Power System Stability Enhancement by Designing
Optimal PSS Employing Backtracking Search Algorithm
Md Shafiullah!, Md Juel Rana!, L. S. Coelho2, M. A. Abidol*
1Department of Electrical Engineering, King Fahd University of Petroleum & Minerals, Dhahran, KSA
2Industrial and Systems Engineering Graduate Program, Pontifical Catholic University of Parana, and Department of
Electrical Engineering, Electrical Engineering Graduate Program, Federal University of Parana Curitiba, PR, Brazil
*mabido@kfupm.edu.sa
Ahstract- Interconnected power systems are critically
vulnerable to instability due to the disturbances in anyone
portion of the system. Even low-frequency oscillations and
small disturbances may lead to an outage of the system.
Properly tuned Power System Stabilizer (PSS) is an effective
tool for the suppression of these oscillations. This paper
proposes a novel approach to tune proportional-integral
(PI), proportional-integral-derivative (PID) and lead-lag
PSS for a single machine infinite bus (SMIB) network by
using backtracking search algorithm (BSA) to damp out
low-frequency oscillation. The efficacy of BSA tuned PSS
has been investigated by comparing the simulation results
with fixed gain conventional PSS. In addition, the damping
ratio and Eigenvalues of the same network have been
compared with genetic algorithm (GA) based tuned PSS.
Keywords- Backtracking Search Algorithm; Damping
Ratio; Eigenvalues; Genetic Algorithm; Power System
Stabilizer; Single Machine Infinite Bus System.
1. NOMENCLATURE
(5 = Rotor angle, OJ= Angular frequency
e~= Generator internal voltage, !::"Efd= Field excitation
Pm = Input mechanical power, Pe = Output electrical power
PD= Damping Coefficient, M= System inertia coefficient
OJo = Base angular frequency, UPss = Control input
Xd, Xq = Direct and quadrature axes reactance
Xd, x~ = Direct and quadrature axes transient reactance
id, i q = Direct and quadrature axes currents
Vd, Vq = Direct and quadrature axes voltages
v" Vir = Terminal and reference voltages
Tw = Time constant of the washout block
TA = Time constant of the excitation system
T~o = Open circuit field time constant
KI-K6 = Fourth order model constants
Kc= Gain of the Lead-lag controller
KA = Gain of the excitation system
TI, T2= Time constants for lead-lag controller
Kp= Proportional gain of the PI/PID controller
Ki= Integral gain of the PI/PID controller
KF Differential gain of the PID controller
This work was supported by King Abdulaziz City for Science and
Tcchnology (KACST) through thc Scicncc and Tcchnology Unit at
King Fahd Univcrsity of Pctroleum and Mincrals (KFUPM) through
project# l4-ENE265-04 as a part of the National Science, Technology
and Innovation Plan (NSTIP),
978-1-5090-4682-9/17/$3l.00 20 17 IEEE
II. INTRODUCTION
Modem power systems are large interconnected
systems of many power stations with complex
transmission and distribution system. And it is getting
more sophisticated day by day with its expansion to meet
the ever-increasing demand for electricity. The stability of
power system is of utmost importance for a reliable
supply of power to the consumer. The term 'stability' for
a power system is defined by the system's capability to
bring back its operation to stable state within smallest
amount of possible time after being subjected to some sort
of transience or disturbance in the system [1]-[5]. One of
the vital stability problem faced by the synchronous
machine of the power system is small signal stability
which causes low-frequency oscillation due to
disturbances. Two types of system oscillation are found in
power systems which are inter-area mode oscillation and
local mode oscillation. In inter-area mode oscillation,
generators of one area are affected by the swinging of
generators from other areas whereas local mode refers to
swinging of generators in one particular area with respect
to each other [4]-[6]. The use of high gain automatic
voltage regulator (A VR) with a synchronous generator to
maintain constant voltage also creates low-frequency
oscillation by decreasing rotor damping torque [7]. If
these oscillations sustain for long period it may reduce the
power transfer capability of the system even may cause
system outage if no adequate damping is available [8]. So
it is crucial for the power system to damp out these
oscillations to maintain synchronism of the generators
during disturbances [9].
Power System Stabilizers (PSS) can damp out these
low-frequency oscillations by generating a supplementary
control signal for the generator excitation system. PSS
works based on the principle of phase compensation
technique and its performance to damp out oscillations
depends on the proper tuning of compensator parameters
[10].
A handsome number of intelligent techniques generally
based on evolutionary and swarm intelligence approaches
have been found in the recent literature to design PSS to
damp the small signal oscillations. Among those
techniques genetic algorithm [11 ]-[13], bat search
algorithm[ 14], particle swarm optimization and bacterial
712
foraging algorithm [15], artificial bee colonies [16], and
combinatorial discrete & continuous action reinforcement
learning automata (CD CARLA) are widely used to tune
the parameters in power industry. For this purposes,
Z~R+iX V~~
industries also use some conventional techniques like
fixed gain PSS. For better performances and robustness P+jQ
heuristic optimization techniques are getting more YL =G+jB
attention over conventional techniques but heuristics are
exhaustive and does not guarantee the exactly optimized ~"
Fig.l Single machine infinite bus system with PSS
solution rather better solution with respect to others, so
there is a chance to be trapped in local minima or to be In SMlB system the synchronous generator considered
converged in a premature stage. is of fourth order model which has Institute of Electrical
Pinar Civicioglu [17], proposed the backtracking search and Electronics Engineers (IEEE) standard type
algorithm (BSA) for combinatorial optimization problems excitation system as given below [1]-[4], [6]:
to optimize benchmark mathematical problems such as
Rastrigin, Rosenbrock, Quartic, Foxholes, Zakharov and Ii = Wb(W - 1) (1)
so on, which is a population-based higher level iterative
evolutionary algorithm. Though this technique has w=!..(P,
M m -P,-P)
e D (2)
similarities with widely used other techniques but the
mutation, crossover, and boundary control mechanisms (3)
are completely different, which enhance the global
searching ability by providing more diversities as well as (4)
prevent the solution from trapping in a local optimum
point. The simulation results employing BSA signal the The terminal voltage can be expressed in terms of the
promising use of the technique for future applications to direct axis and quadrature axis voltage which is shown in
optimization problems. By considering all features, BSA equation (5). Equations (6) and (7) show the expressions
is statistically doing well in comparison with other for direct axis and quadrature axis voltages respectively.
algorithms. As BSA is more diversified than other
techniques, researchers in power system industries are Vt = Vd + jVq (5)
employing this novel technique successfully to solve
problems including designing power system stabilizers Vd = x~iq (6)
coordinated with unified power flow controller [18],
power system stabilizers for multi-machine systems [19], Vq =- X~id + e~ (7)
economic emission dispatch [20], fault 10cation[2l]
,optimal power flow [22], optimal placement of phasor The output power of the generator is expressed in
measurement units [23], and distributed generators [24] in terms of quadrature and direct axes quantities as given
power system networks. below:
This paper proposes backtracking search algorithm
(BSA) for optimal tuning of power system stabilizer (8)
parameters. The performance of the BSA tuned PSS to
damp out oscillation in Single Machine Infinite Bus The Linearized model of the SMlB system is
(SMlB) system is compared with the result obtained from obtained from [3] in which interaction among the
conventional fixed gain PSS and Eigenvalues of BSA- variables is expressed in terms of six constants K j -K6
based tuned PSS have been compared with genetic The Linearized equations of the system of Fig.l are given
algorithm (GA) based tuned PSS. below.

Ill. POWER SYSTEM MODELING (9)

In this paper, an SMlB system has been considered b.w =- b.8 - E... b.w _ b.e'
Kl K2 (10)
which is shown in Fig.l. A synchronous generator is M M M q
connected to the infinite bus through transmission lines.
The infinite bus represents the rest of the power system in (11)
which voltage magnitude and frequency remain constant.

713
 IV. POWER SYSTEM STABILIZER V. PROPOSED OPTIMIZATION PROBLEM
Figs. 2 to 4 show proportional-integral (PI), To improve the system damping, the objective function of
proportional-integral-derivative (PID) and lead-lag the optimization problem can be formulated by aiming to
controller based power system stabilizer respectively. maximize the minimum damping ratio as given below:
Here the input and output signals of the PSS are the
change of generator angular frequency and control signal ] = maximize CO (16)
UPSS. To deactivate the PSS in steady state operation a where ( is the minimum damping ratio obtained from
washout/rest block is connected whereas the limiter block Eigenvalue of one set of population.
limits the magnitude of the control signal. The states The design problem of PI controller based PSS has the
vectors obtained for the SMIB system after connecting following constraints
the PSS are 1::,.8, I::,.w, I::,.e~, I::,.Efd , X5 and u pss .

P1
,

~ 'I~I ~ I
sTw Ki llpss ~
-- Kp +-s
1 + sTw
The design problem of PID controller based PSS has
Washout Filter PI Controller Limiter the following constraints
Fig. 2 Structure of PI-PSS

4
sTw
1 + sTw

Washout Filter
H Kp
Ki
+ - +sKd
s

PID Controller
P1~~1
Limiter
~ K imin :S Ki :S K imax

The design problem of lead-lag controller based PSS

Fig. 3 Structure ofPID-PSS
has the following constraints

Washout Filter Lead-lag Controller Limiter

Fig. 4 Structure oflead-lag PSS
The parameters of the constraints presented above are
The state space model of the single machine infinite optimized through backtracking search algorithm.
bus power system network with PI, PID and lead-lag
controller based PSS are given in below: VI. BACKTRACKING SEARCH ALGORITHM (BSA)
Despite few similarities with widely used evolutionary
0 a 12 0 0 0 0 algorithms, backtracking search algorithm has different
a 21 a22 a 23 0 0 0 types of crossover, mutation and boundary control
a 31 0 a 33 a 34 0 0 mechanism. The crossover and mutation operators of
[x]= a 41 0 a 43 a 44 0 a46
[x] (13)
BSA generate very effective populations in each
a51 a52 a53 0 ass 0 generation. In addition, the control parameter (F) can
a61 a 62 a63 0 a65 0
produce both higher and lower values of decision
0 0 variables in a very balanced manner necessary for global
b12 0 0 0
b21 b23 0 0 and local search respectively by controlling the amplitude
b 22 0
b 31 b33 b 34 0 of search direction. The uses of historical population and
0 0
[x]=
b41 0 b43 b44 0 b46
[x] (14) random manner boundary control mechanism play very
b 52 b 55 effective rules and ensure efficient searches to achieve
b 51 b53 0 0
b64 b65 0 population diversity, even in advanced generations [17]-
b61 b 62 b63
[19]. A general structure ofBSA is presented below:
0 C12 0 0 0 0
0 Step 1: Initialization
C21 C22 C23 0 0
C31 0 C33 0 As a part of the preparation for the ophmlzation
[x]= C34 0 [x] (15)
C41 0 C43 C44 0 C46
process, BSA generates a random population by using the
C51 C52 C53 0 0 following equation. The fitness of the initial population is
C55
C61 C62 C63 0 C6 5 C66 evaluated and the best one is stored as the global best.

The expressions for x, aij' bij and cij are appended in (17)
appendix section.
For i = 1,2,3, ...... , Nand j = 1,2,3, ...... , D, where
P represents the population, Nand D are the size of

714
population and dimension of the problem respectively, U
is the uniform distribution, low and up represent the
lower and upper boundaries of the constraints parameters. Generate the initial (Pij) and Historical
Population (oldP ij )
Step 2: Selection I
In this stage, the historical populations (oldP) are
determined to be used for finding the search track. At the Evaluate fitness of initial population (JT i)
starting of each iteration to redefine the oldP, BSA
employs the 'if-then' rule and after selecting the oldP Update the Best Solution
from the initial population (P) and oldP and to rearrange
the positions of the population of oldP, the permuting Yes
Stopping Criteria Satisfied? ~>-'-'=-j~ Stop
function is used for random shuffling. The used
parameters rj and r2 are uniformly distributed random
numbers in [0, 1].
Selection-T
(18) a<b?
where [a, bj- U(O,1

for i = 1: N, if r 1 < r z then oldPi,# = Pi,# (19) No

oldPij~oldPij
oldP = #permuting (oldP) (20)

Step 3: Mutation
Mutation stage generates the initial form of the trial Permute the historical Population
population by using the following equation, where the
control factor F determines the magnitude of the matrix Do Mutation and Crossover to get trial
(OldP-P), which is commonly known as search direction Population (Tij)
matrix. The value F for the problems used in this paper is
updated in every iteration as presented below. Initially, a Evaluate the Fitness of trial Population
was set to 0.99 and F was set to 3, these values are (JT i )
chosen based on trial and error.

Mutant = P + F. (oldP - P) (21) Selection-IT

JP i < Jti ?

F = aF (22) No

As mentioned earlier the boundary control mechanism of

BSA is completely different from others widely used
techniques which provide more diversity. BSA chooses
random values between ranges of the parameters if any
one of the parameters violates the limit.
for i = 1:N,for j =
1: D, if Mutanti,j lowj or Mutanti,j > UPj
then Mutanti,j = U(lOWj, UPj) (23)
Step 4: Crossover
The most complex part of BSA is crossover which
generates the final form of trial population, T. At the
beginning of crossover operation, BSA sets initial trial
population as Mutant, as determined in mutation process
then a binary integer-valued matrix (map) of size NxD is
calculated randomly and based on this matrix the
individuals of T are manipulated/replaced with relevant
individuals of P. The process is done by using 'if-then'
rule as presented below:
map(i=l:N,j=l:D) =1
for i = 1: N, if r1 < r z, U = randi(D), mapi,u
for i = 1: N,for j = 1: D, if mapi,j = 1 then Ti,j
Fig. 5 Flowchart of backtracking search algorithm
Step 5: Selection-II
In this stage fitness of the trial population is
evaluated. If the fitness of an individual of trail
population is better than the fitness of the corresponding
individual of the initial population, then the initial
population individual and its fitness are updated with trial
population individual and fitness correspondingly based
on the greedy selection. If the optimal solution of updated
population is better than the stored best solution, then the
global best solution is also updated.
Step 6: Stopping criteria
As mentioned in the previous step, when a new
generation is produced, the algorithm updates the global
(24) best. If the algorithm does not change the value of the
=0 (25) global best for a pre-specified number of iteration or it
hits the maximum allowable number of iteration, then the
= Pi,j (26) algorithm stops. The complete flowchart of the
backtracking search algorithm (BSA) is given in Fig. 5.

715
 VII. SIMULATION RESULTS AND DISCUSSIONS GA respectively and the results verify the compatibility
ofBSA.
A. Eigenvalues and Damping Ratio Analysis
The Eigenvalues with a minimum damping ratio of the Table III
Linearized model without PSS and with different types of Damping ratio and eigenvalues for lead-lag controller based PSS
controller based PSS are summarized in Tables I and II Minimum Parameters Optimized Parameters Optimized
for optimal parameters obtained employing BSA. The Damping Employing BSA Employing GA
Ratio 0.6931 0.6712
minimum damping ratio is highest for lead-lag controller Eigenvalues -642.3245 -100.8114
based PSS though the Eigenvalues of all three types of the -0.361607 -0.3599
controller based PSS with negative real parts which imply
the stability of the system with PSS. Fig. 6 shows the
variations of the objective function for three different runs
with respect to a number of iterations. The graph provides
the confidence of the technique employed as they are
approaching certain optimal values of the objective
B. Testing the System with Disturbance
function.
Damping capability of an SIMB system in case of
Table I
Damping ratio and eigenvalues for without PSS and PI-PSS disturbance has been analyzed with fixed gain
Fourth Order Linear PI controller based conventional PSS (lead-lag) and with BSA based
Model PSS optimized PSS (lead-lag) to investigate the performance
Minimum -0.0594 0.5262 of BSA-based optimized PSS. A 10% pulse input of
Damping Ratio
mechanical torque from l.Os to l.ls has been applied and
Eigenvalues 0.2951 + j 4.9596 -2.18296 + j 3.52788
0.2951 - i 4.9596 -2.18296 - i 3.52788 corresponding system responses have been compared.
-10.3930 + j 3.2837 -1.82257 + j l.l 0234 Better performance of the system is observed in time
-10.3930 - i 3.2837 -l.82257 - i l.10234 domain simulation with BSA based optimized PSS than
-12.518 that of conventional one. The state variables for the
-l.23063e-14 nonlinear system, a Linearized system with both fixed
Table II gain PSS and BSA based optimized PSS and without any
Damping ratio and eigenvalues for PID and lead-lag PSS PSS are plotted in the following graphs.
PID controller based Lead-lag controller
PSS based PSS
Rotor Angle wrt time
0.6929 0.6931 80

-8.4545e-15 -642.3245
-0.3530 75

~ 70
c3 1-----/
c:
;;:; 65
Variations of Objective Function '"~
0.7 :s
& 60
- - Linear System without Controller
0.65 55 - - Non-linear System without Controller
- - With BSA based Controller
- - With Classical Controller
c
0
nc 0.6
50
o 0.5 1.5 2 Z5 3 ~5 4 45
::J Time in Seconds
LL
Q)
> Fig. 7 Rotor angle with respect to time
n
Q) 0.55
:0
0

0.5

0.45 ' - - - - - - ' - - - - - - " - - - - " - - - - - - " - - - - - - - ' - - - -

o 50 100 150 200 250 300 350 400 450 500
Number of ~erations

Fig. 6 Variations of objective function for three runs

Table III shows the minimum damping ratio and

Eigenvalues of an SMIB with lead-lag controller based
PSS, where the parameters are obtained using BSA and

716
 Angular Frequency wrt time
1.005 --,-----,--------;==============;_
- - Linear System without Controller
1.004 - - Non-linear System without Controller
- - With BSA based Controller
- - With Classical Controller
1.003 -
BSA based controller is better. Fig.ll shows the control
signals for conventional and BSA based PSS. Though the
amplitude of the BSA based PSS is higher but it settles
earlier and the amplitude of the control signal is not
exceeding its limit as set to 0.1 pu.

g 1.002- Change in Field Excitation wrt time

i
2.5-----,-----c-;-~---=============il
l1.001- - - Linear System without Controller
ffi 2- - - Non-linear System without Controller
"5
OJ - - With BSA based Controller
~ - - With Classical Controller
1.5
0.999 -
:E 1-
0.998 - l!!.
"
OJ
2 0.5 -
0.997 0
--~-~---~-~-~-~-~-'----~-

o 0.5 1.5 2 25 3 15 4 4.5

>
"0
Qj
Time in Seconds u:
Fig. 8 Angular frequency in pu with respect to time -0.5 -

Intemal Voltage Produced by Generated Field EMF wrt time -1

1.06 - -----,-----,-----,------;===========:::;-
- - Linear System without Controller
- - Non-linear System without Controller
1.05- - - With BSA based Controller Time in Seconds
- - With Classical Controller
Fig. 10 Change in field excitation in pu wrt time
W
E 1.04-
..
r:r Control Signal wrt time
2- 0.07
2" 1.03- - - Classical Controller
o 0.06 - - - BSA based Controller
>
rn
0.05 -
~ 1.02-
C
0.04 -

1.01- 0.03 -
~OJ
Uj
0.02 -
1--~-~-~---~-~-~---~--
o 05 1.5 25 15 4 ~5 5
~
0
0 0.01 -
Time in Seconds

Fig.9 Internal voltage produced by generated field EMF in pu wrt time

-0.01 -
Fig. 7 shows the behavior of the machine angular -0.02 -
frequency of SMlB system. From the Fig.7, it can be
clearly depicted that the linear model without a controller -0.03
0 0.5 1.5 2.5 3.5 4 4.5
is following the behavior of the non-linear model but Time in Seconds

grows beyond the limit and make the system unstable due
to the disturbance applied to the system. On the other
hand, both conventional and BSA based optimized PSS
stabilize the system after experiencing the disturbance
(accelerating power) but the percentage of overshoot as
well as the settling time for conventional one is greater
than the BSA based PSS. So the performance of the BSA
based optimized PSS is better than conventional one. It is
seen from Fig. 8 that both classical PSS and BSA based
PSS stabilize the machine angular frequency of the SMlB
system after experiencing a disturbance. But the BSA
based PSS exhibits faster response than that of the
classical one.
The behavior of Internal voltage and field excitation
variation have been presented in Fig.9 and Fig. 10
respectively. In both Figures, the percentage of overshoot
is greater for the BSA based optimized PSS whereas the
settling time for conventional PSS is higher. If the
decision makers are interested in stabilizing the system
quickly (lower settling time) then the performance of the
Fig. II Control signal in pu with respect to time
VIII. CONCLUSIONS
To improve the stability of power system networks,
generators are equipped with power system stabilizers
(PSS) after being subjected to any kind of disturbances.
In this paper, a new approach called backtracking search
algorithm (BSA) has been proposed for designing PI,
PID, and lead-lag PSS to damp the small signal
oscillations in power system network. It is worth
mentioning that BSA is a recently proposed meta-
heuristic technique with more diversity than other
available techniques. The ability to guide the optimal
design of the PSS in spite of the initial guess proves the
robustness and the comparison of damping ratio with GA
based PSS give the compatibility of the algorithm. The
efficacy of the proposed algorithm is verified through
different analyzing including analysis of eigenvalues and
simulation results.

717
 ApPENDIX
The expressions of parameters used in state space model from
Eq. (13) to Eq. (15) are given below:
The parameters used for simulation purpose: f = 60 Hz,
M= 9.26 second, D = 0 Nm/(rad/s), TJo = 7.760 second,
KA=50, TA = 0.05 second; Tw = 3 second, x<F0.973,
x~=0.19 n, x q=0.55n, R=-0.034 n, X=0.997 n, G=0.249
mho, B=0.262 mho.
Parameters for conventional lead-lag PSS: Kc = 7.09,
TJ=0.6851 second, T2= 0.10 second and the limit used for
optimizing PSS parameters simulation purposes: 1::; Kc::;
50, O.Ols::; T J ::; LOs and O.OOls ::;T2 ::; 0.2s.
ACKNOWLEDGMENT
The authors would like to acknowledge the support
provided by King Abdulaziz City for Science and
Technology (KACST) through the Science and
Technology Unit at King Fahd University of Petroleum
and Minerals (KFUPM) for funding this work through
project# 14-ENE265-04 as a part of the National Science,
Technology and Innovation Plan (NSTIP).
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