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Procedia
Engineering
Procedia Engineering 00 (2011) 000000
www.elsevier.com/locate/procedia

International Conference on Modeling Optimisation and Computing
Comparison and Study of minimizing rotor angle instability
Using GSA and FF Algorithm
Karthikeyan. K
a
*,Arun Annamalai. A
b
,Chandrabose. B. M.
c
, Azeezur Rahman. A
d
a
Assistant Professor,Tagore Engineering College, Chennai,India,
b
UG student, Chennai,India
c
UG student, Chennai,India ,
d
AssistantProfessor, SMIT, Chennai, India
Abstract
This paper presents a study and comparison of Gravitational Search (GS) and Firefly (FF) algorithms for
the enhancement of rotor angle stability for a wide range of operating conditions. A systematic approach for
optimizing the parameters of Power System Stabilizer (PSS) using Integral Square Error (ISE) technique has been
implemented in this paper. A single machine infinite bus power system with system parametric uncertainties is
considered as a case study and the proposed methods are evaluated against one another at this test system. The
simulation results clearly indicate the effectiveness and validity of the proposed methods.

2011 Published by Elsevier Ltd.
Keywords: GS algorithm; Firefly algorithm; Low Frequency Oscillations; PSS Design; Rotor angle Stability; SMIB system.

1. Introduction
Power system stability is defined as the ability of an electric power system, for a given initial
operating condition, to regain state of operating equilibrium after being subjected to a physical
disturbance, with most system variables bounded so that practically the entire system remains intact [1].
Modern bio inspired algorithms include a wide variety of population based algorithms which can be
applied to various power system optimization problems. The Phenomenon of stability of modern
interconnected power systems has received a great deal of attention in recent years. One problem that
faces power systems nowadays is the low frequency oscillations arising from interconnected power
Systems [2]. Sometimes, these oscillations sustain for minutes and grow to cause system separation, if
adequate damping is not provided. A cost efficient and satisfactory solution to the problem of low

*K.Karthikeyan .Tel:+044-42020951; 9445146423
E-mail address: karthikeyankrishnan03@gmail.com

Karthikeyan. K
a*
,Arun Annamalai. A
b
,Chandrabose. B. M.
c
, Azzezur Rahman. A
d
frequency oscillations is to provide damping by implementing Power System Stabilizers (PSS). In recent
years, several approaches based on Modern control theory have been applied to PSS design problem.
These include optimal control, adaptive control, variable structure control and intelligent control [5-6].
Unfortunately, the conventional techniques are time consuming, as they are iterative and require heavy
computation burden and slow convergence.

Recently Gravitational Search (GSA) is developed to optimize the economic dispatch problems and the
way to solve those problems was explained clearly in [7] and [9]. This paper presents a method for
stability enhancement of a Single Machine Infinite Bus (SMIB) system using PSS whose parameters are
tuned through FF and GSA. The performance of the stabilizer has been tested for various disturbances.
The simulation has been implemented in MATLAB/SIMULINK.

This paper is organized as follows: Section II presents the modeling of SMIB system. The problem
formulation is described in Section III. A short overview of GSA and FF algorithm are presented in
Section IV and V respectively. Simulation results obtained using GSA and FF algorithm is provided and
discussed in Section VI. Conclusions are given in Section VII.

Nomenclature

P
e
Electrical output power
E
t
Generator terminal voltage
P
m
Generator input power
Angular speed

0
Base angular speed
Rotor angular position
T
d0
d axis open circuit time constant
wr Governor reference angular speed
T
q0
q axis open circuit time constant
D Damping coefficient
E
fd
d axis field voltage
E
q
q axis transient voltage
M Inertia constant of generator
K
A
Exciter gain
R
a
Armature resistance
T
A
Exciter time constant
r
e
Equivalent resistance of transmission lines
x
e
Equivalent reactance of voltage transmission lines
x
d
Synchronous reactance
x
d
Transient reactance
x
q
q axis reactance of generator
E
b
Infinitive bus voltage
V
ref
Reference value of the terminal voltage
T
w
Washout block

time constant
Change from nominal values
s Laplacian operator
Karthikeyan. K
a*
,Arun Annamalai. A
b
,Chandrabose. B. M.
c
, Azzezur Rahman. A
d
2. Modeling of Power System
A typical power system comprises a number of generating units connected to a set of loads through
transmission lines. A mathematical model of the power system is generally built up from models for each
of the generating units, together with a model of the network and loads.
2.1. Single Machine Infinite Bus (SMIB) system
A SMIB system is considered for investigations by using its parameters and its diagram are shown in
Fig. 1. Infinite Bus is a system with constant voltage and constant frequency, which is the rest of the
power system




Fig. 1.Single Line diagram of SMIB system.





















Fig.2 Philips-Heffron linearized model
e A

1
K
A
sT
A
+

3
1
3 0
K
'
sK T
d
+

2
K

0
s
e

4
K

6
K

5
K

1
K

o A

m
T A
'
q
E A

s
v A

1
Ms D +

PSS
e A

e
T A

+

E
fd
A

+

+
+
G
E
t
E
b
r
e
x
e
1
v A

Karthikeyan. K
a*
,Arun Annamalai. A
b
,Chandrabose. B. M.
c
, Azzezur Rahman. A
d
The synchronous machine described in Fig.1 is a fourth order model. Fig.2 shows the well-known
Philips-Heffron block diagram of linearized model of the system. The interaction among these variables is
expressed in terms of the six constants K
1
-K
6
. These constants with the exception of K
3
, which is only a
function of the ratio of impedance, are function of the operating real and reactive loading as well as the
excitation levels in the machine [3]. The linearized equations describing the system of Fig. 2 are given
below:


.
0
= o e e A A (1)

( )
.
'
1 2
1

q
K D K E
M
e o e A = A A A (2)
0
'
.
'
4 '
3
1

d
q
q fd
E
E K E
T K
o
A | |
A = A + A
|
\ .
(3)
( )
.
1
1
1
t
R
v E v
T
A = A A (4)
Eqns. (1-4) gives the state space form of the above model.



2.2. Power System Stabilizer (PSS)
The structure of PSS is shown in Fig. 3. It consists of a gain block with gain K
stab
, a signal washout
block and single first-order phase lead-lag compensation blocks. The input signal of the PSS is the speed
deviation () and the output is the stabilizing signal V
S
which is added to the reference voltage of the
excitation system. The signal washout block serves as a high -pass filter, with the time constant T
W
, high
enough to allow signals associated with oscillations in input signal to pass unchanged. From the view
point of the washout function, the value of T
W
is not critical and may be in the range of 1 to 20 seconds
[3].






Fig.3. Block Diagram of PSS
e A
1
w
w
sT
sT +

1
2
1
1
sT
sT
+
+

stab
K
Gain
Washout
Phase
Compensation
s
v A

Karthikeyan. K
a*
,Arun Annamalai. A
b
,Chandrabose. B. M.
c
, Azzezur Rahman. A
d
3. Objective Function
The primary goal is to minimize this objective function in order to improve the system stability. The
design problem can be formulated as following optimization problem. In this paper, Integral Square Error
(ISE) and Integral Time Absolute Error (ITAE) of the rotor angle deviation () is taken as the objective
function [10]. In this paper the parameters of PSS are tuned by using ISE method, for the comparison
ITAE value is calculated by using the optimized parameters obtained by ISE for various conditions.

min max
min max
1 1 1
min max
2 2 2






stab stab stab
Minimize
J ISE
Subject to
K K K
T T T
T T T
=
s s
s s
s s

(9)
The expression of ISE and ITAE are described as follows;
( )
2
0
2
0
( )
( )
t t
sim
t
t t
sim
t
ISE t dt
ITAE t t dt
o
o
=
=
=
=
= A
= A
}
}
(10)
where
t
sim
: Total simulation time period
K
stab
: Stabilizer gain
T
1
and T
2
: Lead-Lag time constants
K
p
, K
i
and K
d
: Proportional, Integral and Derivative constants.

4. Gravitational Search Algorithm

Rashedi et al. proposed one of the newest heuristic algorithms, namely Gravitational Search Algorithm
(GSA) in 2009. GSA is based on the physical law of gravity and the law of motion [7]. The gravitational
force between two particles is directly proportional to the product of their masses and inversely
proportional to the square of the distance between them. GSA a set of agents called masses has been
proposed to find the optimum solution by simulation of Newtonian laws of gravity and motion.
In the GSA, consider a system with m masses in which position of the ith mass is defined as follows:
( )
1
1 2
d n
i i i i
X x ,..., x ,..., x , i , ,...,m = = (11)
where
d
i
x is position of the i
th
mass in the d
th
dimension and n is dimension of the search space. At the
specific time t a gravitational force from mass j acts on mass i, and is defined as follows:
Karthikeyan. K
a*
,Arun Annamalai. A
b
,Chandrabose. B. M.
c
, Azzezur Rahman. A
d
( ) ( )
( ) ( )
( )
( ) ( )
( )

pi aj
d d d
ij j i
ij
M t xM t
F t G t x t x t
R t c
=
+
(12)
where M
i
is the mass of the object i, M
j
is the mass of the object j, G(t) is the gravitational constant at
time t, R
ij
(t) is the Euclidian distance between the two objects i and j, and is a small constant.
The total force acting on agent i in the dimension d is calculated as follows:
( )

d d
i j ij
m
F ( t ) rand F t
j i j i
=
= =
(13)
According to the law of motion, the acceleration of the agent i, at time t, in the d
th
dimension, ( )
d
i
a t is
given as follows:
( )
( )

d
d i
i
ii
F ( t )
a t
M t
= (14)
Furthermore, the next velocity of an agent is a function of its current velocity added to its current
acceleration. Therefore, the next position and the next velocity of an agent can be calculated as follows:
( ) ( ) ( )
( ) ( ) ( )
1
1 1
d d d
i i i i
d d d
i i i
v t rand xv t a t
x t x t v t
+ = +
+ = + +
(15)
where
randi is a uniform random variable in the interval [0, 1].
The gravitational constant, G, is initialized at the beginning and will be decreased with time to control
the search accuracy. In other words, G is a function of the initial value (G0) and time (t):


o
t
T
o
G( t ) G( G ,t )
G( t ) G e
o
=
=
(16)
The masses of the agents are calculated using fitness evaluation. A heavier mass means a more
efficient agent. This means that better agents have higher attractions and moves more slowly. Supposing
the equality of the gravitational and inertia mass, the values of masses is calculated using the map of
fitness. The gravitational and inertial masses are updating by the following equations:
( )
( ) ( )
( ) ( )

i
i
fit t worst t
m t
best t worst t

(17)

( )
( )
( )

1
i
j
m t
i
M t
m
m t
j
=

=
(18)
where fit
i
(t) represents the fitness value of the agent i at time t, and the best(t) and worst(t) in the
population respectively indicate the strongest and the weakest agent according to their fitness route. For a
minimization problem:
( )
{ }
( )
( )
{ }
( )
1
1


j
j ,...,m
j
j ,...,m
best t min fit t
worst t max fit t
e
e
=
=
(19)

Karthikeyan. K
a*
,Arun Annamalai. A
b
,Chandrabose. B. M.
c
, Azzezur Rahman. A
d
4.1. GSA Algorithm for Tuning the PSS parameters

GSA algorithm has been employed for tuning the PSS parameters [8].

1. Search space identification.
2. Randomized initialization.
3. Fitness evaluation of agents.
4. Update G(t), best(t), worst(t) and M
i
(t) for
5. i = 1,2,..,N.
6. Calculation of the total force in different directions.
7. Calculation of acceleration and velocity.
8. Updating agents position.
9. Repeat steps 3 to 7 until the stop criterion is reached.
10. End.

The optimal values of the PSS parameters K
stab
,T
1
and T
2
using GSA are found in MATLAB software
and the objective function is GSA parameters selected for tuning the PSS parameters are given in Table.1.

Table 1. Parameters used for PSO algorithm


GSA parameters Value
Number of agents 50
Maximum number of iterations 1000
ElitistCheck 1
power of 'R' 1

The ranges of the optimized parameters of the PSS are [0.1-50] for K
stab
and [0.1-2] for T
1
, and T
2
[2].

Karthikeyan. K
a*
,Arun Annamalai. A
b
,Chandrabose. B. M.
c
, Azzezur Rahman. A
d
5. Firefly Algorithm

By idealize some of the flashing characteristics of fireflies we can develop firefly-inspired algorithm.
The three idealized rules are
- All fireflies are unisex so that one firefly will be attracted to other fireflies regardless of their
sex.
- Attraction is proportional to their brightness, thus for any two flashing fireflies, the less bright
one will move towards the brighter one. The attractiveness is proportional to the brightness and
they both decrease as their distance increases. If there is no brighter one than a particular firefly,
it will move randomly.
- The brightness of a firefly is determined or affected by the landscape of the objective function.

5.1. Light Intensity and Attractiveness:
In the firefly algorithm there are two important issues: The variation of light intensity and formulation
of the attractiveness. The brightness is associated with the encoded objective function it will determine
the attractiveness of firefly. In maximum optimization problem the brightness I at a location x is given
as ( ) ( ) I x f x o . The attractiveness | must be judged by other fireflies as it vary with the distance
ij
r between the firefly i and firefly j as the distance from source increases the light is absorbed by the
media. So the light intensity decreases so we should allow the attractiveness to vary with the degree of
absorption.


According to the inverse square law, the light intensity ( ) I r is given by
(20)


where
( ) I s is the intensity at source, For a given medium with a fixed light absorption coefficient , the light
intensity I varies with the distance r, that is
(21)
0
r
I I e

=


where
0
I is original light intensity. In Gaussian form
(22)
( )
2
0
r
I r I e

=



As a fireflys attractiveness is proportional to the light intensity, the attractiveness | of a firefly is

(23)
( )
2
s
I
I r
r
=
2
0
r
e

| |

=
Karthikeyan. K
a*
,Arun Annamalai. A
b
,Chandrabose. B. M.
c
, Azzezur Rahman. A
d
Hence,
2
1 r
|
|

=
+


The above two equations gives the characteristic distance as
1

I = . In an actual implementation, the

attractiveness function ( ) r | can be denoted as

(24)

For a fixed , the characteristic length becomes,


(25)

The above equation can be rewritten as ,

1
m
=
I

(26)


The distance between the fireflies i and j at
i
x and
j
x , respectively, is the Cartesian distance


(27)


where
i ,k
x is the k
th
component of the spatial coordinate
i
x of the i
th
firefly. In 2-D case, we have


(28)


The movement of a firefly i is attracted to another more attractive firefly j is determined by

( )
2
0
ij
r
i i j i i
x x e x x

| o

= + + e ,
(29)

where the second term is due to the attraction and the third term is due to randomization.
( )
0
m
r
r e

| |

=
1
1
m

I =
( )
2
1
d
ij i j i ,k j ,k
k
r x x x x
=
= =

( ) ( )
2 2
ij i j i j
r x x y y = +
Karthikeyan. K
a*
,Arun Annamalai. A
b
,Chandrabose. B. M.
c
, Azzezur Rahman. A
d
5.2. Firefly Algorithm for Tuning the PSS parameters
The inputs to excitation system are the terminal voltage V
T
, reference voltage V
ref
and the signal from
PSS. Voltage transducer effect is neglected.

Pseudo code of the firefly algorithm is:

Objective function ( ) f x , ( )
1
T
d
x x ,......, x =
Generate initial population of fireflies ( ) 1 2
i
x i , ,......,n =
Light intensity
i
I at
i
x is determined by ( )
i
f x
Define light absorption coefficient
While (t<Max Generation)
For i=1: n all n fireflies
For j=1: n all n fireflies
If
( )
i j
I I < , Move firefly I towards j; end if
Vary attractiveness with distance via exp| | r
Evaluate new solutions and update light intensity
End for j
End for i
Rank the fireflies and find the current global best g
End while
Post process results and visualization.



T
V
ref
V



E
fd
A

E
fd
A





Optimal PSS parameters K
w
, T
1
and T
2






Fig.4. Excitation system with PSS

1
K
A
sT
A
+

e A
s
v A

+
+
stab
K
1
w
w
sT
sT +

3 1
2 4
1 1

1 1
sT sT
sT sT
+ +
+ +

Fire-Fly and GSA Algorithm
Karthikeyan. K
a*
,Arun Annamalai. A
b
,Chandrabose. B. M.
c
, Azzezur Rahman. A
d
6. Simulation Results
To check the adequacy of stabilizers, simulation of the SMIB model of the power system is carried out
by the procedure given below [4].
Case 1: 10% change in voltage setting V
ref
of the excitation system.
After the simulation, the optimal parameters of the PSS by using GSA and FF are given in the
Table.1.
Table 1. Optimal Values of the PSS parameters.




Table 2. Comparison of ISE and ITAE values for Case 1: GSA-PSS and FF-PSS





Fig. 5. Time response plot of Rotor Angle Deviation Case: 1 Fig. 6. Time response plot of Rotor Speed Deviation - Case: 1
PSS parameters K
stab
T
1
T
2

Optimal values FF
Optimal values - GSA
46.6191
43.2851
1.5215
1.0643
0.2811
0.1826

Parameters ISE ITAE
FFA-PSS 93.7841 659.5690
GSA-PSS 94.7556 657.2390

Karthikeyan. K
a*
,Arun Annamalai. A
b
,Chandrabose. B. M.
c
, Azzezur Rahman. A
d
6.1. Robustness of FF and GSA

Case 2: 10% step change in power input T
m
of the system and also a three phase to ground fault is
applied at t=1sec and removed t=1.5sec in the transmission line, by disconnecting the faulted line and
reclosing the same line. Table 2 and 3 show the main objective function ISE and ITAE index value of the
FF-PSS is less compared with that of the GSA-PSS for different case studies of the system.


Fig.7. Time response plot of Rotor Angle Deviation Case: 2 Fig.8. Time response plot of Rotor Speed Deviation Case: 2
Table 3. Comparison of ISE and ITAE values for Case 2 : GSA-PSS and FF-PSS






7. Conclusion
This paper has shown an application of a GSA and FF algorithm to determine the optimal parameters
of power system stabilizer. The design problem of PSSs parameters selection is converted into an
optimization problem which is solved by using GSA and FF technique. Simulation shows that the
oscillations of synchronous machine can be rapidly damped with the proposed PSS over a wide range of
conditions. This indicates the efficiency of the proposed GSA and FF algorithm in tuning PSS and
Parameters ISE ITAE
FFA-PSS 0.0226 5.2333
GSA-PSS 0.0580 4.9586

Karthikeyan. K
a*
,Arun Annamalai. A
b
,Chandrabose. B. M.
c
, Azzezur Rahman. A
d
stabilizing the system under low frequency oscillations. By using comparative study, FF-PSS shows the
superiority over GSA-PSS for rotor angle stability enhancement study.
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Appendix A.

Machine parameters (p.u)
x
d
= 0.973 , x
q
= 0.55 , x
d

= 0.19 , M = 9.26
T
d0

= 7.76 s , D=0 ,
0
= 377 rad / s
Exciter parameters
K
A
= 50 , T
A
= 0.05
Transmission Line parameters (p.u)
r
e
= 0 , x
e
= 0.997
Operating point (p.u)
V
t0
= 1