Electric Power Systems Research 1984;7(4):27988. [194] Calovic MS. Automatic generation control: decentralized area-wise optimal solution. Electric Power Systems Research 1984;7(2):11539. [195] Aldeen M, Marsh JF. Observability, controllability and decentralized control of interconnected power systems. International Journal of Computer and Electrical Engineering 1990;16(4):20720. [196] Decentralized proportional-plus-integral control design method for interconnected power systems. In: Proceedings of Institute of Electrical Engineering, 138, 4, 263274, 1991. [197] Aldeen M. Interaction modeling approach to distributed control with application to power systems. International Journal of Control 1991;53 (5):103554. [198] Yang TC, Cimen H, Zhu QM. Decentralised loadfrequency controller design based on structured singular values. Proceedings of Institute of Electrical Engineering C 1998;145(1):714. [199] Yang TC, Ding ZT, Yu H. Decentralised power system load frequency control beyond the limit of diagonal dominance. International Journal of Electrical Power & Energy Systems 2002;24(3):17384. [200] Geromel JC, Peres PLD. Decentralized load-frequency control. Proceedings of the IEEE 1985;132(5):22530. [201] Taher Seyed Abbas, Hematti Reza. Robust decentralized load frequency control using multi variable QFT method in deregulated power systems. American Journal of Applied Sciences 2008;5(7):81828. [202] Ganapathy S, Velusami S. Design of MOEA based decentralized loadfrequency controllers for interconnected power systems with ac-dc parallel tie-lines. International Journal of Recent Trends in Engineering 2009;2 (5):35761. [203] Chidambaram IA, Paramasivam B. Genetic algorithm based decentralized controller for loadfrequency control of interconnected power systems with RFB considering TCPS in the tie-line. International Journal of Electrical and Electronics Engineering 2009;1(4):299312. [204] demello FP, Mills RJ, B'Rells WF. Automatic generation control part-I-process modeling. IEEE Transactions on Power Apparatus and Systems 1972;PAS-92 (2):7105. [205] Kumar A, Malik OP, Hope GS. Discrete variable-structure controller for load frequency control of multi-area interconnected power system. In: Proceedings of Institute of Electrical Engineering C, 134, 2, 116122, 1987. [206] Tan Wen, Zhang H, Yu M. Decentralized load frequency control in deregulated environments. Electrical Power and Energy Systems 2012;41:1626. [207] Tan W. Tuning of PID load frequency controller for power systems. Energy Conversion Management 2009;50(6):146572. [208] Premakumaran N, et al. Some aspects of multilevel load frequency control of a power system. Proceedings of the IEEE 1982;129(Pt. C, 6):2904. [209] Wang Y, Zhou R, Wen C. Robust load-frequency controller design for power systems. Proceedings of Institute of Electrical Engineering C 1993; 140(1):116. [210] Wang Y, Zhou R, Wen C. New robust adaptive load frequency control with system parameter uncertainties. IEE Proc. Gener. Transm. Distrib. C 1994; 141 (3): 184-190. [211] Ray G, Rani CS. Stabilizing decentralized robust controllers of interconnected uncertain power systems based on the Hessenberg form: simulated results. International Journal of Systems Science 2001;32(3):38799. [212] Franoise B, Magid Y, Bernard W. Application of neural networks to loadfrequency control in power systems. Neural Network 1994;7(1):18394. [213] Birch AP, Sepeluk AT, Ozveren CS. An enhanced neural network load frequency control technique. In: Proc. 1994 IEE conference on control; March, 1994. p. 409415. [214] Chaturvedi DK, Satsangi PS, Kalra PK. Load frequency control: a generalized neural network approach. Electrical Power & Energy Systems 1999;21 (6):40515. [215] Demiroren A, Sengor NS, Zeynelgil HL. Automatic generation control by using ANN technique. Electrical Power Component System 2001;29(10):88396.

[152] Kirchmayer LK. Economic control of interconnected systems. New York: Wiley; 1959. [153] Cohn N. Some aspects of tie-line bias control on interconnected power systems. American Institute of Electrical Engineers Transactions 1957;75: 141536. [154] Cohn N. Considerations in the regulation of interconnected area. IEEE Transactions on Power Systems 1957;PAS-86:152738. [155] Van Ness JE. Root loci of load frequency control systems. IEEE Transactions on Power Apparatus and Systems 1963;PAS-82(5):71226. [156] Quazza G. Noninteracting controls of interconnected electric power systems. IEEE Transactions on Power Apparatus and Systems 1966;7:72741 PAS-85. [157] Aggarwal RP, Bergseth FR. Large signal dynamics of load-frequency control systems and their optimization using nonlinear programming: I & II. IEEE Transactions on Power Apparatus and Systems 1968;PAS-87(2):52738. [158] Cohn N. Techniques for improving the control of bulk power transfers on interconnected systems. IEEE Transactions on Power Apparatus and Systems 1971;PAS-90(6):240919. [159] Elgerd OI, Fosha C. Optimum megawatt frequency control of multi-area electric energy systems. IEEE Transactions on Power Apparatus and Systems 1970;PAS-89(4):55663. [160] Bechert TE, Chen N. Area automatic generation control by multi-pass dynamic programming. IEEE Transactions on Power Apparatus and Systems 1977;PAS-96(5):14608. [161] Das D, Nanda J, Kothari ML, Kothari DP. Automatic generation control of hydrothermal system with new area control error considering generation rate constraint. Electric Machines and Power Systems 1990;18(6):46171. [162] Fosha CE, Elgerd OI. The megawatt frequency control problem: a new approach via optimal control theory. IEEE Transactions on Power Apparatus and Systems 1970;PAS-89(4):56377. [163] Barcelo Wayne R. Effect of power plant response on optimum load frequency control system design. IEEE Transactions on Power Apparatus and Systems 1973;92(1):2548 PAS-vol. [164] Kwatny HG, Kalnitsky KC, Bhatt A. An optimal tracking approach to load frequency control. IEEE Transactions on Power Apparatus and Systems 1975; PAS-94(5):163543. [165] Bohn EV, Miniesy SM. Optimum load frequency sample data control with randomly varying system disturbances. IEEE Transactions on Power Apparatus and Systems 1972;PAS-91(5):191623. [166] Yamashita K, Taniguchi T. Optimal observer design for load frequency control. International Journal of Electrical Power & Energy Systems 1986;8 (2):93100. [167] Feliachi A. Load frequency control using reduced order models and local observers. International Journal of Electrical Energy Systems 1987;7(2):725. [168] Rubaai A, Udo V. An adaptive control scheme for LFC of multi-area power systems. Part I: Identication and functional design, Part-II: Implementation and test results by simulation. Electric Power Systems Research 1992;24 (3):18397. [169] Velusami S, Ramar K. Design of observer-based decentralized load-frequency controllers for interconnected power systems. International Journal of Power and Energy Systems 1997;17(2):15260. [170] Hain Y, Kulessky R, Nudelman G. Identication-based power unit model for loadfrequency control purposes. IEEE Transactions on Power Systems 2000;15(4):131321. [171] Moorthi VR, Aggarawal RP. Suboptimal and near optimal control of a load frequency control system. Proceedings of the Institute of Electrical Engineering 1972;119:165360. [172] Choi SS, Sim HK, Tan KS. Load frequency control via constant limited-state feedback. Electric Power Systems Research 1981;4(4):2659. [173] Aldeen M, Trinh H. Load frequency control of interconnected power systems via constrained feedback control schemes. International Journal of Computer and Electronics Engineering 1994;20(1):7188. [174] Yamashita K, Taniguchi T. Optimal observer design for load frequency control. International Journal of Electrical Power & Energy Systems 1986;8(2):93100. [175] Feliachi A. Load frequency control using reduced order models and local observers. International Journal of Electrical Energy Systems 1987;7(2):725. [176] Hain Y, Kulessky R, Nudelman G. Identication-based power unit model for loadfrequency control purposes. IEEE Transactions on Power Systems 2000;15(4):131321. [177] International Journal of Systems Science. 1992;23(5):74164. [178] Shirai G. Load frequency control using Liapunov's second method: bangbang control of speed changer position. Proceedings of the IEEE 1979;67 (10):14589. [179] Ross CW. Error adaptive control computer for interconnected power system. IEEE Transactions on Power Apparatus and Systems 1966;PAS-85:749. [180] Kanniah J, Tripathy SC, Malik OP. Microprocessor based adaptive load frequency control. Proceedings of Institute of Electrical Engineering C 1984;131(4):1218. [181] Vajk I, Vajta M, Keviczky L. Adaptive load frequency control of Hungarian power system. Automatica 1985;21(2):12937. [182] Pan CT, Liaw CM. An adaptive controller for power system and load frequency control. IEEE Transactions on Power Systems 1989;4(1):1228. [183] Shoults RR, Ibarra JAJ. Multi-area adaptive LFC developed for a comprehensive AGC simulator. IEEE Transactions on Power Apparatus and Systems 1993;8(2):5417.

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334 [216] Ahamed TPI, Rao PSN, Sastry PS. A reinforcement learning approach to automatic generation control. Electric Power Systems Research 2002;63: 926. [217] Talaq J, Al-Basri F. Adaptive fuzzy gain scheduling for loadfrequency control. IEEE Transactions on Power Systems 1999;14(1):14550. [218] Indulkar CS, Raj B. Application of fuzzy controller to automatic generation control. Electric Machines and Power Systems 1995;23(2):20920. [219] Chang CS, Fu W. Area load frequency control using fuzzy gain scheduling of PI controllers. Electric Power System Research 1997;42:14452. [220] Denna M, Mauri G, Zanaboni AM. Learning fuzzy rules with Tabu Search-an application to control. IEEE Transactions on Fuzzy Systems 1999;7(2):295318. [221] Ghoshal SP. Multi area frequency and tie line power ow control with fuzzy logic based integral gain scheduling. Journal of Institute of Engineers 2003;84:13541. [222] Ertugrul CAM. Load frequency control in two area power system. Teknoloji 2004;7(2):197203. [223] Ertugrul cam, Kocaarslan I. Load frequency control in two area power systems using fuzzy logic controller. Energy Conversion and Management 2005;46:23343. [224] Juang CF, Lu CF. Power system load frequency control by genetic fuzzy gain scheduling controller. Journal of the Chinese Institute of Engineer 2005;28 (6):10138. [225] Pothiya Saravuth, Ngmroo Issarachai, Runggeratigul Suwan, Tantaswadi Prinya. Design of optimal fuzzy logic based PI controller using multiple Tabu Search algorithm for load frequency control. International Journal of Control, Automation and Systems 2006;4(2):15564. [226] Sinha SK, Patel RN, Prashad R. Application of GA and PSO tuned fuzzy controller for AGC of three area thermalthermal-hydro power system. International Journal of Computer Theory and Engineering 2010;2(2). [227] Karnavas YL, Papadopoulos DP. AGC for autonomous power system using combined intelligent techniques. Electric Power Systems Research 2002;62 (3):22539. [228] Abdel-Magid YL, Dawoud MM. Optimal AGC tuning with genetic algorithms. Electric Power Systems Research 1996;38(3):2318. [229] Chang CS, Fu W, Wen F. Load frequency control using genetic-algorithm based fuzzy gain scheduling of PI controllers. Electric Machines and Power Systems 1998;26(1):3952. [230] Al-Hamouz ZM, Al-Duwaish HN. A new load frequency variable structure controller using genetic algorithms. Electric Power Systems Research 2000;55(1):16. [231] Abdennour A. Adaptive optimal gain scheduling for the load frequency control problem. Electrical Power Component System 2002;30(1):4556. [232] Aditya SK, Das D. Design of load frequency controllers using genetic algorithm for two area interconnected hydro power system. Electric Power Components and Systems 2003;31(1):8194. [233] Ghoshal SP. Application of GA/GA-SA based fuzzy automatic generation control of a multi-area thermal generating system. Electric Power Systems Research 2004;70(2):11527. [234] Dangprasert Pataya, Avatchanakorn Vichit. Genetic Algorithms based on an intelligent controller. Expert Systems With Applications 1996;10():46570. [235] Juang Chia-Feng, Lu Chun-Feng. Power system load frequency control with fuzzy gain scheduling designed by new genetic algorithms. In: Proc. 2002 IEEE international conference on fuzzy systems, vol. 1; 2002. p. 6468. [236] Pingkang Li, et al., Genetic algorithm optimization for AGC of multi-area power systems. In: Proceeding, of IEEE TENCON02, 2002; p. 18181821. [237] Ngamroo Issarachai, Tippayachai Jarurote, Dechanupaprittha Sanchai. Robust decentralized frequency stabilizers design of static synchronous series compensators by taking system uncertainties into consideration. Electrical Power and Energy Systems 28 2006:51324. [238] Nikzad Mehdi, et al. Comparison of articial intelligence methods for load frequency control problem. Australian Journal of Basic and Applied Sciences 2010;4(10):491021. [239] Shari A, et al.. Load frequency control in interconnected power system using multi-objective PID controller 2008. In: IEEE conference on soft computing in industrial applications, Muroran, Japan; June 2008. p. 2527. [240] Sabahi K, et al. Load frequency control in interconnected power system using multi-objective PID controller. Journal of Applied Sciences 2008;8 (20):367682. [241] Moorthi VR, Aggsrwal RP. Suboptimal and near-optimal control of a load frequency control system. Proceedings of the IEEE 1972;119(11):165360. [242] Ray Goshaidas, Prasad AN, Prasad GD. A new approach to the design of robust load-frequency controller for large scale power systems. Electric Power System Research 1999;51:1322. [243] Bevrani Hassan. Robust load frequency controller in a deregulated environment: a m-synthesis approach. In: procedure of the 1999 IEEE, international conference on control applications, Hawai, USA, Aug., p. 2227, 1999. [244] Chaudhuri Balarko, et al. Mixed-sensitivity approach to H control of power system oscillations employing multiple FACTS devices. IEEE Transactions on Power Systems 2003;18(3):114956. [245] Bevrani Hassan, et al. Automatic generation control: a decentralized robust approach. Intelligent Automation and Soft Computing 2007;13(3):27387. [246] Tan Wen, Xu Zhan. Robust analysis and design of load frequency controller for power systems. Electric Power Systems Research 2009;79:84653. [247] Kunish HJ, Kramer KG, Dominik H. Battery energy storageanother option for load-frequency control and instantaneous reserve. IEEE Transactions on Energy Conversion 1986;EC-1(3):4651.

333

[248] Aditya SK, Das D. Battery energy storage for load frequency control of an interconnected power system. Electric Power Systems Research 2001;58 (3):17985. [249] Lu CF, Liu CC. Effect of battery energy storage system on load frequency control considering governor dead-band and generation rate constraint. IEEE Transactions on Energy Conversion 1995;10(3):55561. [250] Sasaki Tetsuo, Kadoya T, Enomoto K. Study on load frequency control using Redox ow batteries. IEEE Transactions on Power Systems 2004;19(1):6607. [251] Sheikh MRI et al., Improvement of load frequency control with fuzzy gain scheduled superconducting magnetic energy storage unit. In: Proceeding of the 2008 international conference on electrical machines. [252] Tripathy SC, Juengst KP. Sampled data automatic generation control with superconducting magnetic energy storage in power systems. IEEE Transactions on Energy Conversion 1997;12(2):18792. [253] Banerjee S, Chatterjee JK, Tripathy SC. Application of magnetic energy storage unit as load frequency stabilizer. IEEE Transactions on Energy Conversion 1990;5(1):4651. [254] Tripathy SC, Balasubramanian R, Nair PSC. Adaptive automatic generation control with superconducting magnetic energy storage in power systems. IEEE Transactions on Energy Conversion 1992;7(3):43441. [255] Tripathy SC, Balasubramanian R, Nair PSC. Effect of superconducting magnetic energy storage on automatic generation control considering governor dead-band and boiler dynamics. In: IEEE transactions power syst., vols. 7, 3; Aug. 1992. p. 12661273. [256] Ngamroo I, Mitani Y, Tsuji K. Application of SMES coordinated with solidstate shifter to load frequency control. IEEE Transactions on Applied Superconductivity 1999;9(2):3225. [257] Demiroren A. Automatic generation control using ANN technique for multiarea power system with SMES units. Electric Power Components and Systems 2004;32(2):193213. [258] El-Emary AA, El-Shibina MA. Application of static VAR compensation for load frequency control. Electric Machines and Power Systems 1997;25 (9):100922. [259] Shayeghi H, Shayanfar HA, Jalili A. LFC design of a deregulated power system with TCPS using PSO. International Journal of Electrical Power & Energy Systems Engineering 2009;2:2. [260] Bhatt P, Ghoshal SP, Roy R. Load frequency stabilization by coordinated control of Thyristor controlled phase shifters and superconducting magnetic energy storage for three types of interconnected two-area power systems. Electrical Power and Energy Systems 2010;32:111124. [261] Asano H, Yajima K, Kaya Y. Inuence of photovoltaic power generation on required capacity for load frequency control. IEEE Transactions on Energy Conversion 1996;11(1):18893. [262] Paradkar A, Davari A, Feliachi A, Biswas T. Integration of a fuel cell into the power system using an optimal controller based on disturbance accommodation control theory. Journal of Power Sources 2004;128(2):21830. [263] Chien LRC, Lin WT, Yin YC. Enhancing frequency response control by DFIGs in the high wind penetrated power systems. IEEE Transactions on Power Systems 2011;26(2):7108. [264] Schlueter RA, et al. Modication of power system operation for signicant wind generation penetration. IEEE Transactions on Power Apparatus and Systems 1983;PAS-102(1):15361. [265] Curtice DH, Reddoch TW. An assessment of load frequency control impacts caused by small wind turbines. IEEE Transactions on Power Systems 1983; PAS-102(1):16270. [266] Amenedo JLR, Arnalte S, Burgos JC. Automatic generation control of a wind farm with variable speed wind turbines. IEEE Transactions on Energy Conversion 2002;17(2):27984. [267] Bhatti TS, Kothari DP. Variable structure load-frequency control of isolated winddieselmicro-hydro hybrid power systems. Journal of the Institute of Engineering 2002;83:526. [268] Jvid SH, Hauth RL, Younkins TD. A method for determining how to operate and control wind turbine arrays in utility systems. IEEE Transactions on Power Apparatus and Systems 1985;PAS-104(6):133541. [269] Uctug Y, Demirekler M. Modeling, analysis and control of a wind-turbine driven self-excited induction generator. Proceedings of the IEEE 1988;135 (4):26875. [270] Lalor Gillian, Mullane Alan, Mark. Frequency control and wind turbine technologies. IEEE Transactions on Power Systems 2005;20(4):190513. [271] Johan, et al. Wind turbines emulating inertia and supporting primary frequency control. IEEE Transactions on Power Systems 2006;21(1):4334. [272] Rogerio, et al. Optimum generation control in wind parks when carrying out system operator requests. IEEE Transactions on Power Systems 2006;21 (2):71825. [273] Doherty Ronan, et al. An assessment of the impact of wind generation on system frequency control. IEEE Transactions on Power Systems 2010;25 (1):45260. [274] Schinas NA, et al. An autonomous system supplied only by a pitch-controlled variable-speed wind turbine. IEEE Transactions on Energy Conversion 2007;22(2):32531. [275] Lau Changling, et al. Strategies to smooth wind power uctuations of wind turbine generator. IEEE Transactions on Energy Conversion 2007;22 (2):3419. [276] Ullah Nayeen Rahmat, et al. Temporary primary frequency control support by variable speed wind turbines-potential and applications. IEEE Transactions on Power Systems 2008;23(2):60112.

334

S.K. Pandey et al. / Renewable and Sustainable Energy Reviews 25 (2013) 318 334 [285] Kanellos FD, Hatziargyrion ND. Optimal control of variable speed wind turbines in islanded mode of operation. IEEE Transactions on Energy Conversion 2010;25(4):114251. [286] Milanovic JV, Soultainis N. The inuence of controlled and xed load composition on operation of autonomous winddiesel system. Paper accepted for presentation at ppt. In: IEEE Porto power tech conference; Sept., 2001. p. 1013. [287] Hoan Wayne T, Chow Mark. Transient stability analysis for Sohio Prudhoe Bay emergency power system. IEEE Transactions on Industry Applications 1986;IA-22(3):4302. [288] Henderson Douglas. An advanced electronic load governor for control of micro hydro-electric generation. IEEE Transactions on Energy Conversion 1998;13(3):3004. [289] Tanaka Kenichi, et al. Balancing control method by dispersed generators based on H control theory in DC power feeding system. Renewable Energy 2011;36:1638. [290] Ray PK, Mohanty SR, Nand Kishor. Small-signal analysis of autonomous hybrid distributed generation systems in presence of ultra-capacitor and tieline operation. Journal of Electrical Engineering 2010;61(4):20214. [291] das, Dulal Ch, Roy AK, Sinha N, Genetic algorithm based PI controller for frequency control of an autonomous hybrid generation system. In: Proceedings of the international multi conference of engineers and computer scientists, vol. 2, Hong Kong; 2011. [292] Singh VP, Mohanty SR, Kishor Nand, Ray PK. H-innity robust load frequency control in hybrid distributed generation. International Journal of Electrical Power and Energy Systems 2013;46:294305.

[277] Conroy James F, Watson. Rick. Frequency response capability of full converter wind turbine generators in comparison to conventional generation. IEEE Transactions on Power Systems 2008;23(2):64956. [278] Singh Bhim, Kasal Gaurav Kumar. Voltage and frequency controller for a three-phase four-wire autonomous wind energy conversion system. IEEE Transactions on Energy Conversion 2008;23(2):50918. [279] Kanellos FD, Hatziargyrious ND. Control of variable speed wind turbines in islanded mode of operation. IEEE Transactions on Energy Conversion 2008;23(2):53543. [280] Senjyu T, Tokudome M, Uehara A, Kaneko T. A new control. methodology of wind farm using short-term ahead wind speed prediction for load frequency control of power system. In: Second IEEE international conference on power and energy, Malaysia; Dec. 13, 2008. [281] Mauricio Juan Manuel, et al. Frequency regulation contribution through variable-speed wind energy conversion systems. IEEE Transactions on Power Systems 2009;24(1):17380. [282] Keung Ping-Kwan, et al. Kinetic energy of wind-turbine generators for system frequency support. IEEE Transactions on Power Systems 2009;24 (1):27987. [283] Chang-Chien Le-Ren, Yao-Ching Yin. Strategies for operating wind power in a similar manner of conventional power plant. IEEE Transactions on Energy Conversion 2009;24(4):92634. [284] Ray PK, Mohanty SR, Kishor Nand. Proportional-integral controller based small-signal analysis of hybrid distributed generation systems. Energy Conversion and Management 2011;52(4):194354.