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Abstract This paper presents the design of an H (H-infinity) controller to stabilize an uncertain power system using mixed sensitivity
approach through an iterative LMI (Linear Matrix Inequality) algorithm. Here a robust control methodology is suggested to improve the voltage
regulation of a synchronous generator. H control method is used in this control theory to synthesize controller to obtain robust performance and
stabilization. This technique has the advantage over classical control techniques that it is readily applicable to the problems including
multivariable systems. The proposed robust controller enhances the performance as well as minimizes the disturbances effect more effectively.
In this paper the controller is designed and simulated under MATLAB/Simulink for electric generator stabilization studies for an SMIB system.
Keywords- static output feedback, linear matrix Inequality, H robust controller, loop shaping.
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various unknown design aspects and neglecting real where S is set of all internally stabilizing controllers K.
constraints, these approaches are not meant to meet the
objectives of multi-machine power system. The performances Both these functions together represent the system. But, it is
of these methods depend on the time of switching. However, impossible to minimize both S and KS together over all the full
using multiple approaches in such highly non-linear structures frequency spectrum. The disturbance rejection is normally
increases the complexity of the designed controllers. needed at low frequencies, so the S needs to be minimized at
low frequencies, whereas KS should be minimized at greater
In this paper, stabilization and voltage regulation frequencies where controlled control action is required. This
considering practical constraints for feasibility are formulated is done by using individual weighting functions W1(s) and
via an H static output feedback (H-SOF) control problem W2(s) for each transfer function. The minimization problem is
which can be easily solved using an iterative liner matrix now transformed according to the transfer function S which is
inequality (LMI) algorithm. The designed controller ensures less than 1 and the transfer function KS is less than 1 .
effective and direct trade-off between regulation and W1 W2
performance. The controller uses the measured signals and has With the inclusion of weights, the problem is reformed as :
small proportional gains; giving adequate surety for
implementation, mainly in an SMIB system. The developed To obtain a stabilizing controller, K, such that
control methodology bridges the gap between the simplicity
and robustness of the system, thus satisfying the constraints. In min W1S (2)
order to explain the effective performance of the controller, it K S W2 KS
is applied to an SMIB (Single Machine Infinite Bus) system.
141
IJRITCC | May 2016, Available @ http://www.ijritcc.org
_______________________________________________________________________________________
International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169
Volume: 4 Issue: 5 141 - 146
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III. PROPOSED CONTROL STRATEGY d .E 'q K4 1 1
E 'q EFD . (10)
A. Modelling dt T 'd 0 K3T 'd 0 T 'd 0
Substituting for VT in the differential equation for the voltage
The generator is represented by the classical model with all transducer block becomes
the resistances neglected as shown in figure 2 and the
excitation system used for the generator is shown in figure 1.
Here E is the value voltage behind reactance, Xd. Its
magnitude is assumed to remain to remain constant at the pre-
disturbance value. Let be angle by which E leads the
infinite voltage V. As the rotor oscillates during a
disturbance, changes. Only one winding on the rotor is
Figure 1: Block diagram of the excitation system
considered, ie, the field winding as given in [2].
jX T
E ' (cos j sin ) V
jX T
where X T X 'd X e .
Figure 2: SMIB system
(3)
The acceleration equation is given by d (X 1 ) K 5 K 1
6 E ' q X 1 . (11)
d w
K D w Tm Te . dt TR TR TR
2H
dt The above state variable equations are represented in state
(4) canonical form as
Linearising equation we get, w A11 A12 A13 A14 w B1
d w
1
Tm K S K D w . (5)
A21 A22 A23 A24 B2
dt 2H E q A A32 A33 A34 E 'q B3
31
The electrical torque equation is X 1 A41 A42 A43 A44 X 1 B4
Te K1 K2E 'q (6) IV. OVERALL CONTROL FRAMEWORK
where K1 and K2 are constants. The mixed-sensitivity methodology, explained before, is
solved here as a generalized H problem. The first step is to
The swing equation is given by form a generalized regulator P as per the the mixed sensitivity
d formulation taking the assumption D = 0. The state-space
w.w . s
(7)
dt formation of the generalized regulator P is given by:
x A 0 B
z C x
The voltage equations for this model are given by 1 I 0
w
pE 'q
1
E 'q X d X 'd I d EFD . (8) z2 0 0 I
T 'd 0 u
y C I 0
Taking the Laplace transform of Eq. 3.13 and rearranging, we (12)
get where x: state variable vector of the system,
EFD 1 sT 'd 0 E 'q X d X 'd I d . y: measured output,
z1,z2: regulated output.
w: disturbance input,
Taking the Laplace transform of the expression for Id and
u: control input,
substituting it in the above equation, we get after
A, B, C, D: state space matrices.
simplification,
K3 K3 K 4
E ' E . (9)
The developed controller is found out from LTI control
1 K3T 'd 0 s 1 K3T 'd 0 s
q FD
C1 D12 D C2 I
A B2 Dk C2 B2Ck
Acl
Bk C2 Ak
The new controller variables are defined as:
change of variables, the following LMI is obtained A state variable is the one that describes the mathematical
S 11 12 0 state of a system. The state of a system explains more about
21 22 the system and to determine its future characteristics in the
where, case of absence of any external forces affecting the modelled
AR RAT B2 C C T B2T B1 B2 D D21 system. Models which consist of first-order differential
11
coupled equations are in state-variable form.
B1 B2 D 21
T
I
21
A A B D C
2 2
T
SB1 B D21
C1 R D12C D11 D12 D D21
143
IJRITCC | May 2016, Available @ http://www.ijritcc.org
_______________________________________________________________________________________
International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169
Volume: 4 Issue: 5 141 - 146
______________________________________________________________________________________
Table 1: Eigen values and damping ratios exhibited more robustness with the inclusion of the developed
Plant with conventional Plant with robust robust H controller. The initial response of the rotor speed
No
AVR AVR and angle deviation is given in figures 4 and 5 respectively.
Damping Damping The settling time of the oscillations is reduced as well by 5-6
Eigen value Eigen value
ratio ratio
sec. Figures 6 and 7 gives the initial responses of deviations in
1 -0.0+0.0007i 0.4793 -0.093+6.54i 0.4789
excitation voltage and terminal voltage respectively which
2 -0.0+0.0007i 0.4793 -0.093+6.54i 0.4789 also exhibits the reduction as explained previously.
3 -0.003+0.001i 0.2051 -0.51 +17.43i 0.2011
Once the design is complete, it is required to verify the
4 -0.003+0.001i 0.2051 -0.51 +17.43i 0.2011
objective constraint. If the designed controller does not satisfy
Figure 4: Rotor speed deviation response Figure 6 :Excitation voltage deviation response
Figure 5: Rotor angle deviation response Figure 7: Terminal voltage deviation response
A perturbation of 0.2 percent was included in the the constraint, then the controller should be redesigned by
designing of the state variables (w, Efd, Vt). The unforced choosing a different set of weighting functions. It is shown
response of the state-space model G, i.e nominal plant and the that improvement in the high speed response of the controller
system including the conventional AVR with the initial was achieved.
condition of the states given in vector form X0 was calculated The mathematical model of a control system gives an
from the constants of the machines. The initial state vector X0 approximate true physical reality of system dynamics. The
typical generation of discrepancy includes the unmodelled
is a [4*1] sized matrix. The response was within the specified (high frequency) dynamics, neglected non-linearities in
limits. The system exhibited more robustness with the modelling, effect of deliberate reduced order models. And
presence of the developed controller. The settling time of the system parameter variations due to changes in environmental,
disturbance was reduced. The amplitude of the oscillations torn-and-worn factors.
was reduced by 5-6%. Also the deviation in terminal voltage
was reduced to a near zero value compared with the case of An uncertainty was inserted in the system model to
the system with the conventional controller. The system ascertain the robustness of the controller. The system
144
IJRITCC | May 2016, Available @ http://www.ijritcc.org
_______________________________________________________________________________________
International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169
Volume: 4 Issue: 5 141 - 146
______________________________________________________________________________________
withstood the effect of disturbance effectively. The
disturbance introduced was a parametric uncertainty in the
state space representation of the system. The given uncertainty
was a 50% change in the value of the state matrix elements
{i.e.ureal('p1',a1(2,1),'pe',50)}.The system with conventional
AVR proved to be unstable. The response of system variables
with uncertainty including robust AVR was plotted and is
given in figures 8 11 which explains the initial responses of
rotor speed and angle, excitation and terminal voltages
respectively. The system performance was improved with the
robust AVR.
145
IJRITCC | May 2016, Available @ http://www.ijritcc.org
_______________________________________________________________________________________
International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169
Volume: 4 Issue: 5 141 - 146
______________________________________________________________________________________
robust performance of the system. The developed method was [10] LuoYuesheng, Gong Xinping, Luo Yuesheng, Gong Xinping, Robust
applied to an SMIB system, and also the results were obtained Fault-tolerant H2/H Controller Design Based On State Feedback,
Proceedings of the IEEE International Conference on Automation and
Logistics, August 16-20, 2010.
[11] Ahmed bensenouci, Design of a robust iterative PID controller for
power system stabilizer using H2 norm, IEEE Journal of electrical
systems, 7-1, 2011.
[12] Issarachai Ngamroo, overlapping decompositions-based robust
decentralized tabu search-optimized fixed structure H frequency
stabilizer design in interconnected power systems International Journal
of Innovative Computing, Information and Control, Volume 9, Number
6, June 2013.
[13] YANG Chang-wei, CHEN Jie, The Non-fragile Robust Hinfinity
controller design with system uncertainty, IEEE transactions 2013.
[14] Bjarne grimstad, thesis, studies in static output feedback control,
2009, norwegian university of science and technology, department of
engineering cybernetics.
[15] Bikash Pal, Balarko Chaudhuri, Robust control in power systems,
2005.
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IJRITCC | May 2016, Available @ http://www.ijritcc.org
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