A Review of Transmission Switching and Network Topology Optimization
A Review of Transmission Switching and Network Topology Optimization
network topology optimization. Section VI discusses a list of the same motivation: to use switching actions as a corrective
future research challenges that should be addressed and mechanism to relieve line overloads and voltage violations.
Section VII concludes this paper.
B. Transmission Switching and Line Losses
II. LITERATURE REVIEW It is well known that if one of two parallel lines is taken out
of service, then the line losses will increase if the amount of
A. Transmission Switching as a Corrective Mechanism power transferred across these two points stays the same as
Past research has explored transmission switching as a compared to when both lines are in service. As a result, it is
control method for a variety of problems. The primary focus often assumed that taking a line out of service results in higher
of past research has been on proposing transmission switching system-wide (line) losses. However, this is not the case and, in
as a corrective mechanism when there is line overloading, fact, it is possible to decrease line losses through transmission
voltage violations, etc. While this past research acknowledges switching. Modifying a meshed network topology allows the
certain benefits of harnessing the control of transmission, they system operator to choose generator dispatch solutions that
do not use the flexibility of the transmission grid to co- would otherwise be infeasible given the initial topology. It is,
optimize the generation along with the network topology. therefore, possible to not only change the topology but change
Such co-optimization, as will be discussed in the Section IV, the dispatch solution. With a completely different generator
can provide substantial economic savings even while dispatch solution, it is not possible to guarantee that losses
maintaining N-1 reliability standards. increase with fewer lines in service because the power flows
Glavitsch [2] gives an overview of the use of transmission throughout the network may be drastically different.
switching as a corrective mechanism in response to a The simplest theoretical example to demonstrate this fact is
contingency. He discusses the formulation of the switching to take any network and add infinite generators with
problem and provides an overview on search techniques to extremely high costs to every bus. The optimal dispatch with
solve the problem. Mazi et al. [3] propose a method to all lines in service will be the same as without these infinite
alleviate line overloading due to a contingency by the use of generators and the system will have some level of line losses
transmission switching as a corrective mechanism and they (if there are any line flows). If all lines are now taken out of
employ a heuristic technique to solve the problem due to the service, there will be no line losses but the system still
computational challenges of solving such a difficult problem satisfies all of the load since these infinite, expensive
at that time. Gorenstin et al. [4] study a similar problem generators are dispatched. This solution is obviously more
concerning transmission switching as a corrective mechanism; expensive and it obviously will not exist in the practical
they use a linear approximate Optimal Power Flow (OPF) world; however, this example demonstrates that once you
formulation and solve the problem based on branch and allow for both the topology and the generation to
bound. Bacher et al. [5] further examine transmission simultaneously change, it is not possible to guarantee that the
switching in the AC setting to relieve line overloads; they losses will increase or decrease. Furthermore, past research
assume that the generation dispatch is already determined and has already demonstrated that transmission switching can be
fixed in order to make the problem more tractable. Bakitzis et used to minimize system losses. Bacher et al. [12] and
al. [6] examine transmission switching as a corrective Fliscounakis et al. [13] both examined the problem of
mechanism both with a continuous variable formulation for modifying the grid topology in order to minimize system
the switching decision as well as with discrete control losses.
variables. C. Transmission Switching as a Congestion Management Tool
Schnyder et al., [7] and [8], proposed a fast corrective Transmission switching can even be used as a congestion
switching algorithm to be used in response to a contingency. management tool. Granelli et al. [14] propose transmission
The benefit of this algorithm over past research is that they switching as a tool to manage congestion in the electrical grid.
simultaneously consider the control over the network topology The objective of the model is to minimize the amount of
and the ability to redispatch generation whereas other methods overloads in the network. They discuss ways to solve this
would assume that the generation is fixed when trying to problem by genetic algorithms as well as deterministic
determine the appropriate switching action. Due to the approaches.
complexity of this problem for its time, this method does not
search for the actual optimal topology but rather considers III. CURRENT INDUSTRY PRACTICES
limited switching actions. Rolim et al. [9] provide a review of
past transmission switching methods, the solution techniques A. Transmission Switching to Improve Voltage Profiles and
used, the objective at hand, etc. Shao et al. [10] continued Transfer Capability
previous research on the use of transmission switching as a
It is a common industry practice to switch select
corrective mechanism to relieve line overloads and voltage
transmission lines offline during lightly loaded hours. The
violations. They propose a new solution technique to find the
capacitive component of a transmission line is the
best switching actions. Their technique employs a sparse
predominant component during low load levels whereas the
inverse technique and involves a fast decoupled power flow in
reactive component is predominant at higher load levels.
order to reduce the number of required iterations. In Shao et
Consequently, during low load levels there can be situations
al. [11], a binary integer programming technique is used for
where a transmission line causes voltage violations in the
3
network, i.e., the voltage levels are too high. Therefore, one IV, simply improves upon this current practice with the
simple protocol that operators are aware of is to select key motive to optimally determine the network topology
transmission lines that are not currently needed for reliability configuration on a period by period basis while maintaining
considerations and they take these lines out of service in order reliability.
to alleviate voltage violations. Such a protocol is
C. Transmission Line Maintenance Scheduling
acknowledged as a procedure within the PJM network, [15]
and by Excelon, [16]. Likewise, the Northeast Power Transmission line maintenance scheduling is not new but
Coordinating Council includes “switch out internal what recently has changed is the perception regarding the
transmission lines” in the list of possible actions to avoid importance of considering operational efficiency. The
abnormal voltage conditions, [17] and [18]. Another ad-hoc Independent System Operator of New England (ISONE)
transmission switching protocol that is at times used by grid recently began to focus not only on reliability but also on the
operators is to identify key transmission lines that can be dispatch efficiency when determining the appropriate periods
taken out of service in order to improve the transfer capability to take transmission lines out of service for maintenance. As a
on other high voltage transmission lines. This is a protocol result, ISONE estimates that they will save roughly $50
implemented in the PJM network, [15]. million a year [20]. This ISONE study was based on
estimating prices instead of using a mathematical scheduling
B. Special Protection Schemes (SPSs) program that optimizes total system cost while maintaining
Special Protection Schemes (SPSs), also known as system reliability. While there are many published papers on
Remedial Action Schemes (RASs) or System Integrity transmission line maintenance scheduling, this result
Protection Schemes (SIPSs), are an important part of grid reemphasizes the need to develop sound, practical
operations. SPSs are used to improve the reliability of the grid maintenance scheduling problems as well as algorithms to
and improve the operational efficiency. SPSs are primarily solve such challenging mathematical programs.
identified and developed based on ad-hoc procedures. The
D. Seasonal Transmission Switching
development of such corrective mechanisms like SPSs reflects
a shift, a push by the industry to switch from preventive In the state of California, the load requirements are lower in
approaches to the use of corrective approaches. The use of the winter and the probability of an outage is higher due to
transmission switching as a corrective mechanism can be a winter storms. The summer is the exact opposite; during the
powerful tool. For instance, PJM has a number of SPSs that summer, the load is the highest in the year but the probability
involve post-contingency transmission switching actions [19]. of outages is lower since there are fewer and less severe
For example, the following action is listed in [19] on page storms. As a result, some utilities have determined that it is
184: beneficial to leave certain transmission lines in service during
“The 138 kV tieline L28201 from Zion to Lakeview (WEC) the winter when there is a greater chance of winter storms but
can be opened to relieve contingency overloads for the loss of yet these lines are taken out of service during summer periods
either of the following two lines: Zion Station 22 to Pleasant since the threat of an outage is lower.
Prairie (WEC) 345 kV Red (L2221), Zion Station 22 to These lines are primarily redundant transmission lines in the
Arcadian (WEC) 345 kV Blue (L2222).” lower voltage network. Such redundancies are less important
Such operational protocols like these SPSs are often viewed during summer periods when the probability of an outage is
as a necessary protocol to maintain system reliability. While lower. Furthermore, these redundant lines can cause
these transmission switching SPSs do help maintain system overloading concerns during summer periods since the load
reliability, there are alternatives that the operator can employ conditions during the summer are higher. For instance, there
instead. Possible alternatives may include: re-dispatching the can be two parallel lines with different thermal capacity
system after the contingency occurs, choosing a different ratings. The lower capacity line, generally a part of the lower
steady-state (no-contingency) dispatch prior to the voltage network, may reach its capacity first and, therefore,
contingency occurring to ensure there is no overloading, or inhibit the higher voltage network from transferring as much
upgrading the equipment so that it is able to handle these power as desired. Due to the higher loading conditions, it is,
contingency flows. Re-dispatching the system is likely to therefore, preferred to take the redundant, lower capacity line
increase the operating costs. Choosing a different dispatch out of service, as long as the line is not necessary to maintain
solution for steady-state operations will increase the operating system reliability. Since the outage rates are lower during the
cost as, otherwise, that dispatch solution would have been summer periods, the operators are able to take the line out of
initially chosen. Investing in new equipment increases the service without jeopardizing system reliability. In contrast,
capital cost of the system. having these redundancies in service during the winter is
While this corrective switching action is seen as a necessary integral to maintaining system reliability since the probability
mechanism to maintain reliability, the decision to choose this of an outage is greater. In addition, the redundancies do not
mechanism over these alternative options is economic. Hence, cause overloading concerns during the winter since the winter
these transmission switching SPSs demonstrate the industry’s loading levels are lower.
practice to employ ad-hoc network topology reconfiguration While this operation is acknowledged by utilities today, the
actions for the purpose of improving the operational efficiency tradeoff between protecting against potential contingencies
while maintaining reliability standards. The concept of versus the potential for overloads is not well understood.
network topology optimization, which is covered in Section Seasonal transmission switching models that are capable of
4
answering these questions do not exist today, thereby capacity, ramping capabilities of the generators, etc. Since
emphasizing the need for further research and development in modifying the topology changes the feasible set of dispatch
the area of seasonal transmission switching. solutions, it is possible to obtain a different generation
dispatch solution that was infeasible with the original
IV. NETWORK TOPOLOGY OPTIMIZATION topology but is feasible with the modified topology. Even
though there may be a line(s) temporarily out of service, this
A. Transmission Switching’s Impact on the Feasible Set of new generation dispatch solution may make the system more
Dispatch Solutions reliable if it has more available capacity with faster
Co-optimizing the network topology with the generation generators. This is shown by a theoretical example in [21].
dispatch allows the operator to simultaneously choose the C. Transmission Switching and Transmission Planning
network topology with the generation. By having the ability to
optimize the network topology, the operator now has the The concept of optimally reconfiguring the network
ability to choose any dispatch that is feasible given the topology in the short term is often misunderstood to conflict
original topology but also has the ability to choose additional with transmission planning or, in other words, applying
dispatch solutions that are feasible for any of the other transmission switching to reduce costs may seem counter-
topologies. It is possible that a generation dispatch solution is intuitive as it seems to contradict the purpose of transmission
feasible for one topology but not feasible for a different planning. Transmission lines are built to maintain system
topology since changing the topology changes the power reliability and/or to improve the operational efficiency, i.e.,
flows in a meshed network due to Kirchhoff’s laws. As a reduce operating costs. Therefore, there is a common
result, co-optimizing the generation with the network topology misconception that short-term network reconfiguration will
creates a superset of feasible dispatch solutions. Obviously, if only reduce operating costs for poorly planned transmission
there is no congestion in the network then temporarily taking networks.
lines out of service will not improve the operational efficiency Optimal transmission switching and transmission planning
of the system. are two different optimization problems with different
objectives. Transmission planning is a long-term problem that
B. Transmission Switching and Reliability looks to find the optimal line(s) to build over a long time
It is often thought that taking a transmission line out of horizon. On the other hand, optimal transmission switching is
service degrades system reliability. First, the right question to a short-term problem that looks to find the optimal network
ask is not whether the system reliability degrades but whether configuration for a specific period. The optimal transmission
the system is still capable of meeting the established reliability expansion plan provides the most aggregate benefits over a
requirements. The system operator has the objective to operate long time horizon; the optimal plan does not guarantee that it
the grid at least cost (or in a market context: maximize the benefits the system during each individual operating period.
market surplus) subject to network (power flow) constraints As a result, a network can be perfectly planned but yet still
and subject to meeting established reliability requirements. benefit from short-term network reconfiguration.
With two generation dispatch solutions that both meet the Furthermore, it is next to impossible to determine a single
reliability requirements and the power flow constraints, the optimal topology over such a long time horizon due to the
operator chooses the one that has a lower cost, not the one that high level of uncertainty regarding future network conditions.
provides the highest level of reliability. For instance, a grid As network conditions change, it should be expected that the
may be N-k1 reliable with all lines in service and then it may optimal topology may change from one period to the next; it is
be N-j (j < k) reliable if the operator chooses to temporarily highly unlikely that there is one perfectly planned topology
open a few lines. If making this decision reduces the for all possible network conditions over a long planning
operational cost of the system and j ≥ 1, then this is the horizon. Finally, transmission expansion planning is a very
preferred choice since the grid is still maintaining the difficult optimization problem, which limits the modeling
established reliability requirement of N-1 but now the complexity and further decreases the accuracy of the solution.
operational efficiency has improved. Section III already These factors further argue in support of short-term network
presented a number of industry practices where transmission topology optimization.
lines are temporarily taken out of service, thereby confirming D. Optimal Transmission Switching
that system operators can and do take transmission lines out of
service to improve system operations while still being able to The electric transmission network is built to be a redundant
maintain established reliability requirements. network in order to ensure mandatory reliability standards and
Furthermore, it is possible to improve system reliability by these standards require protection against worst-case
temporarily taking a line out of service. System reliability not scenarios. However, it is well known that these network
only depends on the network topology but it also depends on redundancies can cause dispatch inefficiency and,
the generation dispatch solution, e.g., available generation furthermore, a network branch that is required to be built in
order to meet reliability standards during specific operational
periods may not be required to be in service during other
1
N-k reliability means that the system can survive the simultaneous periods. Consequently, due to the interdependencies between
failure of any k elements (non-radial transmission or generation) without network branches (transmission lines and transformers), it is
violating any constraints on the surviving network and without the need possible to temporarily take a branch out of service during
for load shedding.
5
certain operating conditions and improve the efficiency of the market design mechanisms that rely on the premise of a fixed
network while maintaining reliability standards. network topology. Future research should investigate a side-
The concept of optimal transmission switching states that payment scheme to maintain revenue adequacy or develop a
Optimal Power Flow (OPF) formulations should be modified new form of financial rights that allow the hedging of
to incorporate the choice to temporarily have a transmission congestion risk without relying on the assumption of a fixed
asset in service or out of service. The operator is then able to network topology; this discussion is continued in [21].
co-optimize the generation dispatch with the network
topology while maintaining reliability requirements. Due to VI. FUTURE CHALLENGES
practical limitations, this concept is proposed to be
incorporated into typical day-ahead optimization models and A. ACOPF Transmission Switching and Computational
the operator would determine what topology is best for the Complexities
following day for each hour. One of the main challenges with network topology
The concept of a dispatchable network was first introduced optimization is the computational challenges. As has been
by O’Neill et al. [22], which lead to the following work on demonstrated by earlier research, [23], solving a DCOPF
optimal transmission switching, [21] and [23]-[30]. This past optimal transmission switching problem is challenging. The
research has shown that substantial economic savings can be DCOPF is a linear approximation of the ACOPF problem,
obtained even for models that explicitly incorporate N-1. For which is a difficult non-convex optimization problem. Adding
instance, [26]-[27] showed that savings on the order of 4-15% binary variables to a challenging non-convex, non-linear
can be obtained even while maintaining N-1. If this concept program like the ACOPF will create an even more challenging
can be implemented and it can obtain even a tenth of these problem. As a result, it is likely that network topology
earlier estimated savings, such a result would be immense for optimization may have to be solved using an approximation of
the $300 billion dollar electric energy industry in the USA. the ACOPF problem, the DCOPF. Future research should
This past research has been based on the Direct Current examine the inaccuracies of solving a network topology
Optimal Power Flow (DCOPF) formulation, a linear optimization technique with an ACOPF approximation, the
approximation to the ACOPF problem. As a result, future DCOPF. Likewise, fast heuristic techniques that can speed up
research is needed to examine the impacts on the ACOPF. the solution time of the DCOPF transmission switching
Though these DCOPF transmission switching models are problem are needed as well. Current research, [31], has
lossless models, the fact that losses are ignored is not expected already shown that fast heuristics can perform close to
to change the general conclusions: that co-optimizing optimal.
generation with the network topology creates a superior
dispatch solution since it creates a superset of feasible B. Proxy Limits
solutions. Furthermore, since the estimated percent savings are System operators rely on proxy limits, i.e., surrogate limits,
so high, even if losses increase it is likely to not outweigh the within dispatch optimization models. The DCOPF problem is
cost savings by being able to obtain a previously infeasible a crude linear approximation to the ACOPF problem
dispatch solution. formulation. The DCOPF is commonly used as the OPF
formulation for unit commitment problems today. Since the
V. FINANCIAL TRANSMISSION RIGHTS DCOPF does not incorporate voltage variables, many
formulations use proxy limits to ensure that there are no
Many restructured electric energy markets include a
voltage stability problems; these are known as voltage
Financial Transmission Rights (FTRs) market. FTRs are
stability interface limits. Future research should investigate
instrumental in the electric energy markets since they are used
whether these proxy limits are in unison with future smart grid
to hedge congestion risk and they allow market participants to
technologies that reconfigure the network topology and, if not,
speculate on price differences. In most electric energy
research will be needed to propose alternative proxy limits.
markets, the ISO auctions off the FTRs subject to what is
known as the Simultaneous Feasibility Test (SFT). Given a set C. Transient Stability
of assumptions, the SFT guarantees that the FTR market is Even though transmission switching can cause a transient
revenue adequate, i.e., the ISO collects enough congestion stability concern, transmission switching has been shown to
rent so that the ISO is able to settle all FTR positions, fully be a possible control mechanism to alleviate transient stability
compensate all FTR holders. issues, [32]-[33]. Future research is needed to determine
One of the assumptions of the SFT is that the network whether more frequent transmission switching actions will
topology is not modified. Therefore, by modifying the cause transient stability concerns.
network topology there can be revenue inadequacy in the FTR
market. Typically, when there is revenue inadequacy, the ISO D. Relay Settings
will derate the payments to the FTR holders; obviously, this Reconfiguring the network topology may require the
decreases the value of the FTRs. In [21], it was shown that changing of relay settings. Future research is needed to
network topology optimization can cause revenue inadequacy evaluate and determine the necessary protocols required for
problems even over a long time horizon. Such research smart grid technologies that may frequently reconfigure the
demonstrates that new smart grid technologies that network as well as identify any potential limitations.
reconfigure the network topology may undermine prevailing
6
VII. SUMMARY for power system security applications,” in IASTED INTL Symp.: High
Tech. in the Power Industry, pp. 110-114, Bozeman, MT, Aug. 1986.
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The use of transmission switching as a corrective mechanism 111, Nov. 1986.
[6] A. G. Bakirtzis and A. P. (Sakis) Meliopoulos, “Incorporation of
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switching in transmission systems," IEEE Trans. Power Syst., vol. 14,
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transmission switching is primarily limited to ad-hoc [10] W. Shao and V. Vittal, "Corrective switching algorithm for relieving
procedures and special protection schemes. Recent research overloads and voltage violations," IEEE Trans. Power Syst., vol. 20, no.
on network topology optimization, [21] and [23]-[30], 4, pp. 1877-1885, Nov. 2005.
[11] W. Shao and V. Vittal, “BIP-based OPF for line and bus-bar switching
proposes that the way in which transmission assets are viewed to relieve overloads and voltage violations,” in Proc. 2006 IEEE Power
in economic dispatch optimization models should change, that Syst. Conf. and Expo., Nov. 2006.
the state of a transmission asset should be seen as a discrete [12] R. Bacher and H. Glavitsch, “Loss reduction by network switching,”
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[13] S. Fliscounakis, F. Zaoui, G. Simeant, and R. Gonzalez, “Topology
previous research has demonstrated that, indeed, the network influence on loss reduction as a mixed integer linear programming
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by deterministic and genetic algorithms," Electr. Power Syst. Res., vol.
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76, no. 6-7, pp. 549-556, Apr. 2006.
while maintaining N-1 by co-optimizing the network topology [15] A. Ott, VP, PJM, Norristown, PA, private communication, July 2008.
with the generation. [16] S. Nauman, VP, Exelon, Chicago, IL, private communication, July 2008.
With more sophisticated modeling of transmission assets, it [17] ISO-NE, ISO New England Operating Procedure no. 19: Transmission
is possible to better utilize the current infrastructure to Operations, pp. 7–8, Apr. 13, 2007.
[18] Northeast Power Coordinating Council, Guidelines for inter-area voltage
improve system reliability and improve the operational control. New York, NY: NPCC Operating Procedure Coordinating
efficiency of the system, i.e., improve the social welfare. Committee and NPCC System Design Coordinating Committee, 1997.
Further research and development is needed regarding the [19] PJM, Manual 3: Transmission Operations, Revision: 37, November 29,
modeling and use of transmission assets in order to truly 2010. Section 5: Index and Operating Procedures for PJM RTO
Operation. [Online]. Available: http://www.pjm.com/markets-and-
obtain a smarter, more flexible grid. operations/compliance/nerc-
standards/~/media/documents/manuals/m03.ashx.
ACKNOWLEDGMENT [20] ISONE, “ISO New England Outlook: Smart Grid is About Consumers,”
Accessed Apr. 2010. [Online]. Available: http://www.iso-
The authors would like to acknowledge Dr. Emily Fisher, ne.com/nwsiss/nwltrs/outlook/2009/outlook_may_2009_final.pdf.
from Lawrence Berkeley National Laboratory, Professor [21] K. W. Hedman, S. S. Oren, and R. P. O’Neill, “Optimal transmission
Michael Ferris, from the University of Wisconsin, Madison, switching: when economic efficiency and financial transmission rights
markets collide,” JNL Regul. Econ., submitted for publication, Apr.
Eric Krall, from the Federal Energy Regulatory Commission, 2010.
and Anthony Papavasiliou, from the University of California, [22] R. P. O'Neill, R. Baldick, U. Helman, M. H. Rothkopf, and W. Stewart,
Berkeley, as co-authors on earlier papers on the topic of "Dispatchable transmission in RTO markets," IEEE Trans. Power Syst.,
optimal transmission switching. The authors would like to vol. 20, no. 1, pp. 171-179, Feb. 2005.
[23] E. B. Fisher, R. P. O’Neill, and M. C. Ferris, “Optimal transmission
thank Jim Price, from CAISO, for his helpful discussion on switching,” IEEE Trans Power Syst., vol. 23, no. 3, pp. 1346-1355, Aug.
seasonal transmission switching. The authors would also like 2008.
to thank Hong Chen, from PJM, for inviting us to present this [24] K. W. Hedman, R. P. O’Neill, E. B. Fisher, and S. S. Oren, “Optimal
topic at the IEEE PES General Meeting in 2011. transmission switching – sensitivity analysis and extensions,” IEEE
Trans. Power Syst., vol. 23, no. 3, pp. 1469-1479, Aug. 2008.
[25] E. B. Fisher, K. W. Hedman, R. P. O’Neill, M. C. Ferris, and S. S. Oren,
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7