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MATLAB/Simulink-Based Modeling and Operation of Power System Stabilizer

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 MATLAB/Simulink-Based Modeling
and Operation of Power System Stabilizer
A Ragavendiran*, R Gnanadass** and M Arounassalame***

This paper describes the operating performance of the Power System Stabilizer (PSS)
for different power system case studies. The functional blocks of PSS are developed
in Simulink and the simulation carried out. The damping oscillation variation of PSS
for the various power system conditions (light, nominal and high load and fault) is
carried out and the voltage and reactive power variations are illustrated. The PSS
system behavior is demonstrated on Single Machine Infinite Bus (SMIB) model and
simulation carried out in Simulink-based MATLAB environment.

Keywords: Power System Stabilizer (PSS), MATLAB, Simulink, Single Machine Infinite
Bus (SMIB)

Introduction
The Power System Stabilizer (PSS) uses auxiliary stabilizing signals to control the excitation
system so as to improve the power system’s dynamic performance. The application of
PSS can help in damping rotor oscillations and improve the stability of the system. If no
adequate damping is available, the oscillation can increase and cause system separation.
PSS is installed in the power generator to help the damping of power system oscillations.
To enhance power stability, various techniques are adopted in the design of Power System
Stabilizer (PSS) like adaptive and self-tuning control in which the output of PSS is varied
with load condition. Low frequency oscillation can be created by small disturbances in
the system, such as changes in the load, and are normally analyzed through the small
signal stability of the power system. These small disturbances head to a steady increase
or decrease in generator rotor angle caused by the lack of synchronizing torque or to
rotor oscillations of increasing amplitude due to a lack of sufficient damping torque. The
most typical instability is the lack of sufficient damping torque on the rotor’s low frequency
oscillation. PSS is the most effective device for stabilizing and damping low frequency
oscillation while increasing the stability margin of the power system (Omer, 2006). A PSS
prepares a supplementary input signal in-phase with the synchronous rotor speed deviation
for excitation systems, resulting in generator stability. Robust controllers are based on the
optimization of the H  -norm of the transfer matrix between the system disturbance and
* Student, Department of Electrical and Electronics Engineering, Pondicherry Engineering College, Pondicherry
605014, India. E-mail: [email protected]
* * Assistant Professor, Department of Electrical and Electronics Engineering, Pondicherry Engineering College,
Pondicherry 605014, India. E-mail: [email protected]
*** Senior Lecturer, Department of Electrical and Electronics Engineering, Pondicherry Engineering College,
Pondicherry 605014, India. E-mail: [email protected]

MATLAB/Simulink-Based Modeling and Operation of Power System Stabilizer

© 2010 IUP. All Rights Reserved. 29
its output via linear matrix inequalities (Ahmed et al., 1996; and Silijak et al., 2004).
DeMello and Concordia (1969) introduced a model with a single machine connected to
an infinite bus, which is used to analyze the nature of the low-frequency electromechanical
oscillations in power systems. The PSS has been used by utilities in real power systems
as it has been shown to be the most cost effective electromechanical damping control
(Kundur et al., 1989; and Kundur, 1994). Recently, many modern techniques have been
used to design different PSS structures. However, utilities prefer to choose lead-lag
structure due to its simple structure and reliability in real power systems.
In the past two decades, various types of PSS have been designed. For example,
adaptive controller-based PSS have been used in many applications (Larson and Swann,
1981). Most of these controllers are based on system identifications and parameter
estimations, therefore from the computational point of view, they are time consuming.
It is evident from the various publications that interest in application of Fuzzy Logic-based
PSS (FLPSS) has also grown in recent years (Nallathambi and Neelakantan, 2004). Low
computation burden, simplicity and robustness make FLPSS suitable for stabilization
purposes. Different methods for designing such devices are proposed using Genetic
Algorithm (GA) and artificial neural network (Cheng et al., 1986; Wenxin et al., 2003;
and Michele and Richard, 2005).
In this paper, a PSS model is designed which considers various kinds of loads, such as
small oscillations of mechanical power input caused by unstable regulation of turbine
governors. Various fault conditions due to reactive power changes on certain buses in the
network and generator are observed. The PSS modeling is done by the functional block of
Simulink.
Modeling of Synchronous Generator
Figure 1 shows the system model configuration, with the synchronous generator connected
with the infinite bus through the transmission line. The real power of the synchronous
generator is governed by the speed governor. The output of the rotor speed deviation
governor is compared with reference power and given to the turbine which is connected
to the synchronous generator. The rotor speed deviation of synchronous generator is
given as input to the PSS whose output is used to get the stable voltage (VPSS). The stable
voltage is passed on to the synchronous generator through the voltage regulator and
exciter. The output voltage of the exciter is passed on to excitation system stabilizer and
compared with the reference terminal voltage. The output power from the synchronous
generator is given to the infinite bus through transmission voltage. The PSS will be doing
no more work if the switch S1 is changed to zero position. Then the system will act as a
normal system without PSS, and oscillation will not be damped out.

30 The IUP Journal of Electrical & Electronics Engineering, Vol. III, No. 3, 2010
 Figure 1: System Model Configuration

Governor VINF
PSV

P REF TM P,Q  VT
Synchronous
 Turbine
Generator
Transmission
o Line
PSS
VF
Infinite
Exciter Bus

VA
S1
Voltage
Regulator
VPSS VTREF
 

Excitation System Stabilizer VE

Single Machine Infinite Bus Model (SMIB)

An infinite bus is a source of constant frequency and voltage either in magnitude or angle
(DeMello and Concordia, 1969). A schematic representation of single machine connected
to infinite bus is shown in Figure 2.
The theoretical basis for a PSS is illustrated with the aid of the block diagram shown
in Figure 3. To introduce a damping torque component in the PSS, speed deviation signal
is used to control the generator excitation. If the exciter transfer function and generator
transfer function between Efd and Te were pure gains, a direct feedback of  would
result in a damping torque component. However, in practice, both the generator and the
exciter exhibit frequency-dependent gain and phase characteristics. Therefore, the transfer
function should have appropriate phase compensation circuits to compensate the phase
lag between the exciter input and the electrical torque. In the ideal case, the phase
characteristic of PSS being an exact inverse of the exciter and generator phase
characteristics to be compensated, the PSS would result in a pure damping torque at all
oscillating frequencies. The linear state space model of the system is given by Equation (1).
Where X, A and b are given by the Equations (2), (3) and (4), respectively.
Figure 2: Single Machine Connected to a Large System Through Transmission Line

Infinite
G Bus

Zeq=RE + jXE

MATLAB/Simulink-Based Modeling and Operation of Power System Stabilizer 31

 Figure 3: Block Diagram Representation of SMIB with Exciter and AVR

k1

1 


Tm 2HS+D s

k4
k2

k5
U
q K3 1 VR KA
Vref
K3T d0s+1 KE+sTE 1+sTA
fd

sKF
VE
1+sTF

k3

.
x  Ax  bu ...(1)
where,

x  [E 'q E fd VR VE ]T ...(2)

 K1 K2 
0 2H 2H
0 0 0 
 
 2f 0 0 0 0 0 
 K 1 1 
0  4  0 0 
 T 'd 0 T ' d 0 K 3 T ' d 0 
 
A KE 1
0 0 0  0 
 TE TE 
  ...(3)
0  K A K 5  K A K 6 0 
1

KA 
 TA TA TA TA 
 
0 K K KF 1 
0 0  E F 
 TE TF TE TF TF 

T
 K 
b  0 0 0 0 A 0 ...(4)
 TA 

32 The IUP Journal of Electrical & Electronics Engineering, Vol. III, No. 3, 2010
Simulink Model of Power System Stabilizer
The PSS representation in Figure 4 consists of three blocks—phase compensation block,
washout block and gain block. The gain block is used to determine the amount of damping
introduced by the PSS. It corresponds to the maximum damping. Washout block serves
as a high-pass filter with time (Tw) whose value varies from 1 to 20 s.
Figure 4: Block Diagram of the PSS

VPSSMAX

 VPSS
ST W ST1+1 ST3+1
KPSS
STW+1 ST2+1 ST4+1

VPSSMIN

The phase compensation block provides the appropriate phase lead characteristic for
compensation of the phase lag between the exciter input and generator electrical torque.
The frequency range of interest is 0.1 to 2.0 Hz and the phase lead network with two
first-order blocks provides compensation over the entire system operating conditions.
The equivalent transfer function of the block in Figure 4 is the Equation (5)
TW s (1  sT1 )(1  sT3 )
PSSW ( s )  K s ...(5)
1  TW s (1  sT2 )(1  sT4 )
The combination of the PSS with excitation system is shown in Figure 5. The PSS
output, terminal voltage and reference terminal voltage are added and the output of the
summing block is connected to the excitation system. The output of the exciter is field
voltage which is connected to the synchronous generator. The design parameters of the
PSS are given in Appendix 1.

Figure 5: Exciter with PSS

Vref

Efd
v Ks(1+sT1)(1+sT2) KA

(1+sT2)(1+sT4) 1+sTA
y

Vt

MATLAB/Simulink-Based Modeling and Operation of Power System Stabilizer 33

Simulation Results and Discussion
To analyze the performance of the PSS, a model was developed in Simulink block set of
MATLAB. The functional block set of PSS was developed in Simulink environment which
is given in Figure 6.
The following four case studies were carried out in the Simulink environment to illustrate
the performance of PSS through simulation:
Case 1: The variation of rotor speed, load angle, terminal voltage and real power were
analyzed with and without PSS.
Case 2: The system was subjected to different load conditions and the variations were
compared.
Case 3: The system was subjected to vulnerable (fault) conditions.

Figure 6: Functional Block Set of PSS in Simulink

Reactive Angle
Power

Continuous
Power

Stator Voltage
Stator Voltage
Rotor Speed Stator
Current
Output Active Power
Output Reactive Power
Load Angle + K
–M
1
Electromagnetic Torque Volts = p1
0.7516
Distributed
m Parameter Line
Pm
A A a A
B B b B
VL
HTG C
C C Yg c
1.0 Synchronous 10,000
Machine 200 B1 MVA, 230
Three-Phase
MVA 13.8kv Transformer kV Source 2
A
B
C
A
B
C

A
B
C
10 MW1

A
B
C

210 MVA 5 MW1

In 1 13.8/230 kV
Out 2
Excitation
System
Power System
Stabilizer

34 The IUP Journal of Electrical & Electronics Engineering, Vol. III, No. 3, 2010
Case 4: The variations of rotor speed, load angle, terminal voltage and real and reactive
power were analyzed with PSS and PSS with Proportional Integral Derivative (PID).
The inference of the simulation results for the above cases are illustrated as follows:
Case 1: Effect of PSS
The simulation results of the system after the inclusion of PSS are illustrated in
Figure 7. The illustrations describe the variations of speed, reactive power, field
voltage and load angle of the system. From the figures, it is inferred that the
oscillations are damped out quickly after the inclusion of PSS. By this effect, the
field voltage will be stable and in turn it ensures the system stability. In Figure 7(d),
it is inferred that the load angle varies between 10 degrees to 45 degrees. It is also
ensured that system is completely stable after the inclusion of PSS. However, the
level of damping oscillation is low.

Figure 7: (a) Speed Deviation, (b) Field Voltage, (c) Reactive Power, and (d) Load Angle for Case 1

0.03
0.02
Speed deviation (pu)

0.01
0
–0.01
–0.02
–0.03
–0.04
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(a)

15
10
Field Voltage (pu)

5
0
–5
–10
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(b)

6
Reactive Power (mvar)

4
2
0
–2
–4
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(c)

MATLAB/Simulink-Based Modeling and Operation of Power System Stabilizer 35

 Figure 7 ( Cont.)

150 .
Load angle (rad)

100
With PSS
Without PSS
50

–50
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(d)

Case 2: Different Load Conditions

The synchronous generator is subjected to light, nominal and heavy load conditions. The
performance characteristic of the system with PSS is illustrated in Figure 8. From Figure 8(a),
it is inferred that the acceleration of the rotor increases with respect to the load condition.
The rotor angles are with system limits for the above case studies. The variation of
reactive power, field voltage and load angle are also within permissible limits during the
different load conditions.

Figure 8: (a) Speed Deviation, (b) Field Voltage, (c) Reactive Power, (d) Load Angle for Case 2

0.03
0.02 Light load
Speed deviation (pu)

Nominal load
0.01
High load
0
–0.01
–0.02
–0.03
–0.04
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(a)
15
10
Field Voltage (pu)

5
0
–5 PSS with PID
–10 With PSS

–15
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(b)

36 The IUP Journal of Electrical & Electronics Engineering, Vol. III, No. 3, 2010
 Figure 8 ( Cont.)

.
6

Reactive Power (mvar)

4
2
0
Light load
–2 Nominal load
–4 High load
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(c)
150
Light load
100
Load angle (rad)

Nominal load
High load
50

–50
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(d)

Case 3: Fault Condition

To illustrate the stability of the system during vulnerable condition, a three-phase fault is
assumed to happen at the transmission line. The fault persists in the system for 0.3 s and
it is cleared after 0.9 s. The parameters of the system during the fault condition are
illustrated in Figure 9. It is observed that when the PSS is connected to the system, the
overshoot and settling time of the system are minimized and stability is achieved.
Case 4: Effect of PID with PSS
The simulation results of the system after the inclusion of PID with PSS are illustrated in
Figure 10. The illustrations describe the variations of speed, reactive power, field voltage
and load angle of the system. From the figures, it is inferred that the oscillations are
damped out quickly after the inclusion of PID with PSS. By this effect, the field voltage
will be stable and in turn it ensures stability of the system. The introduction of PID along
with the PSS produces better results when compared to those of with PSS alone. Here,
the overshoot and settling time can be reduced—the overshoot of response is reduced to
0.04 from 0.17 and the settling time reduced to 4 s from 7 s. Therefore, PID together with
PSS gives a better optimal solution for controlling the stability. From Figure 10(b), it is
evident that PID with PSS provides better solution by reducing overshoot to 75% and the

MATLAB/Simulink-Based Modeling and Operation of Power System Stabilizer 37

Figure 9: (a) Speed Deviation, (b) Field Voltage, (c) Reactive Power, and (d) Load Angle for Case 3

0.8

Speed deviation (pu)

0.6
0.4
0.2
0
–0.2
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(a)
15
Field Voltage (pu)

10
5
0 .
–5
–10
–15
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(b)
10
Reactive Power (mvar)

8
6
4
2
0
–2
–4
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(c)
200
Load angle (rad)

100

–100

–200
0 1 2 3 4 5 6 7 8 9 10
Time (s) With PSS
(d) Without PSS

settling time to 5 s even in heavy load condition. By this effect, the field voltage will be
stable and in turn maintains the system stability.

38 The IUP Journal of Electrical & Electronics Engineering, Vol. III, No. 3, 2010
 Figure 10: (a) Speed Deviation, (b) Field Voltage, (c) Reactive Power, and (d) Load Angle for Case 4

.
0.03

Speed deviation (pu)

0.02
0.01
0
–0.01
–0.02
–0.03
–0.04
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(a)

15
10
Field Voltage (pu)

5
0
–5
–10
–15
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(b)
Reactive Power (mvar)

–2
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(c)
200

100
Load angle (rad)

–100

–200
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(d)

PSS With PID

Without PSS

MATLAB/Simulink-Based Modeling and Operation of Power System Stabilizer 39

Conclusion
A novel Simulink-based method for designing the parameters of PSS and different case
studies are described. The synchronization parameters, such as speed deviation, field
voltage, rotor angle have been illustrated for the above-mentioned cases. It is found that
the performance of PSS improves the system performance and stability. To improve the
performance of PSS with various frequency bands, the multiband PSS has been used to
analyze the effect on the multimachine system.
Acknowledgment: This project has been financially supported by the All India Council for Technical
Education, New Delhi through Research Promotion Scheme (8023/BOR/RPS-104/2008-09).

References
1. Ahmed S, Chen L and Pertaian A (1996), “Design of Suboptimal Excitation”, IEEE
Transactions on Power Systems, Vol. 11, No. 1, pp. 312-317.
2. Cheng S J, Chow Y S, Malik O P and Hope G S (1986), “An Adaptive Synchronous
Machine Stabilizer”, IEEE Transactions on Power Systems, Vol. 1, No. 3.
3. DeMello F and Concordia C (1969), “Concepts of Synchronous Machine Stability as
Affected by Excitation Control”, IEEE Transactions on Power Apparatus and
Systems, Vol. PAS-88, pp. 316-329.
4. Kundur P (1994), Power System Stability and Control, Mc Graw Hill, USA.
5. Kundur P, Klein M, Rogers G J and Zywmo M S (1989), “Application of Power
System Stabilizer for Enhancement of Overall System Stability”, IEEE Transactions
on Power Systems, Vol. 4, No. 2, pp. 614-626.
6. Larson E and Swann D (1981), “Applying Power System Stabilizers”, IEEE
Transactions on Power Apparatus and Systems, Vol. 100, No. 6, pp. 4017-3046.
7. Michele J Basler and Richard C Schaefer (2005), “Understanding of Power System
Stabilizer”, IEEE Industry Technical Conference, Vol. 2, pp. 37-47.
8. Nallathambi N and Neelakantan P N (2004), “Fuzzy Logic Based Power System
Stabilizer”, Proceedings of E-Tech Conference, pp. 68-73.
9. Omer M Awed-Badeeb (2006), “Damping of Electromechanical Modes Using Power
System Stabilizers (PSS)”, Journal of Electrical Engineering, Vol. 57, No. 5,
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10. Silijak D D, Zecevic A I and Neskovic G (2004), “Robust Decentralized Exciter
Control with Linear Feedback”, IEEE Transactions on Power Systems, Vol. 19,
May, pp. 1096-1103.
11. Wenxin Liu, Ganesh K Venayagamoorthy, Donald C Wansch (2003), “Adaptive Neural
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40 The IUP Journal of Electrical & Electronics Engineering, Vol. III, No. 3, 2010
 Appendix 1

Vt : Generator Terminal Voltage

Vd,Vq : d-q Axis Machine Voltage (pu)
 : Synchronous Speed (rad/s)
T1, T2, T3 and T4 : Lead-Lag Network Parameters (s)
Tw : Washout Network Parameter
Vref : Reference Input Voltage
V PSS : Stabilizer Output
PM : Mechanical Input
 : Torque Angle
P : Active Power (pu)
Q : Reactive Power (pu)
Te : Electromagnetic Torque
H : Inertia Constant
 : Speed Deviation (pu)
 : Angle Deviation

Appendix 2

Parameters Values
K PS S 20
Tw 10
T1 0.73
T2 0.20
T3 0.54
T4 0.32

Reference # 59J-2010-07-02-01

MATLAB/Simulink-Based Modeling and Operation of Power System Stabilizer 41

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