Power Flow and Transient Stability Models of FACTS Controllers
for Voltage and Angle Stability Studies
Clauclio A. Caiiizares
IJniversity of Waterloo
Department of Electrical k Computer Engineering
Waterloo, ON, Canada N2L 3G1
c .canizares@ece.uwaterloo. ca
Abstract-This paper presents transient stability
and power flow models of Thyristor Controlled Reactor
( T C R ) and Voltage Sourced Inverter (VSI) based Flex-
ible AC Transniission System (FACTS) Controllers.
Models of t h e Static VAr Coinpensator (SVC), the
Thyristor Controlled Series Compensator (TCSC), t h e
Static VAr Coinpensator (STATCOM). t h e Static Syn-
clironous Source Series Compensator (SSSC), and t h e
Unified Power Flow Controller ( U P F C ) appropriate for
voltage and angle stability studies are disciissed in de-
tail. Validation procedures obtained for a test system
with a detailed as well as a simplified U P F C model are
also presented and briefly discussed.
Keywords: FACTS, SVC, TCSC, STATCOM, SSSC.
U m n i u l a t i o n , rnodels. controls, transient stability.
power flow.
I. INTRODUCTION
The development and use of F.4CTS controllers for
power transmission systems 11% led to the application of
these controllers to improve the stability of power networks
[I, 21. Many studies have been carried out an3 reported
in the 1if.era.tureon the use of these controllers in a variety
of voltagc and angle stability applirations, proposing di-
verse control schemes and location techniques for enhanc-
ing voltage and angle oscillation control [2].
Several distinct models have been proposed to represent
FACTS in static and dynamic analysis [3]. This report
describes in detail some of t,he inost appropriate models
availahle for these types of studies with the following con-
trollers: s\'(:, TC:SC:, ST.\TCOM, SSW and UPFC! rep-
resented in the system. These models allow the engineer
t.o accurately arid reliably carry out power flow and tran-
sient stability studies of such system with its controllers.
The latker is demonstrated in this paper by means of a
comparat,ive study in a typical transient- stability problem
on a test system using a detailed TTPFC! inodel aiicl the
corresponding reduced model presented here.
Section I1 describes i n detail the models for TCR-based
coiitrollers, concentrating specifically on the W C and
TCSC', and Section I11 discusses in detail t,he models for
VSJ-based controllers, namely. the STATCORI, the SSSC
atid the UPFC!. In Section IV, the test system used for
ididating some of these modrls as well as the comparative
results obtained for a detailed and t>hesimplified model of
tlir IJPF(! are shown and discussed. Finally, Section V
z e smaterial presented in this paper as
briefly s ~ ~ m m ; ~ r ithe
well as discussing t.he liniitations of the reducwl models.
11. hlODEr,[NC: TCR-BASED
c!ONTROI,LERS
Basic modcls for SVCk and TC!SC:s built around a TCR
structure are described in this sec%ion. These inodels
are Ixwed 011 representing tlie controllers R S variable im-
pedances t.hal change wit,li the firing angle of [,he TC!R,
wI~icItis iisecl l o coritrol voltage, current atid/or power iit
(c) 2000 IEEE
0-7803-5935-6/00/$10.00
the system.
A . SI-C
The basic structure of an SVC operating under t,ypical
bus voltage control is depicted in the block diagram of Pig.
1. Assuming balanced, fundamental frequency operation,
an adequate transient stability model can he developed
assuming sinusoidal voltages 4 . This model is depicted in
Fig. 2 and can be representei Ly the following set, of p.u.
equations:
0
I I - \ < Be
where most variables are clearly defined on Fig. 2 , and x,
and I(.)stand for the control system variables and equa-
tions. respectively. These equations represent liriiit,s not
only on t,he firing angle a. but also on the crurrent 1. t,lie
control volt.age I' and the capacitor voltage L.;. a s well as
control variables other types of controllcrs suc:li as ii reac-
tive power Q control scheme.
The differential equations representmeclby f ( ' j i t i ( 1 ) vary
with the t.ype of control system used. Fig. 3 d:piots a typ-
ical voltage control block diagram. which inclucles a droop
to avoid continuous operation of the controller ancl to al-
low for proper coordination with other voltage cont>rollers
in the network. It is important to highlight the fact that an
admittance model is numerically more stable than the cor-
responding impedance model, i.e., using B, OII t,lir model
averts numerical roblems when close to t,he controller's
resonant points 5 [.! The bins no for this controller is de-
termined by solving the equat.ions resulting from forcing
B, = 0 in ( I ) , i.e., this value corresponds to t.lw resonant
point of t.he SVC ( I = 0) and is obtained by solving the
nonlinear equation
%U, - sin 2a, -~('-
2 .Yl./.I-,-.)
=0
The steady stat,e V-I characteristics for this coiit,roller
are depictmeclin Fig. 4. and correspond t o tlie .cwll-knonn
control characteristics of a typical S\:C! [2]. .4 S I ' ( ' steady
sta.t.e model call be obtained by replacing t.lie cI ifferetitial
equations in (1) with the corresponding eqiiat,ions repre-
silting the s t k d y state clia.ract,erisl.ics;~
t.Iius,
flow" eyuatioiis of the SVC! in this case are
1," - \ r e / - +
SSLI
U = [
y(0. r; I ; , I , 9. B,) 1
1447
 V

(-Jv
t

Crossing

- I

Fig. 4. Typical steady state \'-I characteristics of a SVC.

Q < Qmin
Fig. 1 . Block diagram of a S\'C with voltage control.
Yrj >C, Yrf 0 < Y C t < ,;r
kf >*:t

Fig. 5. Handling of limits in the SVC' steady state nlodel.

Fig. 2. Transient stability model of a SVC:.

- + Vk\;,Be sin(& - d,,,)

i
P
-~~B,+I.1~'",B,cos(Sk-6,) - - Q k

0 = -\.,;;Be + li:V,,B, COS(^^ - d,) - Q,,

Fig. 3 . Hasic SVC contrdler for voltage control.

[sc-(7r r;: cos k, (77 -N)

(c) 2000 IEEE

0-7803-5935-6/00/$10.00 1448

la
Fig. 6. Block diagram of a TCW operating in current control mode.
Fig. 7 . Transient stability moclel of a TCSC!.
k, J"X L
It is important to mention that as the controller gets closer
to its resonant point, the current deviates from its siiiu-
soidal condition, and hence the model presented should
not be used to represent the controller under these condi-
tions.
.4 simple PI controller with limits can be used to con-
trol t,he current directly through the firing angle a ; in this
case, the differential equat.ions f(.) in (3) can be replaced
by the equations of the corresponding coiitrol system. Ob-
serve, however. that more sophisticated coiitrols such as
impedance or power control can be readily implemented
on this model.
A dteady state model for this TCSC controller can be ob-
tained by replacing t.he differential equat.ions on ( 3 ) with
the corresponding steady state coiitrol equations. For ex-
ample. for an impedance control model wit,li 110 droop,
which yields the simplest set of steady state eyuatioiis froin
the numerical point of view [SI, the "power flow." equations
for the TCSC are
As previously indicated, iL is important to adequat,ely im-
plenient. t,he controller 1iniit.s on the steady stmatemodel to
accurately r~yr~si:nt its operation [SI.
0-7803-5935-6/00/$10.00(c) 2000 IEEE
Zero
CiOSSIng
A
Fig. 8. Block diagram of a STATCOM with P\Yhl voltage conlrol.
111. VSI-BASEDCONTROLLERS
In this section. the basic models of the most common
\'SI-based FACTS controllers, namely, the STATC'ORI,
SSSC and UPFC. are discussed. All the niodels presented
here are based on the power balance equation
pac = p d c $. Plms
which barically represents the balance beteween the con-
troller's ac power Pa, and dc power P d c under ba,laiiced
operation at funda.menta1 frequency. For the niodels to bp
accurate, it is important to represeiit all losses of the con-
trollers ( PI,,,, ) especially i.hose related to the inverters. as
~
discussed below.
Although PWM control is currently not. practical in
t.ypica1hi h-volta.ge applications of VSI-biLsed controllers,
given theknitatioiis imposed by the high switching losses
of GTOs, there have been some new recent developinerits
on power electronic switches that will probably allow for
the practical use of PWhl control techniques on these liintls
of applirations in the near future [7]. The models dis-
cussed in this paper awuine P\;t'RI coiitrol techniques are
assumed. These models are used to develop iiiore genera.1
models that can readily be adapted to represent phase an-
gle control as well.
A4. ST.4 TCOM
The basic strricture of a STATCOM wit,h PiYhI-based
volt.age controls is depicted in Fig. 8. Eliniiiiating the dc
voltage control loop on this figure woulcl yield llie basic
block diagram of a controller with typical phase itngle con-
t,rols.
Assuming balanced, fundamental frequency voltages,
the controller can be a.ccurately represenkd in transient
stability studies using the basic-. model slio~vii in Fig. 9
[& 9. lo]. The p.u. differential-algebraic equations ( DAE)
crorresponding to this model are
(5)
\.'. I 1
-- I'
R -
v,c =
C' I ;Ic
cos(S - 0 ) - -\ -J C
R(:: C' C,I
1449
 I I
Magnitude
I +l
* , +p Magnitud
Fig. 9. Transient stability model of a
-4 -&
STATCOM with PWM voltage
control.
P - I - I cos(8 - e )
Q - L7 I sin(6 - e)
o = P - I-? G + k I'dc I*,.c: cos(6 - a)
+k L'dC 'L B sin(6 - a)
Q + 1" B - XI \Idc V B COS(S - a )
+k V G' sin(6 - a)
f
g ( n , IC.
,'L CLS. I , e. P, Q )
where most of the variables are explained on Fig. 9. The
admittanre G' + j B = ( R + j-S)-l is used to represent
the transformer impedance, any ac series filters, and the
"switching inertia" of the inverter due to its high frequency
switching. The conshnt k = in, is .directly pro-
portional to the pulse width modulation index m and .r,
represents the interna.1 control system variables.
.4 siniple PWM voltage controller is shown in Fig. 10
Ill, 121. which basically defines the differeiit,ial equations
represented by f (.) in (5). Observe that the ac bus voltage
magnitude is controlled t.hrough the niodulation index m
since this has a direct effect on the ac side \:SI voltage
magnitude. Whereas the phase angle. C L , which basically
determines the active power P flowing into the cont,roller is
used to directly control the dc voltage magnitude since the
power flowing into the cont.roller charges and discharges
t,he capacitor. The controller limits are defined in terms
of the coiitroller current limits, which are directly related
to the switching device current limits, as these are the
basic limiting factor in VS1-based controllers. In simula-
tions. these limits can bo directly defined in terms of the
iii:\simum and minimum converter current.s I,,, ai!d In,in,
rcnpectiwly, i.e.?the ;ntcgrat,or blocks are "stopped tvhen-
ever the converter current I reaches a limit which would
allow t.0 closely duplicate the steady state V-I clia.racteris-
tics of the controller shown i n Fig 11. Another option is to
compute 1.11eselimits by solving the steady state equations
of t,Ilz converter: these erlitations are also used to compute
0-7803-5935-6/00/$10.00 (c) 2000 IEEE
Fig. 10. Basic STATC'OhI PWM voltage control.
the biases m, and a, [13].
The steady state model can be readily obtained froiii
(5) by replacing the differential equations with the steady
state equations of the dc voltage and the voltage control
characteristics of the STATCONI (see Fig. 11 r2]). Notice
that t.he controller droop is directly represented on the
\'-I characteristic curve, with the controller limits being
defined by its ac current limits. Hence. the steady state
equations for the PtYhI controller are
1 I - - Vr.f + SS'LI
1
1idc.6,1,8.P,Q)1
L !/(n,k.\z73
A phase control technique can be readily inocleled by
simply replacing the dc voltage control equation in (6)
with an equation for k , i.e., for a 12-pulse \:SI, replace
0 = [Vd, - VdC,.,] with 0 = [k - 0.91 in the above set of
equations. In this case the dc voltage changes as fi changes,
thus charging and discharging the capacitor to control the
inverter volt age inagnit ude.
Tho limits on the current I , as well a s any other limits
on the st.eady state model variables. such as the tlr voltage
I h, the niodulat~oiiratio represent.ed by A. or the volt,age
phase angle CL. can be directsly introduced in this niodel. It
is important to properly represent the switching of coutrol
Inodes when these liinits are readied, a.s this is a signif-
icant fact,or for properly modeling FACTS cnntrollers i n
steady state studies [SI. Thus. the mode switchiiig logic
depicted in Fig. 5 for t,he S\'C! can be readily inotlified
to represent the steady st,a.te conl.rol inotle switdiing for
the STATCOM, by simply replacing the firing angle limits
wit.11 current limits.
1450
 210 pLL Switching
XSL Crossing
I

Magnitud
B nt
(PWM)

v,I,

n- Magnitud
+
0
%,U,

Fig. 11. Typical steady state V-I characteristics of a STATCOM. Fig. 12. Block diagram of a SSSC with PWM current control

B. SSSC
The basic controller structure for the SSSC operating
on current control mode is depicted in Fig. 12. The corre-
sponding transient stability model is shown in Fig. 13 [9],
and ca.n be represented by the following p.u. equations:
'U RijX

PWM
- Pk - 1 Cos(6k - e)
Qk - Vk I sin(& - 8)

Pm + Vm I COS(& - 8)
Fig. 13. Transient stability model of a SSSC
Qm + Vm I sin(6, - e)
o = P - Pk + Pm the phase angle ,L? and the capacitor voltage \Idcq i.e., the
current is controlled by direct control of the series voltage
Q-Qk+Qm VL6. A more sophisticated dq controller to control the ac-
tive and reactive powers on the line is discussed in the next
+
P - V' (2 k Vdc V G C O S -
( ~p) section for the series branch of a UPFC, which is basically
+k vdc V Bsin(6 - p) a SSSC.
The steady state model equations, for a PWM controller
Q + V 2 B - k VdeV B cos(6 - p) with no droops, are then
L +k vdc V Gsin(6 - P)

where most variables are defined on Fig. 13, k = 772, o =

a.nd t, a.nd f(.) s h i d for the dyna.mic variables and equa-
tions of the control syst,eiii, respectively. The basic VSI
model follows from t,he niodel developed for the STAT-
COM.
Different kinds of controls can he implemented for v x i -
oils controller variables. The simplest is a. PI current con- For a. phase controller, the dc voltage eclua.tion is replaced
troller t,hal clirecily operates on the phase angle P. The by a n equation defining the variable k. Once again, it is
PWM controller represented on the SSSC figures in this iinportant to properly model talle controller limits i n orcler
report., indirectly cont,rols t,he current, I by opera.ting on to have an adequat,e stea.dy statmernoclel of t,he SSSC!.

0-7803-5935-6/00/$10.00 (c) 2000 IEEE 1451


i----ei UPFC CONTROLLER
Fig. 14. Block diagram of a UPFC.
C.'. [TPFC
As shown in Fig. 14, the UPFC! can be viewed as a
ST.4TCORI and a SSSC with a shared dc bus. The cor-
responding t,ransient stabi1it.y model reflects this fact, as
shown in Fig. 15. Thus, the model equations then can
he defined as a combination of the STATCOM and SSSC
ecluatioiis (5) and (7), respectively, as discussed in detail
in [I2, 13, 14.
The shunt controller is basically the same as the one
described for the ST.STC!Ohl above. A control syst,em di-
agram for the UPFC:'s series branch is depicted in Fig. 16.
This controller, originally proposed in [l5]?is a PQ coii-
troller based on a d y-axis decornposition to decouple the
active and reactive powers of the inverter [ I I , 12, 14; this
PQ controller performs better than other PQ controls pro-
posed in the literature [12 . However, a current control
d
strategy for the SSSC! coul he also used in this case.
The steady state model can be obtained from tlie tran-
sient stability model equations and the corresponding con-
trols, ils previously done for all other models. Once more.
it is important to properly niodel the controller liiiiits to
ohta.in reliable results in steady state studies.
IV. STUDIES
VALIDATION
1
The test system of Fig. 17 was used in [12, 14 t o validate
the simplified niodel discussed here. The who e system is
tnodeled in detail in the EMTP, i.e.. 3-phase generators,
transmission lines, etc. The detailed l.rPFC! model of Fig.
14) wit,h all its switches, was modeled ns well as the cor-
responding simplified inodel of Fig. 15, are represented in
detail. The generator is assumed to have an .4VR coil-
t,rollirig its terminal voltage, and the UPPC is designed to
control the power through the line as well as the voltages at
Bus 4 and Bus 8 , using a simplified PiVhl power controller
proposed in [I'L].
.I ba~lniiced %phase fault through an inipcdatice is ap-
0-7803-5935-6/00/$10.00 (c) 2000 IEEE 1452
I I
UPFC CONTROLLER
Fig. 15. Transimt stability model of a IJPFC.
plied at Bus 6 at 4 s. This triggers the circuit breaker of
the Bus 4-Bus 5 line at -1.15 s (9 cycles later), removing
the fault as well as the load a t Bus '7. The generator at
Bus 3 recovers successfully, keeping its terminal voltage at
about 1 p.u.. as shown in Fig. 18. The UPFC also recovers,
maintaining its power and terminal vokages at the desired
levels. Observe liow close the results for both the IJPFC!
detailed model and the simplified model are. The most
significant differences are in the internal ITPFC' variable
(e.g.?capacitor voltages), as expected, but the effect. of the
UPFC on the system is fairly accurat,ely captured by the
lllodel.
IT. CONCLUSIONS
The transient stability and power flow models presented
here are based on models that. have beer1 proposed on the
current literature. and can be considered to be simple. ad-
equate models for voltage and angle stability studies of
networks with these kinds of F.4CTS controllers.
These models are all based on the assumption that volt-
ages and curreiits are sinusoidal, balanced. and operate
near fundaniental frequency, which are the typical assunip-
tions in transient stability and power flow studies. Hence.
they have several limitations, especially when studying
large system changes occurring close to these FACTS con-
trollers:
1. These models cannot be reliably used to represent un-
balaiiced system condit.ions, as they are all based on
halancccl voltage and current, conditions.
2. Large disturbances that yield voltages and/or currents
w i t h high harmonic conlent. which is usually the case
when large faults occur neilr poww elect.ronics-based
controllers, cannot. he accurately studiecl with t.hesc:
 Generator Phase Angle

-70; i
3.5 tenerator Terminal Volta& 5.5 6

I
3.5 LoadPowerDemand 5.5 6
1801 I

I 105.-
8 -
KI+ Kl/S

U)

2
130
80 -
0-
3 3.5 Sending End Voltage 5.5 6
1.5r

i
3.5 Receiving End Voltage 5.5 6
1.51 '1

0' I
3 3.5 4 4.5 5 5.5 6
Senes Inserted Voltage
02

3
n o 08

3.5 voltage 5.5 6

Fig. 16. Basic series branch dq control of UPFC w i t h respect to the

bus voltagr. KL61. All variables are in P.u., and w g stands for the
U"

22 ' I
fundamental frequency of the system in rad/s. 3 1

w3 3.5 Angle Alpha 5.5 6

5I-70-
0
4 -

I
3 11- F.ull

-1.21 I
w 3 3.5 Series Modulation Index 5.5 6
1.21

Fig 17. Test systwm designed f o r validation studies of UPFC con- I

troller iiiodcls [12, 1.11. -1.21
3 3.5 4 4.5 5 5.5 6

Fig. 18. Test system results for a 3-phase fault at h i s 6 [12). Tile con-
t.inuous line was obtained with t,he siniplifircl IJPF'C! i n c d c l . w h e r e a s
t,he dashed line w a s obtaincc1 wit.!) a detailerl IJPFC: i n i d e l .

0-7803-5935-6/00/$10.00(c) 2000 IEEE 1453

 models, as they are all based on the assumptions of
having sinusoidal signals.
3. The above also applies for caSes where voltage and
current signals undergo large frequency deviations.
4. Internal faults as well as some of the internal variables
of the controller cannot be reliably represented with
these models.
For these cases, detailed EMTP types of studies are re-
quired t,o obtain reliable results. Observe that these lim-
itations also apply to most models typically used to rep-
resent other devices in transient stability and power flow
studies.
1'1. .ACKNOWLEDC:E~IENTS
The author would like to thank the National Science and
Engineering Research Council (NSERC:) of Canada for its
direct support of the research discussed in this paper, as
well as his. Edvina 11zunovic for providing some of the
information, gra.phs and results presented here.
[13] C. A. C'ariizares, "Modeling of T C R and VSI Based FACTS
Controllers," internal report, ENEL a n d Politecnico tli Milano,
October 1999. available a t www.power.uwaterloo.ca.
[14] E. Uzunovic, C'. A. Cariizares, and J. Reeve, "Fundamental Fre-
quency Model of Unified Power Flow Controller," Proc. iVAPS,
('leveland, Ohio. October 1998. pp. 294-299.
[15] I. Papic, P. Zunko, and D. Povh, "Basic Control of Unified Power
Flow C!ontroller," IEEE Trrzns. Power S ~ s t e m s ,vol. 12. no. 4.
November 1997. pp. 1734-1739.
Claudio A. Caiiizares received in April 1984 the Electrical Engi-
neer diploma from the Escuela PolitCcnica Nacional (EPN), Quito-
Ecuador, where he held different teaching a n d adininistrative po-
sitions from 1983 t o 1993. His MS (1988) and P h D (1391) de-
grees in Electrical Engineering are from t h e University of Wisconsin-
hIadison. Dr. Cafiizares is currently a n Associate Professor a t the
University of Waterloo, E W E Department, and his research activi-
ties are mostly concentrated in studying stability, modeling a n d com-
putational issues in ac/dc/FACTS systems.

REFEREN c ES
N. G. Hitigorani. "Flexible AC! Transmission Systems," IEEE
Spectruni, April 1993. pp. 40-15.
"FACTS Applications," technical report 96TP116-0. [EEE P E S ,
1996.

Convener Terond, " hlodeling of Power Electronics Equipment

(FACTS) in Load Flow and Stability Programs: A Representa-
tion Guide for Power System Planning ancl Analysis," technical
report T F 38-01-08. CIGRE. September 1998.
N . Christl. R. Heiden. R. Johnson, P. Krause. a n d A. Mon-
toya, "Power System Studies and hfocleling for t h e Kayenta 230
K V Subsfatioi Advanced Series Compensation." A C and DC
P o ii'e r Trans m i ss 1 on IEEE C!o nfe re n ce Publrcut r on S: I n t e rn a -
lronrrl Conjerence on .A C! rrnrl DC' Power Trarisniissron, Sep-
tember 1991, pp. 33-37.

C. A. Catiizares and Z. T. Faur, "Analysis of SVC and TCSC:

Controllers in Voltage Collapse," IEEE Truns. P o w e r Systems,
vol. 14. no. 1 , February 1999, pp. 15.9-165.
S. G.Jalali, R. A. Heclin. M . Pereira. and K. Sadek, "A Stabil-
ity hlndcl for the Advanced Series Compensator (ASC!)," IEEE
Truna. Potiter Delivery, VOi. 11. no. 2. April 1996. pp. 1128-1137.

P. I<. Steimer, H. E. Gruning, J . \Verninger,E. Carroll, S. Klaka,

and 9. Linder, "IGCT-A New Emerging Teclincrlogy for High
Power. Low Cost Inverters," IEEE Industry dpplicrrtrons hfay-
r i z i n c , July 1999, pp. 12-18.

E. Uzunovic. C. A. C'ariizares, and .J. Reeve. "Fundamental

Frequency kloclel of Static Synchronous Compensator," Proc.
N..lPS, Laramie, LVyoming, October 1997. pp. 49-54.

C. A. Caiiizares, E. IJzunovic, J . Reeve. a n d B. E;. Johnson,

"Transient Stability ?Iodels of Shunt and Series Static Synchro-
nous Compensators, submitted for publication in IEEE Trans.
P o w e r Deliuery and available upon request. December 1998.

D. N. k ~ s e t e r e v ."h,lodeling Synchronous I'oltage Source Con-

verters in Transnlission System Planning Studies," IEEE Trrrns.
Powrr Delivery, vol. 12. no. 2. April 1997, pp. 947-9.52.

E. Uzunovic, C'. A C'a~iizarrs.and J . Reeve. "EIIITF' Studies

of r.IPFC: Fower Oscillat,ion Damping," f r o c . ,V.4f S, San Luis
Obispo, C!alifornia, October 1999. pp. 105-410.
E. lizunovic:, C!. A. Cailizares, arid J. Reeve, "Transient Stability
httjtlel of t.liiifiecl Power Flow C'oiitrollctrs ancl Control Compar-
isons." siihrnilterl for uiihlication in IEEE T r n n s . P o w e r Delit*-
t7.y a I i d avail;rble upo;i request. Noveniber 1999.

0-7803-5935-6/00/$10.00 (c) 2000 IEEE 1454