International Journal on ISSN 2077-3528

“Technical and Physical Problems of Engineering” IJTPE Journal

(IJTPE) www.iotpe.com
Published by International Organization of IOTPE [email protected]

September 2013 Issue 16 Volume 5 Number 3 Pages 41-52

REVIEW OF POWER SYSTEM STABILIZER: APPLICATION,

MODELING, ANALYSIS AND CONTROL STRATEGY
G. Shahgholian
Electrical Engineering Department, Najafabad Branch, Islamic Azad University, Isfahan, Iran
[email protected]

Abstract- A Power System Stabilizer (PSS) is the most the dominant open-loop poles from frequency response
cost effective approach of increase the system positive measurements of the closed-loop multivariable system.
damping, improve the steady-state stability margin, and The conic programming is an effective tool to solve
suppress the low-frequency oscillation of the power robust PSS design problems by simultaneously
system. A PSS has to perform well under operating point considering several operating scenarios is show in [23].
variations. Some of the major issues in the application of Optimal multi-objective design of robust
PSS are the choice of the input signal, the location of the
multi-machine power system using Genetic Algorithms is
PSS, the control algorithms and coordination with
presented in [24], which a conventional speed-based
flexible AC transmission system (FACTS) devices. This
lead-lag PSS is used. A method based on a model
paper presents an exhaustive review of power system
stabilizer in terms of operation, dynamics, and control predictive control for robust tuning of PSS and AVR in
technique. It also reviews various methods for optimal multi-machine power systems to improve the stability of
placement of PSS. Studies have shown that PSS are the wide-area power system with distribution systems
designed to provide additional damping torque without including dispersed generations is presented in [25].
affecting the synchronizing torque at critical frequencies This paper will review some of the published work in
in order to improve power system dynamic stability. application, operation and control technique of PSS. The
principle of operation of PSS such as input signals and
Keywords: Power System Stabilizer (PSS), Flexible AC block diagram is described in section II. The Multi-Band
Transmission System (FACTS), Single-Machine Infinite- PSS (MB-PSS) is described in section III. Section IV
Bus (SMIB). provides an overview of the conventional techniques of
controllers to enhance performance of a PSS. Section V
I. INTRODUCTION presents the review of various methods for selecting the
Power system dynamic performance is improved by PSS location in multi-machine power systems.
the damping of system oscillations. Generally, there are A detailed overview of the modes oscillations is
two kinds of power oscillation damping controllers in presented in section VI. The effects of PSS on the
power systems: PSS and FACTS controllers [1-5]. PSS is Sub-Synchronous Resonance (SSR) damping
widely used in the electric power industry for improve the characteristics show in section VII. FACTS devices and
performance and functions of power systems during PSS can help the damping of power system oscillations.
normal and abnormal operations. It can increase the The basic concepts of coordination between PSS and
system positive damping, improve the steady-state FACTS devices have been presented in section VIII. In
stability margin, and suppress the low-frequency power system stability, the damping torque and the
oscillation of the power system [6-12]. Design and synchronous torque are both important. Section IX covers
application of PSS has been the subject of continuing the mathematical modeling of the single-machine
development for many years. All part of the PSS topic are infinite-bus (SMIB) installed with PSS. Section X
numerous and various. presents the summary and the conclusions of the paper.
These are classified as: (a) mathematical modeling
and proper signal selection, (b) finding the optimal II. SUPPLEMENTARY EXCITATION
placement of PSS, (c) coordination between the PSS and The idea of supplementary excitation is to apply a
the FACTS, (d) the optimal parameters of the controller, signal through the excitation system to increase the
and effect of PSS on system stability [13-21]. A field test damping torque of the generator in a power system.
to adequately assess the oscillation damping effectiveness Power System Stabilizer (PSS) is used to generate
of the PSS in a multi-generator power plant is presented supplementary control signals to excitation systems in
in [22], which the test allows estimating the location of order to dampen the low frequency oscillations.

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International Journal on “Technical and Physical Problems of Engineering” (IJTPE), Iss. 16, Vol. 5, No. 3, Sep. 2013

A. Excitation System shown in Figure 2 [37]. It consists of an amplifier block

Figure 1 shows the functional block diagram of a of gain constant KP, a block having a washout time
typical of a large synchronous generator. Fast acting constant Tω and one or two lead-lag compensators. The
exciters with high gain AVR (Automatic Voltage output signal of PSS is a voltage signals here it is US [38-
Regulator) gives good voltage control and increases the 40]. In practice, two or more first-order blocks can be
possibilities of keeping the generator synchronized at used to achieve desired phase compensation.
large disturbances, but can contribute to oscillatory It is accomplished by adjusting the PSS to
instability in power systems. compensate for phase lags through the generator,
excitation system, and power system, such that PSS
provides torque changes in phase with speed changes.
The signal washout block serves as high pass filter, which
remove any DC offsets in output of PSS in steady state.
Without it, steady changes in speed would modify the
terminal voltage [41, 42]. Controllers based on speed
deviation would ideally use a differential type of
regulation and a high gain. Since this is impractical in
reality, the previously mentioned lead-lag structure is
commonly used. The gain and the lead-lag compensator
time constants are to be selected for optimal performance
Figure 1. Block diagram of synchronous generator excitation system over a wide range of operating conditions. All of the
and structure diagram of power system stabilizer variables of the PSS must be determined for each type of
generator separately because of dependence on machine
The objective of PSS control is to directly target the parameters.
control of the generator. Therefore, the PSS control is a
direct control on the generator side.

B. Input Signals
A PSS can be viewed as an additional block of a
generator excitation control or automatic voltage
regulator, added to improve the overall power system
dynamic performance, especially for the control Figure 2. Block diagram of general power system stabilizer [37]
electromechanical oscillations. The input signal for the
PSS in the system is a point of debate. The input signals III. MULTIBAND PSS
that have been identified as valuable include deviations in The need for improving the damping of a wide range
the shaft speed, the accelerating power, the terminal of electromechanical oscillations motivated the concept
frequency and the active power output and linear of the multiband PSS. It structure is based on multiple
combinations of these have been extensively investigated working bands. As for conventional PSS, the MB-PSS
and recommendations regarding their use have been with three kinds of frequency bands action function are
reported in the literature [26-32]. Since the main action of used, dedicated to low, intermediate, and high frequency
the PSS is to control the rotor oscillations, the input modes of oscillations [43-45].
signal of rotor speed has been the most frequently
advocated in the literature. IV. CONTROL TECHNIQUES
One of the limitations of the speed input PSS is that it Two of the most important factors for selecting a
may excite torsional oscillatory modes. It is important to control technique are valid in a wide range of operating
select the PSS parameters carefully depending on its conditions and unexpected equipment failures [46]. The
input signal and location in the power system [33, 34]. In proper selection of PSS parameters to accommodate
[35], an indirect adaptive PSS is designed using two input variations in the power system dynamics is important
signals, the speed deviation, and the power deviation to a [47]. The parameters of the excitation system and PSS are
neural network controller. A design method for PSS chosen to enhance the overall system stability [48]. The
using the power flow of a remote transmission line and a PSS design methods can be divided into three categories
remote bus voltage is proposed in [36], which it was [49]: (a) linear control methods such as pole placement
possible to improve the damping of inter-area oscillations [50], linear quadratic regulation [51], eigenvalue
and the power transfer capability. sensitivity analysis and sliding mode control, (b)
nonlinear control methods [52] such as adaptive control
C. Block Diagram [53], fuzzy logic, and (c) empirical control methods such
A PSS model is viewed as an additional control block as artificial intelligence techniques [54, 55].
to enhance system stability. To provide damping, PSS PSS has to perform well under various loading
must produce a component of electrical torque in phase conditions and stability of system is guaranteed [56, 57].
with the rotor speed deviations. Controllers based on Robustness of a PSS is a major issue [58]. Many robust
speed deviation would ideally use a differential type of control techniques have been used in the design of PSS.
regulation and a high gain, a typical PSS block diagram is Some of major approaches to robust control are

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International Journal on “Technical and Physical Problems of Engineering” (IJTPE), Iss. 16, Vol. 5, No. 3, Sep. 2013

H-infinity optimal control, structured singular value, Adaptive Control (IAC). In DAC such as Model
parameter space method, pole placement, Quantitative Reference Adaptive Control (MRAC) the controller
Feedback Theory (QFT) [59], Variable Structure Control parameters are adjusted, so that the output of the
(VSC) and Linear Matrix Inequality (LMI) [60, 61]. controlled system to follow the output of a reference
Generally, PSS control design methodologies can be model. In IAC such as self-tuning control, the aim is to
categorized as (a) classical methods, (b) adaptive and control the system so that its behavior has the given
variable structure methods, (c) robust control approaches, properties [76].
(d) artificial intelligent techniques and (e) digital control In comparison with the self-tuning control, MRAC
schemes. has some advantages, such as fast adaptation process and
lower computing complexity of adaptation algorithm
A. State Feedback Control [77]. The damping effects of an adaptive PSS by
The state feedback power system stabilizers possess simulations and compared its damping effect with a
superior control capabilities when compared to the conventional PSS in both time domain and frequency
conventional lead-lag power system stabilizers [62]. They domain is studied in [78]. An adaptive PSS estimates
require feedback of all the state variables, which are some uncertainty within the system, and then
generally not measurable [63]. However, in this method automatically designs a controller for the estimated plant
robustness may not be always possible. The design of uncertainty [79]. An adaptive PSS consisting of an
robust PSS base on full state feedback, which place the online-identified planet model and self-learning fuzzy
system poles in an acceptable region in the complex plane logic controller, for PSS application is described in [80].
for a given set of operating, and system conditions is Application of a neural adaptive PSS to a five-
presented in [64]. In [65], Hybrid Differential Evolution machine power system is described in [81], which the
(HDE) has been used to investigate a decentralized pole proposed technique comprises two sub networks: the
placement design method of output feedback PSS, which ‘Adaptive Neuro-Identifier’ to dynamically identify the
HDE method is originally an optimal searching approach. nonlinear plant, and the Adaptive Neuro-Controller to
damp output oscillations. An adaptive PSS, which
B. Particle Swarm Optimization consists of a recurrent neural network controller to supply
The Particle Swarm Optimization (PSO) technique an adaptive control signal to the exciter or governor with
belongs to class of evolutionary programming approaches the adaptive law and a compensator to damp the
for optimization. It is computationally simple since it oscillations of power system, is presented in [82]. An
neither requires gradient calculations nor necessitates the indirect adaptive fuzzy PSS used to damp inter-area
convexity of the function to be optimized [66]. A modes of oscillation following disturbances in power
modified PSO algorithm with a small population for the systems is proposed in [83], which the gains of the
design of optimal PSS used to determine the optimal controller are tuned via a PSO routine to ensure system
parameters of several PSS simultaneously in a stability and minimum sum of the squares of the speed
multi-machine power system is presented in [67]. deviations.
A simultaneous coordinated design of the Thyristor
Controlled Series Capacitor (TCSC) damping controller D. Artificial Intelligent Techniques
and PSS in multi-machine power system is presented in Artificial Intelligence Techniques are Artificial
[68], which the optimization problem with the time Neural Network (ANN), Fuzzy Logic, Intelligent
domain-based objective function is solved by a PSO Optimization, Hybrid Artificial Intelligent Techniques
technique which has a strong ability to find the most and Expert System [84, 85].
optimistic results. A method based on the PSO algorithm, The application of fuzzy logic control has been
based on the optimization of a suitable objective function, motivated by following reasons: (a) improved robustness
for tuning PSS parameters is presented in [69], which over conventional linear control algorithms, (b)
optimal values for PSS controlling parameters including simplified control design for difficult system models, (c)
lead-lag compensator time constants as well as the simplified implementation [86]. A fuzzy logic based
controller gain are calculated. adaptive PSS is proposed in [87], which neural networks
online tune the parameters of fuzzy logic based PSS. An
C. Adaptive and Variable Structure Method approach based on Traditional Frequency Domain
The power systems are complex and highly nonlinear method for designing fuzzy logic based adaptive PSS for
systems. The linearized system models are valid only at multi-machine power systems is presented in [88]. The
the operating point that is used to linearize the system. If optimal design of settings of PSS parameters that shift the
the parameters of the stabilizer are kept fixed, PSS system eigenvalues associated with the electromechanical
performance is degraded whenever the operating point modes to the left in the S-Plane using Evolutionary
changes [70-74]. The basic function of adaptive control is Programming Optimization technique is presented in
to adjust the parameters, in real time and according to the [89].
behavior of the power system and provided good The systematic optimal tuning of all parameters PSS
damping over a wide operating range [75]. All adaptive based on the Hessian Matrix estimated by Feed-Forward
control techniques can be divided into two different Neural Network and the Eigenvalue analysis for the
groups, Direct Adaptive Control (DAC) and Indirect linear parameters is presented in [90], which can improve

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International Journal on “Technical and Physical Problems of Engineering” (IJTPE), Iss. 16, Vol. 5, No. 3, Sep. 2013

the system damping performance immediately following PSS is presented, which a number of studies
a large disturbance. In [91], the simultaneous stabilization demonstrates the effectiveness of the proposed approach.
of a power system over a wide range of operating A PSS for a small-signal stability study using three kinds
conditions via a single-setting conventional power system of controllers to solve the problem of the immeasurable
stabilizer using GA is investigated. state variables in the conventional sliding mode control is
presented in [102], which the effectiveness of the
E. H-Infinity Control proposed controller is verified by linear time-domain
It cannot provide good transient behavior. In addition, simulation under normal load operation and under
design is complex because of dynamic output feedback. parameter variation of AVR gain.
In robust control theory, H2 performance and H∞
performance are two important specifications. In [92], the V. PSS OPTIMAL LOCATION
effectiveness of the power system stabilizer designed A PSS on a machine in a power system represents a
through weighted mixed sensitivity H∞ robust control closed-loop controller. The first step in designing such a
theory is demonstrated by simulation of a sample power PSS to increase the damping of a certain oscillation mode
system for various load conditions using MATALB. In
in a multi-machine power system is to find its optimum
[93] an H� optimal control method is design for PSS
location. The PSS is important to quickly damping the
using a nominal model with an uncertainty description
inter-area oscillations [103, 104]. The probabilistic
which represents the possible perturbation of a
synchronous generator around its normal operating point. approach for the optimum location of power system
A method of designing H� loop shaping based robust PSS stabilizers is presented in [105], which the probabilistic
for a dynamic equivalent large power system is presented distribution of an eigenvalue is expressed by its
in [94], which the simulation show that it very expectation and variance under the assumption of normal
effectively. distribution. Local controllers for machines that need to
have stabilizers have been designed in [106], which by
F. Linear Matrix Inequality using sensitivity analysis, the relation between system
Linear Matrix Inequality (LMI) is flexible in states and oscillatory modes is considered.
controller design since it provides an incredibly powerful
way to solve convex or quasi-convex optimization VI. OSCILLATION MODES
problems. It is the way to specify system dynamic Power system dynamic performance is improved by
performance. In [95], the robust control using fuzzy damping of system oscillations. The small-signal stability
controller is designed by satisfying certain LMI of the following types of electromechanical oscillations is
conditions, to improve the angular stability at multiple
of concern [107]: Local Modes, Inter-Area Modes,
operating points. A H2 controller design approach for PSS
based on LMI pole constraints analysis for damping low Control Modes and Torsional Modes.
frequency oscillations is presented in [96], which the H2 The PSS are designed mainly to stabilize local and
robust control guarantees the damping performance for inter-area modes [108]. By varying the terminal voltage,
different operating conditions and its robustness is better the PSS affects the power flow from the generator, which
than that of conventional PSS. In [97], a mixed H2/H� efficiently damps local modes. Damping of both local and
control that is solved using LMI technique is used as a Inter-Area modes requires suitable phase compensation
PSS for a SMIB system, which proposed controller show over a wider frequency range, which may be difficult to
robustness over a wide range of operating conditions and achieve. Proper tuning and coordination of multiple PSS
parameters change. controller can adequately damp out oscillations with any
local rotor angle oscillatory modes [109]. Dynamic
G. Sliding Mode Controls stability enhancement of electromechanical modes of
The parameters of a power system are varied
multi-machine power systems by means of an adaptive
continuously according to the conditions of the
generation system, networks, and the load. In Sliding PSS is proposed in [110], which it is a varietal
Mode Control (SMC), the parameter insensitivity and the configuration to self-adjusted tracking system operation
realization simplicity, it is very robust [98]. The main condition.
disadvantage in SMC are: (a) stability is dependent on the A method based on modal decomposition for tuning
sampling period when implemented using digital PSSs for damping of the concerned inter-area mode is
controllers, (b) full state-feedback structure may not be proposed in [111], while minimizing its effect on other
available at all times, and (c) limitation on amount of modes by weakening the interactions among different
parameter variations [99]. modes. An extended quasi-steady-state model of
In [100], a Neural Networks based Adaptive Sliding long-term dynamics that includes low-frequency
Mode Controller has been applied to a PSS of a single inter-area oscillations can be used effectively for the
machine power system, which Neural Networks are used
design of PSS is show in [112], which all local and intra-
for online prediction of the optimal SMC gains when the
area electromechanical oscillations are replaced in this
operating point changes. In [101] a model reference
discrete time Sliding Mode Controller for design of the model by algebraic equations.

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International Journal on “Technical and Physical Problems of Engineering” (IJTPE), Iss. 16, Vol. 5, No. 3, Sep. 2013

VII. EFFECT OF PSS ON SSR There are several methods proposed in literatures on
SSR is an electromechanical power system instability, coordination between PSS and FACTS devices, in
which occurs due to interaction between series capacitors multi-machine power systems from different operating
and nearby turbine-generators. It can break generator conditions viewpoint [124-131]. Several kinds of
shafts and must be studied and prevented when series FACTS-devices have been developed [132-134]. It can
compensation is used [113, 114]. The PSS keep the be divided into two categories as shown in Figure 3 [135,
power system in a secure state and protect it from 136]. In general, from control of view, FACTS
dangerous phenomena [115, 116]. The effects of different controllers can be divided into four categories: Series
types of excitation systems and PSS on the SSR damping Controllers, Shunt Controllers, Combined Series-Shunt
characteristics in a SMIB system are studied in [117], Controllers, and Combined Series-Series Controllers.
which the effects of the parameters of PSS on the
electrical damping are investigated. A LQR based-PSS to A. Shunt Controller and PSS
control the SSR presented in [118], which eigenvalue An optimal designing method, which is based on
analysis and time domain simulations using a nonlinear adaptive genetic algorithm, is applied in the cooperation
system model show that proposed PSS can control the control of PSS and STATCOM proposed in [137], that
SSR efficiently. The behavioral aspects of two types of simulation results show the stability of power angle and
PSS in [119] are studied in a fixed series capacitor comp- voltage can be effectively enhanced. A systematic
ensated system employing the IEEE first benchmark approach for designing of SVC based damping
system for SSR study. controllers for damping of low frequency oscillations in a
SMIB power system is presented in [138].
VIII. PSS AND FACTS DERIVES
Electromechanical oscillations of small magnitude B. Series Controller and PSS
and low frequency exist in the interconnected power The tuning of Proportional Integral Derivative (PID)
system and often persist for long periods of time [120]. PSS and TCSC is studied in [139], which the Genetic
PSS and FACTS devices are applied to increase the Algorithm (GA) is used to search for optimal settings of
system stability and improve system performance [121]. controller parameters. An output feedback controller for
They can help the damping of power system oscillations. PSS and TCSC based on genetic algorithm in order to
PSS increases damping torque of a generator by affecting damp the low frequency oscillations in a single machine
the generator excitation control, while FACTS devices infinite bus is design in [140], which TCSC located at the
improve damping by modulating the equivalent power- terminal of generator, is considered. Based on
angle characteristic of the system [122, 123]. multivariable model, and by using the concept of the
minimization of column dominance measure, a multi-
FACTS Controller
input multi-output controller is designed in [141] to
minimize interaction among the control variables of PSS
and Series Static Synchronous Compensators (SSSC).
One-port

C. Series-Shunt Controller and PSS

A control scheme to design an advanced PSS,
Shunt Controller Series Controller comprehensive analysis, and result obtained for the
dynamic control of power transmission, damping of
Static VAR
oscillations with Unified Power Flow Controller (UPFC)
Compensator (SVC) Thyristor Controlled
Series Capacitor presented in [142]. The study and design a controller
(TCSC)
capable of doing the task of damping in less economical
Static Synchronous Ssynchronous Static
control effort for coordination between PSS and thyristor
Compensator
(STATCOM)
Series Compensator
(SSSC)
controlled phase shifter (TCPS) is presented in [143].
(SSSC)
D. Series-Series Controller and PSS
Two-port
In [144], fuzzy logic controller by selecting effective
control signal based supplementary controller is installed
with Interline Power Flow Controller (IPFC) to damp low
Series-Series
Controller
Series-Shunt
Controller
frequency oscillations.

IX. SINGLE-MACHINE INFINITE-BUS

Interline Power Flow Unified Power Flow
Controller (IPFC) Controller (UPFC) Numerous different control techniques, which are
based on classical or optimum control techniques, have
Thyristor Controlled been applied to design PSS but many of them are use a
Thyristor controlled
linearized model of an electrical machine connected to a
Phase Shifter (TCPS)
phase angle regulator
(TCPAR)
power system. The basic block diagram of power system
linear model is show in Figure 4 [145], where K1 and K2
Figure 3. Overview of compensation devices [1]
are the constant derived from electrical torque, K3 and K4

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International Journal on “Technical and Physical Problems of Engineering” (IJTPE), Iss. 16, Vol. 5, No. 3, Sep. 2013

are the constant derived from field voltage equation, and The control transfer function of excitation system as
K5 and K6 are the constant derived from terminal voltage shown in Figure 6.
magnitude [146]. The electrical torque can represent as:
�TE � �TE1 � �TE 2 � [ K1 � H Q ( s) � H P ( s)] �� (1)
���������
H E (s )
The action of the PSS is effective through the transfer
function block between the electric torque output and the
reference voltage input with variation in the machine
speed assumed to be zero [147-149].
Figure 6. Control block diagram of excitation system

where GE(s) is the transfer function of the electrical

loop between the incremental terminal voltage (�US) and
the internal voltage variation (�E'q). The effects of PSS
on synchronizing and damping torque components are
defined as [153, 154]:
Ks ( PSS ) (�) � Re[ H P ( j�)] (7)
�b
K d ( PSS ) (� ) � Im[ H P ( j� )] (8)
�
Figure 4. Block diagram of SMIB system [145]
X. CONCLUSIONS
The main objective of designing PSS is to increase the This paper presents a critical review of the recent
damping torque without affecting the synchronizing philosophies in the area of PSS. A simple, economical
torque at critical frequencies. To provide damping, PSS and effective for improve the steady-state stability
must produce a component of electrical torque in phase margin, increase system positive damping, suppress low-
with the rotor speed deviations [150, 151]. The KS and KD frequency oscillation of the power system and improve
are synchronizing torque and damping torque is defined: power system dynamic stability is with PSS. It has been
K S (� ) � Re[ H E ( j� )] (2) widely used in the electric power industry in order to
�b increase the damping ratios of electromechanical modes,
K D (� ) � Im[ H E ( j� )] (3) extend power transfer limits of system and maintain the
� reliable operation of the grid.
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International Journal on “Technical and Physical Problems of Engineering” (IJTPE), Iss. 16, Vol. 5, No. 3, Sep. 2013

BIOGRAPHY
Islamic Azad University, Tehran, Iran, in 2006. He is
Ghazanfar Shahgholian was born in now an Associate Professor at Department of Electrical
Isfahan, Iran, on Dec. 7, 1968. He Engineering, Faculty of Engineering, Najafabad Branch,
graduated in Electrical Engineering Islamic Azad University, Isfahan, Iran. He is the author
from Isfahan University of of 120 publications in international journals and
Technology, Isfahan, Iran, in 1992. conference proceedings. His teaching and research
He received the M.Sc. degree in interests include application of control theory to power
Electrical Engineering from Unive- system dynamics, power electronics and power system
rsity of Tabriz, Tabriz, Iran in 1994, simulation.
and Ph.D. degree from Science and Research Branch,

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