2018 3rd IEEE International Conference on Recent Trends in Electronics, Information & Communication Technology (RTEICT-2018), MAY 18th

& 19th 2018

Application of FOPID Controller for LFC using

Elephant Herding Optimization Technique
D.K. Sambariya Omesh Nagar
Department of Electrical Enigeering Department of Electrical Engineering
Rajasthan Technical University Rajasthan Technical University
Kota, India Kota, India
Email- [email protected] Email- [email protected]

Abstract— In this paper, a fractional order PID (FOPID) Conventional PID controller constructed on the Area Control
controller is designed for a single-area non-reheat thermal power Error (ACE), deviation and ACE to zero, the tie-line power can
plant (SANRTPP) in an interrelated power system (PS) to damp effectively be regulated but this would result in gatherings of
out the fluctuations of the system frequency. The FOPID time error and in voluntary transaction as in [3]. Liang, 2012
parameter is tuned by the Elephant Herding Optimization [4] have presented the PSO technique based tuning of the
technique (EHO). FOPID controller parameters are intended FOPID parameters. The LFC is also considered in the linear
using the EHO under the minimization error. The parameters of object modal such as generation rate constant (GRC) and
the controller are tuned using EHO for the system in governor dead band (GDB), where in the suitable control fails.
MATLAB/SIMULINK with a stage variation in load demand.
The robust control and sliding mode control are appeared in the
The controller demonstrates the robustness under disparity of
system parameters. The technique improves the performance of
modern control theory for the LFC in a power system. Delassi,
LFC of the PS in standings of time conditions such as undershoot, 2015 [5] have investigated an AGC in a three-area thermal
overshoot and settling time. The simulation results of PS with plant, and the parameters of FOPID are tuned by the DE
proposed FOPID controller presented better performance as technique & compared that of with the genetic algorithm. A
compared that of with other controllers in literature. number of control strategies for LFC have intentional work for
the past decades.
Keywords— Proportional integral derivative controller (PID),
Alomoush, 2010 [3] have reported the AGC & LFC system
Load frequency control (LFC), Elephant Herding Optimization
technique (EHO).
for the interrelated PS and also used the integer order PID
controller. Ahuja, 2014 [6] have proposed the work of PSO
technique and the FOPID parameters are tuned by the PSO
I. INTRODUCTION technique. An intellectual FOPID controller based on the
A frequency oscillation for the power system is a main opinion of anthropomorphic. The designed FOPID controller
problem due to sudden change in the load. The applications of using EHO technique is presented in this paper.
conventional PID and FOPID controllers are considered in the Sambariya, 2017 [7, 8] have presented the EHO technique
single-area and multi-area power systems. The application of for the application of LFC and tuning the PID parameters. The
EHO techniques is applied to tune the parameters of the frequency response of the system is also compared that of with
controller. The considered FOPID controller is supposed to an the system with controllers designed using Fertic, Ziegler
integer controller; however, the FO differential equation is Nichols, Tyreus techniques. The conventional technique-based
realized the physical systems to ensure the better concert than controllers are not effective for the massive and difficult power
the integer controllers. So, the foremost purpose in this paper is system grids. The researchers have not proposed control
LFC using the FOPID controller. This controller has five strategies based on soft computing methods for LFC in order to
tuning parameters such as KP, KI, KD, 𝝀 and 𝝁 [1]. The EHO is continue the system and nominal value. Arya, 2017 [9] have
used for optimization consideration of the parameters with an presented the ICA to tune the FOPID parameters. The FOPID
objective function as ISE. To demonstration, the FOPID controller has been anticipated as an LFC in a power system.
controllers are compared with the other FOPID controllers The various control strategies have been applied to obtain the
available in literature. The optimization problem is stopped as optimization solutions of LFC for large and small-scale power
the stopping criterion is satisfied. The several interruption system. The main capability of more degrees of liberty,
problems conversed in this paper are robustness, gain crossover differentiate the PID and FOPID controller. Its flexibility can
frequency, gain and phase margin [2]. also be increased in FO controllers for adjustment of a dynamic
Sondhi et al., 2014 [1] reports one of the most common system.
simulating issues in control engineering related to the LFC in a This paper presents the application of EHO for tuning the
power system. In present days, the power system is increasing parameters of FOPID controller in single-area LFC. The
the size and in assessment to the economy development. proposed controller technique presents an improved dynamic
Therefore, a supply with a constant frequency is attractive response of change in frequency. It provides the better response
further and vital challenges that of with the traditional control as compared to particle swarm optimization technique and
system. genetic algorithm in literature.
Deo et al., 2016 [2] have presented a manual optimization
technique to derive the parameters of FOPID controller. The

978-1-5386-2440-1/18/$31.00 ©2018 IEEE

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 This paper is described in five segments. The II segments Liouville properties. In which this system these properties are
are also described problem formulation with introduction to the also given easily proved for integer orders given in Eq. 4 [9].
measured the PS. The basics of FOPID controller objective
functions. The III segments are also representing the
t
operational part and EHO. The IV segments show the 1 dn f ( )
comparisons and simulation results. The V sections are
presented the conclusion with references.
  Dtv f (t) 
(n  v) dt n  (t   )

v  n 1
dt , n  1  v  n 

II. PROBLEM FORMULATION Where, Γ describe the Euler’s gamma function. The
fractional derivative or integral of the Laplace transform
A. System Description follows the zero initial conditions in Eq. 5 [2].
The large number of loads of a dissimilar type can be
interrelated with the system; hence, the LFC of the speed  L{  Dt v f(t)}  s v F (s) 
governor should be transformed as the variable load. The LFC
is supposed to operate with constant frequency even the
changes in turbine speed. The LFC with frequency sensor and The preliminary circumstances indicate that a dynamic
valve control mechanism is explained in Fig. 1, where the step system of designated by differential equations including
load is changed as input to the generator of the system [10]. derivatives of fractional gives increase the TF with fractional
powers of s. this is designated more away.
The transfer function (TF) are also denoted for a single-area
1 C. PID Controller
LFC in Eqs. 1-3 . The is the constant speed regulation.
R The generating signal for PID controller contains of
proportional integral derivative error signal. The TF illustration
of PID controller shows in Eq. 6
1
 GG (s)   
1  sTG
 Gc (s)  K p  Ki s  K d s 

1 The PID controller have three parameters such as Kp, KI

 GT (s)   and KD as proportional, integral and derivative error control
1  sTT schedules. Then the constancy of the system and dissolute
responses are desired. The PID controller of PS and the
structure of optimization using EHO technique.
1
 GL (s)   D. FOPID Controller
1  sTP
Ki
P L S

Governer Turbine Power System r(t)  e(t) u(t) c(t)

-
Kp G(s)
- 1 1 + Kp f 
 
- 1  sT g 1  sT t 1  sT p
S  Kd
Speed regulation

1
R
Fig. 2. FOPID Controller
Approximation of FPID Controller
Fractional-order
PID Controller The FOPID controller attracts important consideration
owing to better result than the conservative PID controllers. In
this Fig. 2 [11], that incidence of five parameters to indicate the
Fig. 1. Block diagram of SANRTP plant with FOPID controller
increase design of litheness and allows designer to additional
appropriate determining of open-loop TF function for different
B. Fractional Calculus (FC) control part. In this work, it shows that the FOPID controllers
The FC is a simplification of general calculus. It grows an have better result as compared to the PID controllers. However,
efficient operator, D, associated to the order of an procedure  the tuned FOPID controllers in term of strategy and constancy
not to be controlled numerals that the simplifies traditional analysis is further compound in Eq. 7 [11].
integrals and derivatives. The Fractional calculus used in
several properties; however, mostly used in the Raimann-

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 KI EHO is separated in two operatives. The operation of
 Gc (s)  K P  
 K D s  updating the clan and separating used to explain the entire
S optimization algorithm problem in Fig. 4 [7].
If 𝝀=1, 𝝁=1 the standard PID controller. Elephant calves
Matriarch
E. Objective Function
The objective function are represented the integral of
squared error. The process to control the unknown parameters
of the FOPID controller (KP, KI, KD, 𝝀 and 𝝁) are also the
considered the optimization problematic. This problem is
measured the error signal in ISE as in Eq. 8 . These parameters Female elephant

are also upper and lower bounds with the EHO technique.
KP(Primary KP ≤ KP(Last), KI(Primary) Fig. 4. Clan of generation
≤KI≤KI(Last),KD(Primary)≤KD≤KD(Last),𝝀(Primary)≤𝝀≤𝝀(L
ast)and𝝁(Primary)≤𝝁≤𝝁(Last). Hence so that the proposed
B. Procedure of Optimization
parameters is vigorous, the variation in the variety of +25% to -
25% and given in Eq. 8 [10]. The following steps may be used to solve the selected
problem by expiations herding behaviour.
tsim  It is supposed that the overall populace of elephants is
 J   0
( f) 2 dt  separated into two parts such as clans. These clans have
a certain sum of an elephant.
 It is also supposed that the poorest performance of the
III. ELEPHANT HERDING OPTIMIZATION TECHNIQUE male elephant will be left the assembly. It lives single
Due to growing complication, the actual-world problematic on an extraordinary detachment from the elephant
is difficult that it cannot be resolved by consuming this assembly.
procedure. Some of the procedures based on the natural  All elephants leader is matriarch and it lives in a clan.
phenomenon cannot give accurate responses. In this time
period researcher’s studies on several kinds of a meta heuristics
C. Clan modernized operator
algorithm such as EHO. So, it can be easily applied to solve the
numeral of problematic in an actual world [7]. Matriarch is controlled the clan; CP is the overall number of
clans and q shows the number of elephants. The existing
A. Herding Behaviour situations of all elephants are modernized as in Eq. 9 [8].
In this technique, the elephant is the largest animal which
originates in a group of mammals on the planet. An elephant
had behavioural system, further size and domestic atmosphere.
 
 X new,C p ,q  X C p ,q    X new,C p ,q  X C p ,q  r 
The elephant lives in composite structure such as a female
elephant with her calves linked other female elephants. This set Where, Xnew,Cp,q and XCp,q are the old position and new
are also known as a clan. A clan of a group is represented as in update for elephant q in clan Cp correspondingly. The α is a
Fig. 5 [10]. An elephant assembly contains the number of scale factor and Xnew,Cp describe the best position in matriarch.
clans. A clan contains of lowest of two dozen elephants. The Its clan cannot be updated in given Eq. 10 [7].
heads of the clan are also known as the matriarch who controls
all concentric loops. When growing up, male elephant lives
alone in group and female elephant similar to lives in combined  X C p ,q  X best ,C p ,q 
family. The male elephant mixed with few other adult male
elephants in a small group leaves the clan in Fig. 6 [10]. They The matriarch is modernized by Eq. 11 [7].
live in connection with their clan through lowest frequency of
ambiances. The populations of all elephants are shown in Fig. 3
[7].  X best ,C p    X center ,C p 

Where, β=[0,1], β is a factor and given in Eq. 12 [7].

nC
1 P

Fig. 3. Populace of elephant

 X center ,C p ,d  
nCP q 1 
X C p ,q,d 

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 The clan updating operative of EHO technique can be Where, Xmax and Xmin signifies the max. and min. position of
formed as shown below. the elephants. The stochastic circulation operative, “rand” is a
random numeral.
Pseudo-code of EHO technique
1. Initialization, Set gen. counter t=1, set max. gen.
2. Initialize the populace, global variables, dimension, IV. SIMULATION & DISSCUSION
max. gen.=100, set superiority as 2, objective function,
α=0.5, β=0.1. In simulation study, we simulate the single area LFC with
3. While t=1: max. gen. FOPID controller using EHO. The parameter of the TF used in
4. Start and save elitism strategy for cost and populace the model is shown in Table-I. The optimization process to tune
5. Division of elephant populace into clans and Clan
updating operator as in Eq. 10 & Eq. 12 the FOPID parameters is considered with objective function as
6. Evaluate separating operative as in Eq. 13 in Eq. 8. The plot of the fitness function during the
7. Evaluate new clan, save fitness function for each optimization in terms of iteration count is shown in Fig. 7. The
iteration, save parameter for newly update position optimal parameters using EHO and in literature are shown in
and Update iteration count by t=t+1
8. End Table II. The step response comparison is included in Table III
and shown in Fig. 8.
Female elephant
Matriarch TABLE I. SINGLE AREA NON-REHEAT THERMAL POWER PLANT’S
PARAMETERS
FIRST
GENRATION Parameters Syntax Value
Constant gain of PS KP 120 Hz/pu MW
Female elephant Matriarch Constant time of PS TP 20 Sec.
Regulation of speed R 3.935 Hz/pu MW
Elephant calves
SECOND Constant time of governor Tg 0.08 Sec.
GENRATION Constant turbine of time Tt 0.3 Sec.

TABLE II. OPTIMAL VALUES OF THE GAIN OF FOPID CONTROLLER

Female elephant Matriarch
Technique Kp Ki Kd 𝝀 𝝁
Proposed 1.0000 1.0000 0.9999 0.9999 0.5986
THIRD Liang,2012 [4] 1.2667 0.98775 0.08394 1 1.6903
GENRATION
Ismayil, 2014 [11] 0.0115 0.7820 0.6125 0.89990 0.5644
New elephant calves Ahuja,2014 [6] 0.0799 0.3000 0.1732 0.9545 0.7010
Sambariya, 2017 [10] 0.9525 1.4414 0.1804 - -
Fig. 5. Clan updating operator
TABLE III. COMPARISONS PERFORMANCE OF SETTLING TIME (ST),
OVERSHOOT AND UNDERSHOOT

male After Settling time Overshoot Undershoot

Technique
Female male Female adult growing up sec. second (10-4) (10-3)
adult adult adult male adult Proposed 8.407 0.014 -0.849
Matriarch
Matriarch leave a Liang, 2012 [4] 10.164 0.181 -1.111
group
Ismayil, 2014 [11] 42.662 0.067 -1.270
Ahuja, 2014 [6] 37.300 0.049 -2.076
Clan seperating Sambariya, 2017 [10] 3.589 1.818 -11.0
operative
Female Female elephant
elephant

Fig. 6. Clan separating operatives

D. Clan Separating Operator

Let us consider the elephant separate with the poorest
performance will implement the separating operative at each
group given in Eq. 13 [8].

 X worst,C p  xmin  ( xmax  xmin  1)  rand 

Fig. 7. The plot of fitness function during optimization with EHO

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 ST as compared to the research paper measured by the FOPID
parameters.

V. CONCLUSION
In this article, the parameters of FOPID controller are tuned
by the EHO technique for the LFC of the SANRTPP. The
dominance of EHO-FOPID over PSO and GA has been
established. The FOPID controller parameters of the EHO
technique improved necessity not to be a variation even if the
system parameters are also inclusive changed in loading
condition. The proposed controller presents the robustness and
superiority as compared the other FOPID in literature. It is
Fig. 8. Frequency deviation of proposed FOPID representing the improves the active response of compared the
other FOPID controller in works. All the comparisons of EHO
based FOPID controller shown that the proposed procedure is
best. The EHO tuned FOPID controller gives the better result
on the change of system parameters. I have only studied about
the single area PS, so the future work may be done for
controlling the LFC of two and three areas PS. Other
algorithms may apply for tuning the parameters of FOPID
controller for LFC of single-area and multi-area power system.
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