Reduced Order Modeling of Linear MIMO Systems

Using Soft Computing Techniques

Umme Salma1 and K. Vaisakh2
1

Department of Electrical and Electronics Engineering, GITAM Institute of Technology,

GITAM University, Visakhapatnam, AP, India
usalma123@gmail.com
2
Department of Electrical Engineering, AU College of Engineering, Andhra University,
Visakhapatnam, AP, India
vaisakh_k@yahoo.co.in

Abstract. A method is proposed for model order reduction for a linear

multivariable system by using the combined advantages of dominant pole
reduction method and Particle Swarm Optimization (PSO). The PSO reduction
algorithm is based on minimization of Integral Square Error (ISE) pertaining to
a unit step input. Unlike the conventional method, ISE is circumvented by
equality constraints after expressing it in frequency domain using Parsevals
theorem. In addition to this, many existing methods for MIMO model order
reduction are also considered. The proposed method is applied to the transfer
function matrix of a 10th order two-input two-output linear time invariant model
of a power system. The performance of the algorithm is tested by comparing it
with the other soft computing technique called Genetic Algorithm and also with
the other existing techniques.
Keywords: Reduced order model, Integral Square Error, Parsevals theorem,
Particle Swarm Optimization, Genetic Algorithm.

Introduction

In real problems the analysis of high order systems (HOS) is costly and tedious.
Hence simplification procedure for original HOS are generally employed to realize
for simple models based on physical considerations or by using mathematical
approaches. Numerous methods are available in the literature for order reduction for
linear continuous systems in time domain as well in frequency domain such as step
response, frequency response etc. The reduced order model must be a good
approximation of original model and it should retain the physical characteristics of the
system such as step response, stability etc. Further, numerous methods of order
reduction are also available in the literature, which are based on the minimization of
the integral square error (ISE) criterion. However, a common feature in these methods
is that the values of the denominator coefficients of the low order system (LOS) are
chosen arbitrarily by some stability preserving methods such as dominant pole, Routh
Approximation Methods, Routh Stability Criterion etc. and then the numerator
coefficients of the LOS are determined by minimization of the ISE.
B.K. Panigrahi et al. (Eds.): SEMCCO 2011, Part II, LNCS 7077, pp. 278286, 2011.
Springer-Verlag Berlin Heidelberg 2011

Reduced Order Modeling of Linear MIMO Systems Using Soft Computing Techniques

279

In the recent years, Particle Swarm Optimization (PSO) technique appeared as a

promising algorithm for handling the optimization problems. Particle swarm
optimization (PSO) is a population based stochastic optimization technique developed
by Dr. Eberhart and Dr. Kennedy in 1995, inspired by social behavior of bird flocking
or fish schooling [1]. PSO shares many similarities with evolutionary computation
techniques such as Genetic Algorithm (GA) with a population of random solutions
and searches for optima by updating generations. Unlike GA, however, PSO has no
evolution operators such as crossover and mutation. In PSO, the potential solutions,
called particles, fly through the problem space by following the current optimum
particles. Here PSO method for model reduction is proposed. PSO method is based on
minimization of Integral square error (ISE) between the transient responses of original
higher order model and reduced order model pertaining to a unit step input [2].
Another approach for calculation of ISE [3] is considered. Unlike the conventional
method, ISE is alternatively expressed in frequency domain using Parsevals theorem
and evaluated by considering a set of equality constraints involving the coefficients in
the numerator and denominator of the original and reduced order transfer functions.
Basically the method starts with the fixation of denominator coefficients of lower
order system (LOS) by dominant pole method and determining the coefficients of
numerator polynomials of each element of LOS transfer function matrix by
minimizing the ISE in between the transient responses of original and LOS using
PSO. The algorithm is described in detail in the following sections and is applied to a
10th order two input-two output linear time invariant practical power system. In the
present paper, in addition to PSO and GA ten more existing methods for MIMO
model reductions are also considered.

Problem Formulation

Let the transfer function of the higher order system (HOS) of order r having p
inputs and m outputs be

(1)

of

The general form of

=
(or)

[G(s)] is taken as:

=
=

(2)

(3)

<
----- <
are poles of the HOS.
Where
Let the transfer function matrix of the LOS of order having inputs and
outputs to be synthesized is:

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U. Salma and K. Vaisakh

[G(s)] =

Or

The general form of

of

=
or

1,2, ,

1,2, ,

(4)

is taken as

(5)

(6)

Where
<
----- <
are the dominant poles of the HOS.
Depending on the order to be reduced to, the poles nearest to the origin are
retained. Therefore the denominator polynomial is given by [4]:
=

(7)

Particle Swarm Optimization

The PSO method is a population based search algorithm where each individual is
referred to as particle and represents a candidate solution. Each particle treated as a
point in a d-dimensional space and represented as X= (xi1, xi2 xid) and flies
through the search space with an adaptable velocity that is dynamically modified
according to its own flying experience and also the flying experience of the other
particles. Further, each particle has a memory and hence capable of remembering the
best position in the search space ever visited by it. The best previous position of
particle that corresponds with the fitness value represented as pbest = (pi1, pi2 pid)
and the best position of all particles in the population is denoted as gbest. In each
iteration the value of gbest and pbest are calculated. For the nth iteration velocity and
particles position are updated as shown in the following equations respectively.
)
=

Where,
= pbest of particle I,
=gbest of the group, w = inertia weight.
, =cognitive and social acceleration respectively.
, = random numbers uniformly distributed in the range (0, 1).

(8)
(9)

Reduced Order Modeling of Linear MIMO Systems Using Soft Computing Techniques

281

Fig. 1. Position updates in PSO for a two dimensional Parameters

In PSO, each particle moves in the search space with a velocity according to its
own previous best solution and its groups previous best solution. The velocity update
in PSO consists of three parts; namely momentum, cognitive and social parts. The
balance among these parts determines the performance of a PSO algorithm [2].

PSO Model Order Reduction

The various steps involved in PSO model reduction are as follows:

Step1: Specify the parameters of PSO.
Step2: Generate the initial population for the Particles.
Step3: Find the fitness value ISE for the initial Population. Here objective function
f(x) is fitness value ISE.
Step4: The velocity and position of all particles are randomly set within pre-defined
ranges.
Step5: At each iteration, the velocities and positions of all particles are updated.
Step6: Update the memory by updating
and
When condition is met
.
= pi if
f (pi) > f ( ),
= gi
if
f (gi) > f (
)
Step7: Stopping Condition
The algorithm repeats steps 5 to 7 until pre-defined
number of iterations. It reports the values of gi, and f (gi,) as its solution. This
technique can be extended to multi-input and multi-output systems.
Parameters used for PSO algorithm are Swarm Size=10; Max. Generations=100; c1
=0.2; c2=0.2; wstart=0.9; wend=0.4.

Integral Square Error Minimization Technique (ISE)

The ISE of the unit-step response is given by

ISE =

dt

(10)

denote the unit-step responses of original and reduced order

Where
and
systems respectively.
Using Parsevals theorem the ISE can alternatively be expressed in the frequency
domain and can be evaluated as described by [3]:
ISE =

| |

[h0cp-1Qp-1h0{cp-2Qp-2 - cp-3Qp-3---- +(-1)p-1c1Q1}+ (-1)p-1c0Q0]

(11)

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U. Salma and K. Vaisakh

Numerical Example

The Phillips - Heffron model of Single-Machine Infinite Bus (SMIB) Power system is
shown in fig.2. The numerical values of the parameters, which define the total
systems as well as the operating point, are given in [4].

Fig. 2. Block diagram of Phillips-Heffron model of Single-Machine Infinite Bus (SMIB) Power
system

The transfer function matrix of the 10th order two-input two-output [4] is given by
(12)
Where the common denominator D(s) is given by
D s

s
10 s

10 s

64.21s
1596s
1.947 10 s
1.268 10 s
5.036
1.569 10 s
3.24 10 s
4.061 10 s
2.095
2.531 10 and

29.09s
1868s
4.61 10 s
5.459 10 s
3.185 10 s
8.702 10 s
1.206 10 s
7.606 10 s 6.483 10

85.23s
3651s
5.208 10 s
2.98 10 s
8.471
10 s
3.105 10 s
2.752
10 s 2.45 10

9.85 10 s
1.38
10 s 5.43 10

1.26s
85.18s
2089s
7.123 10 s
1.084
The poles of the above system [G(s)] are at:
a

2298s

10 s

6.838

2.568 10 s
10 s
2.972

10 s

6.1

1.909 10 s
10 s 1.942 10

Reduced Order Modeling of Linear MIMO Systems Using Soft Computing Techniques

0.1001 , ,
0.2392 j3.2348 ,
2.1375,
9.6454,
11.9632,

283

0.8977 j1.3552 ,
19.0451 j2.4859

,
,

The reduced transfer function matrix after applying the proposed algorithm is:
(13)

[R(s)] =
b11 (s)
b12 (s)
Where

7.07
0.68

18.24
2.49
29.97
2.5
0.5785

b21(s)
0.78
7.9
b22(s)
0.02
2.4
10.5690
1.0532
0.1001,

The poles of the LOS [R(s)] are at

1.2
0.03

0.2392

j3.2348

rd

The adequacy of the 3 order reduced models obtained above is tested by comparing
with the original 10th order system and also for GA by Parmar [4] by time responses of
the outputs (i.e. and Vt)) for two distinct input Step changes in fig 3(a)-(b):

Fig.

With
With

3(a) .
0

Fig. 3(c).
0.05 p.u

0.05 p.u and

0 and

0.05

0 and

p.u

and

0
= 0.05 p.u.

Fig. 3(b).
0

Fig. 3(d).
0.05 p.u

0.05 p.u and

and

From the above simulation results, the time responses it is clear that the 3rd order
reduced system obtained by the proposed algorithm is adequate coincide quite well
with those of the original order system for the same input step change.

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U. Salma and K. Vaisakh

Comparisons of Reduced Order Models

Comparison of the proposed algorithm with some well known existing order
reduction techniques are also shown in Table 1.
Table 1. Comparison of reduced order models

r11
r12
r21
I. Proposed Method PSO
7.07s2-18.24s-2.49 0.68s2+29.97s+2.5
-0.78s2+7.9s+1.2
ISE: 3.0328
ISE: 0.4272
ISE: 0.6558
Reduced Denominator: s3 + 0.5785s2 + 10.5690s + 1.0532
II. Parmar, G., et.al [4]
7.4s2 - 24s - 2.3
0.63s2+28.9s+ 2.67 -0.6s2+7.96s+1.03
ISE: 3.6563
ISE: 0.5287
ISE: 0.7850
Reduced Denominator: s3 + 1.877s2 + 3.313s + 0.327
III. Rama Jaya Lakshmi et.al. [5]
-2.45s2-2.24s-0.19 4.32s2+2.79s+0.24
1.11s2+1.01s+0.09
ISE: 2.2542
ISE: 10.3816
ISE: 0.1102
Reduced Denominator: s3+1.453s2+1.066s+0.092
IV. Bei-bei, Wu., & Chaun-qing, G.U. [6]
-1.84s2-6.94s-0.7
6.66s2 +8.97s+ 0.84 0.85s2+3.13s+ 0.32
ISE: 5.7421
ISE: 34.2366
ISE: 0.0946
Reduced Denominator: s3 + 1.877s2 + 3.313s + 0.327
V. Vishwakarma, C.B. and Prasad, R. [7]
8.8s2-64.35s-20.1
38.27s2 +88.78s+24 -3.03s2+29.0s+ 9.1
ISE: 1.0575
ISE: -3.1511
ISE: 0.1228
Reduced Denominator: s3 + 10.03s2 + 32.28s + 9.374
VI. Prasad, R. et.al. [8]
-2.43s2-2.24s-0.2
4.33s2 +2.79s+0.24 1.11s2-1.01s -0.089
3
ISE: 1.9304x10
ISE: 6.5014x103
ISE: 398.2047
Reduced Denominator: s3 +1.453s2 + 1.066s + 0.093
VII. Jayanta Pal and L. M. Ray [9]
-1.83s2-6.94s -0.7 6.66s2 +8.7s+ 0.838 0.85s2+3.13s+ 0.32
ISE: 68.3341
ISE: 34.2065
ISE: 0.0947
Reduced Denominator: s3 + 1.877s2 + 3.312s + 0.327
VIII. Shieh, L.S., and Wei, Y. J. [10]
-2.22s2-5.92s- 0.57 -6.45s2+7.4s+0.68 1.02s2+2.67s-0.256
ISE: 2.7234
ISE: 13.5551
ISE: 0.0801
Reduced Denominator: s3 + 1.895s2 + 2.822s + 0.264
IX. Shamash, Y. [11]
-2.22s2-5.92s-0.57 6.45s2 +7.4s+ 0.677 1.02s2-2.67s+0.256
ISE: 2.7210
ISE: 13.5562
ISE: 0.0800
Reduced Denominator: s3 + 1.895s2 + 2.822s + 0.264

r22
-0.02s2-2.4s+ 0.03
ISE: 0.0580
-1.51s2-2.99s-0.081
ISE: 0.2263
-0.38s2-0.11s- 0.01
ISE: 0.0980
1.01s2 - 0.36s-0.02
ISE: 0.3224
7.27s2-5.23s -0.72
ISE: -0.0091
-0.39s2-0.11s-0.03
ISE: 58.4842
1.01s2-0.35s -0.03
ISE: 0.3221
-0.89s2 -0.3s- 0.02
ISE: 0.1117
-0.89s2 -0.2s-0.02
ISE: 0.1117

Reduced Order Modeling of Linear MIMO Systems Using Soft Computing Techniques

285

Table 1. (Continued)

X. Nahid Habib et.al. [12]

- 64.36s-20.12
88.79s + 24.01
29.02s+ 9.07
ISE: 1.7905
ISE: 1.5121
ISE: 0.1844
Reduced Denominator: s3 +10.03s2 + 32.28s + 9.374
XI. Anurag Vijay Agrawal and Ankit Mittal [13]
13.2s2-175.9s-11.7 94.5s2 + 217s +13.9 -5.54s2+79.4s+5.3
ISE: 1.9882
ISE: -1.5094
ISE: 0.2056
Reduced Denominator: s3 + 19.26s2 + 83.3s + 5.454
XII. Liaw, C.M. [14]
5.76s2-22.13s+3.58 7.39s2+27.76s+ 2.69 -2.5s2+9.9s+1.02
ISE: -2.2591
ISE: 1.5106
ISE: 0.5484
Reduced Denominator: s3 + 0.5785s2 + 10.57s + 1.053

- 5.2286s -0.7193
ISE: 0.0585
-22.4s2 - 8.0s-0.42
ISE: 0.0038
-2.72s2-1.12s-0.08
ISE: 0.2481

An error index ISE known as Integral Square Error in between the transient parts
order models are calculated to measure the accuracy of
of original and reduced
the LOS. The smaller the ISE, the closer is
to
. In the above tabular
form it has been observed that in most of the cases the value of ISE obtained from
PSO is less with that of other methods. When compared with some methods regarding
ISE values, the performance of PSO can be increased by the improvement of PSO
variants, which is a future study of work.

Conclusion

In the present work, the author proposes an algorithm for multi-input multi-output
model order reduction by PSO based on the minimization of Integral Square Error
(ISE) pertaining to a unit step input. Here ISE is circumvented by equality constraints
after expressing it in frequency domain using Parsevals theorem. In the proposed
method the denominator coefficients of the low order system (LOS) are preserved by
dominant pole method and then the numerator coefficients of the LOS are determined
by minimization of the ISE. The proposed method is applied to a 10th order two-input
and two- output linear time invariant model of a practical power system. The
adequacy of lower order models obtained by the proposed method has been judged by
comparing the output time responses to the corresponding ones of the original system
model. The reduced order models are compared with the Genetic Algorithm method.
These methods are also compared for their ISE values with the other ten existing
methods to prove the validity of the proposed method. Here PSO has been proved as a
promising algorithm for handling MIMO model order reduction problems. In future
study the concentration has to be done towards improvement of PSO variants to
increase the efficiency of PSO.

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U. Salma and K. Vaisakh

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