1.0 Introduction
State estimation for electric transmission grids
was first formulated as a weighted least-squares
problem by Fred Schweppe and his research
group [1] in 1969 (Schweppe also developed
spot pricing, the precursor of modern-day
locational marginal prices LMPs a central
feature of electricity markets). A state estimator
is a central part of every control center.
Breaker/Switch Status
Indications
Telemetry &
Communicatio
ns equipment
SCADA
Updated System
Electrical Model
Display to Operator
State
Estimator
Power flows,
Voltages etc.,
Display to Operator
Analog Measurements
Generation
Raise/Lower Signals
Generator Outputs
Bad Measurement
Alarms
AGC
Todays real-time
market functions
Substation
RTUs and
power plants
Economic
Dispatch
OPF
Security
Constrained OPF
Contingency
Selection
Contingency Analysis
Overloads &
Voltage Problems
Potential
Overloads &
Voltage Problems
Display Alarms
EMS
State Estimator
Output
I1
V -
R1
Node 2
A1
+
R2
A3
R3
I2
A2
Node 3
Fig. 1
Lets write each one of the measured currents in
terms of the node voltages, and we may also
write down our one voltage measurement.
v v e
i1m, 2 1 2
v1 v2 e 1.0
(1)
1
0 v1
i3m,1
v1 3.2
(2)
1
v 0
i2m,3 2
v2 0.8
(3)
1
e 1.1
(4)
Expressing all of the above in matrix form:
3
1 1 1
1.0
1 0 0 v1 3.2
v 2
0 1 0 0.8
0 0 1
1.1
(5)
b
0. 8
1
.
1
(7)
e
0 0 1
(8)
v2
b Ax
0.8 0 1 0
0.8 v2
1.1 e
1.1 0 0 1
(9)
1.0 v1 v2 e 2
3
.
2
v
1
2
0.8 v
1.1 e2
1
b Ax T b Ax
2
(10)
Our problem is then to choose x so as to
minimize J. Under requirements on the form of
J (convexity), we minimize it by setting its
gradient with respect to x to 0; then solve for x.
To do this, we can expand J as follows:
1
b Ax T b Ax 1 bT Ax T b Ax
2
2
1 T
T
T
T
b b Ax b b Ax Ax Ax
2
1 T
b b xT AT b bT Ax xT AT Ax
2
6
(11)
(12a)
A
x2 11
A12
A
bT Ax b1 b2 11
A21
A21 b1
b1x1 A11 b1x2 A12 b2 x1 A21 b2 x2 A22
A22 b2
A12 x1
b1x1 A11 b2 x1 A21 b1x2 A12 b2 x2 A22
A22 x2
1 T
b b 2bT Ax xT AT Ax
2
(12b)
which is identical to (12A.12), p. 504 of W&W.
To remind us about gradients, we recall that it is
given by (13):
J
x
1
J
x J x2
J
x
n
(13)
xF b
F bT x
xF b
F xT Au
x F Au
F uT Ax
x F AT u
#5 F xT Ax
x F 2 Ax
#1
#2
#3
#4
1
J bT b 2bT A x xT AT A x
(12c)
so (14) becomes
x J
1
2 AT b 2 AT Ax AT b AT Ax
2
(15)
(16)
(17)
Note:
Equation (17) is referred to in statistics as the
normal equations.
We could have obtained (17) by just
multiplying Ax=b through by AT.
ATA multiplies an mn by an nm to get an
mm matrixSquare!
(ATA)T=ATA, so the transpose of ATA is itself
(which means ATA is symmetric).
x A A A b
T
(18)
(19)
A A A A G A
I
(20)
1
0
0
2 1 1
1 0 0
T
G A A 1 0 1 0
1 2 1
0 1 0
1 0 0 1
1 1 2
0
0
1
3
.
2
1
I
0.875
x A b 1 1 3 1
0.8
4
1 1 1 3
1.175
1.1
r b Ax
0.8 0
1
.
1
0
1.0 1 1
3.2 1 0
0.8 0 1
1.1 0 0
1 1
v1
0 0
v2
1 0
e
0 1
1
1.0 1.075 0.075
3
.
125
3.125 0.075
0
3
.
2
0.875
1
.
175
11
Bus 2
Bus 1
P23, Q23
Bus 3
Fig. 2
We denote the measured quantities as follows:
z1 V1
z 2 P12
z 3 Q12
z 4 P23
(22)
z 5 Q23
(23)
Fig. 3
Calibration curves for measuring instruments
enable determination of the variance i.
13
E ( x)
xf ( x)dx x
(24)
x2 var( x)
x x
f ( x)dx
(25)
var( x)
x x
f ( x)dx
2 x x ( x ) 2 f ( x)dx
f ( x)dx 2 x
xf ( x)dx ( x ) f ( x)dx
2
E ( x 2 ) 2( x ) 2 ( x ) 2
E ( x 2 ) ( x )2
14
(26)
i
i (variance)
cov( x, y)
x E( x) y E( y) f ( x, y)dx
(28)
i j
i j
(30)
16
12 0 0
2
0
0
0
2
0 0
0 0 m2
0
(31)
x1 N
x
x2 N 1 V1
V
N
(32)
zi hi ( x)
(33)
For a voltage measurement, the function hi is
very simple:
zi Vk
(34)
z1
z
z m
(37)
z1
z
zm
1
m
True values:
Errors
(38)
(39)
z h( x)
(41)
(42)
Now consider what we have here. The number
of unknowns is n=2N-1 (the states in x which
are the angle and voltage variables), and then
we have some number of measurements m.
Lets assume that m>n, i.e., that we have more
measurements than states.
19
20
(43)
1
b Ax T b Ax
2
(10)
Similarly we express the sum of squared errors as
1 m 2 1 T
1
T
J i z h( x) z h( x)
2 i1
2
2
(44)
i2
2
i
2
i
21
since
(45)
2
0
0
0
2
0 0
2
0
0
0
(31)
0
1
22
0
0
0
0
0
1
0
m2
(46)
1 m i2 1 T 1
1
1 m zi hi ( x)
T
1
J 2 R z h ( x ) R z h( x )
2 i1 i 2
2
2 i1
i2
(47)
22
1 m i2 1 T 1
1
1 m zi hi ( x)
T
1
J 2 R z h ( x ) R z h( x )
2 i1 i 2
2
2 i1
i2
(48)
We can apply first order conditions, which
means that all first derivatives of the objective
function with respect to decision variables must
be zero, i.e., that x J 0 . That is,
For a
J
x 0
J 1
xJ
x J
0
xn
single element in x J ,
1 m zi hi ( x)
J
2 i1
i2
(49)
we have:
23
(50)
J 1 m 2zi hi ( x) hi ( x) m zi hi ( x) hi ( x)
2
x1 2 i 1
i
x1
i2
x1 (51)
i 1
z1 h1 ( x)
h2 ( x)
hm ( x) 1 z2 h2 ( x)
R
(52)
x1
x1
h
(
x
)
m m
h1 ( x)
J
x2
x
h1 ( x)
xn
h2 ( x)
hm ( x)
x1
x1
z1 h1 ( x)
h2 ( x)
hm ( x)
1 z2 h2 ( x )
x2
x2 R
(53)
h
(
x
)
h2 ( x)
hm ( x)
m m
xn
xn
24
h2 ( x)
H x1
h ( x)
m
x1
h1 ( x)
h1 ( x)
x2
xn
h2 ( x)
h2 ( x)
x2
xn
hm ( x)
hm ( x)
x2
xn
(54)
(55)
25
T
1
G( x) H ( x) R z h( x) 0
(56)
Since H is mn, HT is nm. R-1 is mm, and
z-h(x) is m1. Therefore, G(x) is n1, i.e., a
vector.
Perform a Taylor series expansion of G(x)
around a certain state x0.
G( x0 x) G( x0 ) x G( x) x h.o.t. 0
(57)
x
Note that eq. (57) indicates that if x0+x is to be
a solution, then the right-hand-side of eq. (57)
must be zero.
0
26
Or we can write
x x
( k 1)
(k )
(60)
( k 1)
) G( x
(k )
x) G ( x ) x G ( x)
(k )
(61)
We desire that G(x(k+1))=0. Under this desired
condition, eq. (61) becomes:
( k 1)
(k )
(k )
G( x ) G( x x) G( x ) x G( x) x 0 (62)
x
x(k )
(k )
Solving for
x G ( x)
x G ( x)
x( k )
x ,
we have:
x G( x )
(k )
(63)
In considering eq. (63), we already understand
the right-hand-side, this is just the negative of
eq. (56), evaluated at x(k), i.e.,
(k )
(k )
1
(k )
G( x ) H T ( x ) R z h( x )
(64)
There are n functional expressions in (64), one
for each derivative of J wrspt xj per (55).
x
(k )
28
J
x
J 1
1
xJ
H T ( x) R z h( x) 0
x
J
xn
(55)
h ( x)
h( x ) 2
H
x1
x
h ( x)
m
x1
h1 ( x)
h1 ( x)
x2
xn
h2 ( x)
h2 ( x)
x2
xn
hm ( x)
hm ( x)
x2
xn
(54)
30
x G ( x)
G ( x)
1
H T ( x) R z h( x)
x
x
h( x )
1
1 h( x )
H T ( x) R
H T ( x) R
x
x
(66)
h( x )
x in
x G ( x ) H T ( x) R H ( x )
(67)
Making this substitution into eq. (63) results in:
(k )
x G( x) x G( x )
(63)
x
(k )
H T ( x) R H ( x)
x G( x )
(k )
(k )
(68)
Finally, replacing the right-hand-side of eq. (68)
with eq. (54) evaluated at x(k) yields:
1
1
H T ( x) R H ( x) x H T ( x) R z h( x)
(69)
x
x
Equation (69) provides a way to solve for x.
x
(k )
(k )
31
h( x )
H
(
x
)
R
A
H
(
x
)
R
H
(
x
)
6. Compute
,
x( k )
32
x(k )
Example:
Consider the system below. Real power measurements are taken as follows: P12=0.62 pu , P13=0.06 pu,
and P32=0.37 pu . All voltages are 1.0 per unit, and all measurement devices have =0.01. Assume the bus
3 angle is reference. So the state vector is therefore x=[1 2]T. Your textbook solves this problem using
DC power flow equations on pp. 467-471, which are reviewed below. Your homework requests that you
repeat the analysis using AC power flow equations.
Bus 1
Bus 2
P12
x12=0.2pu
P12=0.62pu
P13=0.06pu
X13=0.4pu
a)
x23=0.25pu
P32=0.37pu
Bus 3
1
1` 2 51` 5 2
0.2
1
1` 3 2.51`
h2 ( x) P13
0.4
1
3` 2 4 2
h3 ( x) P32
0.25
h1 ( x) P12
b)
Compute H(x(0)), h(x(0)) for an estimate of x(0) =[1 2]T=[0.024 -0.093]T, (in radians)
Evaluating h1, h2, and h3 given x(0) =[0.024 -0.093]T
33
h1 ( x)
x1
h( x) h2 ( x)
H
x
x
h (1x)
3
x1
h1 ( x) P12 ( x)
x2 1
h2 ( x) P13 ( x)
x2 1
h3 ( x) P32 ( x)
x2 1
P12 ( x)
2 5 5
P13 ( x)
2.5 0
P32 ( x) 0 4
2
c)
Compute
A H T ( x) R H ( x)
(0)
b H T ( x) R
z h( x) x
(0)
12 0 0
0
0
0.0001
0 22 0
0
R
0
0.0001
0
0 0
0
0.0001
0
2
0
0
0
A H T ( x) R 1 H ( x)
(0)
0
0 5 5
0.0001
5 2.5 0
0.0001
0 2.5 0
0
5 0 4 0
0
0.0001 0 4
0
0 5 5
10000
5 2.5 0
312500 - 250000
0
10000
0 2.5 0
5 0 4 0
- 250000 410000
0
10000
0
b H T ( x) R 1z h( x)
(0)
0
0 0.62 0.585
10000
5 2.5 0
0
10000
0 0.06 0.06
5 0 4 0
0
10000 0.37 0.372
0
0 0.035
10000
5 2.5 0
0
10000
0 0
5 0 4 0
0
10000 0.002
1750
1670
d)
2
2
34
though we started from different guesses, because the hi functions are linear (and therefore
the H matrix is constant).
We may now compute the residual from
r z h( x) x ( k )
To get this, we need to recompute h(x), using x=[1 2]T=[0.0286 -.0943]T as follows:
References:
[1] F. Schweppe, .J. Wildes, and D. Rom, Power system static state estimation: Parts I, II, and III, Power Industry
Computer Conference (PICA), Denver, Colorado June, 1969.
[2] A. Monticelli, State Estimation in Electric Power Systems: A Generalized Approach, Kluwer, Boston, 1999.
[3] G. Strang, Linear algebra and its applications, third edition, Harcourt Brace, 1988.
[4] A. Papoulis, Probability, Random Variables, and Stochastic Processes, McGraw-Hill, New York, 1984.
35