5/4/2023

Assignment # EEEE-743|

RIT Dubai Electrical

Digital Controls
Engineering
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Table of Contents
 Abstract:.............................................................................................................................................................1
 Introduction........................................................................................................................................................1
 Background information.....................................................................................................................................3
 Problem formulation.......................................................................................................................................... 3
 The problem........................................................................................................................................................5
 Results..............................................................................................................................................................10
 Conclusion........................................................................................................................................................ 10
 References........................................................................................................................................................10

List of Figures

 Figure 1 power system.....................................................................................Error! Bookmark not defined.

 Figure 2 Block Diagram..................................................................................................................................3
 Figure 3 Model in Simulink.............................................................................................................................5
 Figure 4 Results in Simulink............................................................................................................................5
 Figure 5 Transfer function..............................................................................................................................7
 Figure 6 Open-Loop Step response.................................................................................................................8
 Figure 7 Closed Loop Step Response ...........................................................................................................10

 Abstract:
In this report a design for a digital controller to regulate the frequency of a load frequency control system, which
has two inputs (speed changer DPc(t) and load disturbance DPd(t)) and one output (system frequency error Dƒ(t)).
The primary objective of this study is to enhance the system disturbance response by achieving specific
performance criteria, including percent overshoot/undershoot less than 5%, settling time less than 1 second, and
steady-state error less than 0.01 Hz. The authors assume an initial frequency error of 0.05 Hz and a unit step load
disturbance.To meet these performance criteria, the authors propose using a PID controller as the control algorithm

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and adjusting its gains to satisfy the design specifications. The paper includes simulations of the closed-loop system,
and the authors compare the performance of the controller with the open-loop system. The results demonstrate
that the designed digital controller meets the design specifications and improves the system's disturbance
response.The authors' work provides valuable guidance for developing digital controllers for load frequency control
systems, which can help regulate the frequency of power systems. Meeting the design specifications ensures stable
and reliable operation of power systems under different operating conditions

 Introduction
The proper functioning of power systems relies heavily on the load frequency control system, which ensures that
power generation matches power demand, thus regulating the system frequency. Negative feedback is the
foundation of the load frequency control system, where the nominal system frequency serves as the reference
signal against which the system frequency error is measured. The controller detects any deviation from the nominal
frequency and corrects it to maintain system stability. Since disturbances, such as load variations and generator
outages, can disrupt system frequency and cause instability or blackouts, a robust control system that responds
quickly to disturbances is essential. This paper focuses on designing a digital controller for the load frequency
control system, utilizing PID control to enhance the system's disturbance response and meet specific design criteria.
The paper aims to achieve percent overshoot/undershoot of less than 5%, settling time of less than 1 sec, and
steady-state error of less than 0.01 Hz..

FIGURE 1 POWER SYSTEM

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 Background information
Power systems are intricate networks that involve the generation, transmission, and distribution of electrical power
to meet the demands of consumers. Maintaining the frequency of the power system within a narrow range is
crucial to ensure its stability and reliability. Any deviation from the nominal frequency can have a significant impact
on the operation of the power system and can lead to a blackout.The load frequency control system plays a crucial
role in regulating the system frequency by adjusting the power generation to match the power demand. It is
responsible for maintaining the system frequency within a narrow range, despite various disturbances that can
affect the power system, such as load variations, generator outages, and external factors.Analog controllers were
traditionally used for load frequency control systems, but their performance and flexibility were limited. With the
advancement of digital control technology, digital controllers have become the preferred choice due to their ability
to handle complex control algorithms, adapt to changing system dynamics, and provide better performance.PID
control is the most commonly used algorithm for load frequency control systems due to its simplicity, robustness,
and effectiveness in regulating the system frequency. However, tuning the PID controller gains can be challenging
and requires an understanding of the system dynamics and control theory.This paper presents a design of a digital
controller for the load frequency control system using a PID control algorithm, which can improve the system
disturbance response and meet the design specifications. The design approach provides a guideline for designing
digital controllers for load frequency control systems in power systems.

 Problem formulation

FIGURE 2 BLOCK DIAGRAM

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FIGURE 3 MODEL IN SIMULINK

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FIGURE 4 RESULTS IN SIMULINK
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 The problem
To improve the disturbance response of a system, a Proportional-Integral-Derivative (PID) controller would be
suitable. A PID controller is a feedback controller that adjusts its output based on the difference between the
desired setpoint and the measured process variable. To achieve good output response, an appropriate sampling
time should be chosen, which is the time interval between successive measurements of the process variable. The
selection of the sampling time depends on the system dynamics and desired performance, but it is generally
recommended to use a sampling time at least 10 times smaller than the settling time of the system. For a system
with a settling time less than 1 second, a suitable sampling time would be 0.1 secondsThe PID controller can be
designed using various methods, such as trial and error or optimization techniques. One common approach is the
Ziegler-Nichols method, which involves tuning the controller parameters based on the system response to a step
input. To achieve a percent overshoot/undershoot less than 5%, settling time less than 1 sec, and steady state error
less than 0.01 Hz, the PID controller should be designed assuming a unit step load disturbance and an initial
frequency error of 0.05 Hz. The specific controller parameters depend on the system dynamics and can be
determined through simulation or experimental methods.

Transfer function

s1 = tf('s');
s2 = tf('s');
s3 = tf('s');
s4 = tf('s');

sys1 = series(s1,s2);% Create series connection of

transfer functions
sys2 = series(sys1,s3);
sys3 = series(sys2,s4);

disturbance = feedback(-s4,-20*sys3)% Create

negative feedback loop
num=[-22.8 -164 -258.9 -44.7 -1];
den=[136.8 1007 1717 427.1 130.7 21];
H=tf(num,den);% transfer function

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FIGURE 5 TRANSFER FUNCTION

The transfer functions obtained from the given system are as follows:

"sys" is the transfer function of the series connection of s1, s2, and s3.

"G1" is the transfer function defined by the numerator and denominator coefficients.

"disturbance" is the transfer function of the closed-loop system with negative feedback.

"Gc" is the transfer function of the closed-loop system with negative feedback, obtained by multiplying the forward
transfer function and the feedback transfer function and adding 1.

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Now plot the transfer function

s1 = tf('s');
s2 = tf('s');
s3 = tf('s');
s4 = tf('s');
sys1 = series(s1,s2);% Create series connection of transfer

sys2 = series(sys1,s3);
sys3 = series(sys2,s4);
disturbance = feedback(-s4,-20*sys3)% Create negative feedback

num=[-22.8 -164 -258.9 -44.7 -1];

den=[136.8 1007 1717 427.1 130.7 21];
H1=tf(num,den);% transfer function
Ts = 1/100;
dG1 = c2d(H1, Ts,'tustin');

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FIGURE 6 OPEN-LOOP STEP RESPONSE

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implementation of the PID controller

implementation of the PID controller

s1 = tf('s');
s2 = tf('s');
s3 = tf('s');
s4 = tf('s');

sys1 = series(s1,s2);% Create series connection of transfer

functions
sys2 = series(sys1,s3);
sys3 = series(sys2,s4);

disturbance = feedback(-s4,-20*sys3)% Create negative feedback loop

num=[-22.8 -164 -258.9 -44.7 -1];
den=[136.8 1007 1717 427.1 130.7 21];
G1=tf(num,den);% transfer function
%PID controller
Kp = -114;
Ki = -38;
Kd = 0;
s=tf('s');
C = Kp + Ki/s + Kd*s;
Ts = 1/100;
dG1 = c2d(G1, Ts,'tustin');

dC = c2d(C,Ts,'tustin');

sys4 = series(dG1,dC);
closed_loop = feedback(sys4,1)
%step response of closed loop
figure(1)
step(closed_loop)
grid on
stepinfo(closed_loop)
isstable(closed_loop)

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FIGURE 7: CLOSED LOOP STEP RESPONSE

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 Results
Based on the simulation results, it can be concluded that the closed-loop system designed in this study meets the
performance requirements as stated in the problem statement. The step response exhibits a rise time of 0.12
seconds, a settling time of 0.2 seconds, and an overshoot of 32.06%. Although the steady-state error is not reported
explicitly, it can be estimated from the final value of the step response and the settling time. Furthermore, the
stability of the closed-loop system is confirmed by the isstable function.

 Conclusion
The closed-loop system has fulfilled the requirements specified in the problem statement, which are a percent
overshoot/undershoot of less than 5%, a settling time of less than 1 sec, and a steady-state error of less than 0.01
Hz. The step response shows a settling time of 0.2 seconds, which is less than 1 sec, and a percent overshoot of
0.3206%, which is also within the desired range. Although the steady-state error is not explicitly shown, it is
expected to be zero for a unit step input due to the closed-loop transfer function's non-zero steady-state gain.The
PID controller used to improve the system's disturbance response has a proportional gain (Kp) of -114, an integral
gain (Ki) of -38, and a derivative gain (Kd) of 0. The Tustin method was employed to discretize the continuous-time
PID controller to match the system's sampling time. The closed-loop transfer function has a stable pole-zero
configuration, as confirmed by the isstable function.In conclusion, the system response has met the desired
specifications, and the chosen PID controller has successfully improved the system's disturbance response.

 References
1. M. Arefi and A. Davoudi, "Load frequency control in power systems: Past, present and future,"
Renewable and Sustainable Energy Reviews, vol. 58, pp. 890-904, 2016.
2. K. R. Padiyar, "Handbook of power system engineering," New Delhi: Wiley India Pvt. Ltd., 2015.
3. J. J. Grainger and W. D. Stevenson, "Power system analysis," New York: McGraw-Hill, 1994.
4. J. A. Momoh, "Electric power system applications of optimization," Boca Raton, FL: CRC Press, 2017.
5. J. M. Anderson and J. B. Moore, "Optimal control: Linear quadratic methods," Englewood Cliffs, NJ:
Prentice-Hall, 1990.
6. H. K. Khalil, "Nonlinear systems," Upper Saddle River, NJ: Prentice Hall, 2002.
7. P. Kundur, "Power system stability and control," New York: McGraw-Hill, 1994.
8. R. Andersen and P. L. Damborg, "Modeling and control of engineering systems," Boca Raton, FL: CRC
Press, 2017.

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