Electrical Power and Energy Systems 65 (2015) 136145

Contents lists available at ScienceDirect

Electrical Power and Energy Systems

journal homepage: www.elsevier.com/locate/ijepes

Load following in a deregulated power system with Thyristor Controlled

Series Compensator
M. Deepak, Rajesh Joseph Abraham
Department of Avionics, Indian Institute of Space Science and Technology, Thiruvananthapuram 695 547, India

a r t i c l e

i n f o

Article history:
Received 27 August 2014
Received in revised form 19 September
2014
Accepted 23 September 2014
Available online 17 October 2014
Keywords:
Deregulation
Genetic Algorithm
Thyristor Controlled Series Compensator

a b s t r a c t
Load following is considered to be an ancillary service in a deregulated power system. This paper investigates the effect of a Thyristor Controlled Series Compensator (TCSC) for load following in a deregulated
two area interconnected thermal system with two GENCOs and two DISCOs in either areas. Optimal
gain settings of the integral controllers in the control areas are obtained using Genetic Algorithm by
minimizing a quadratic performance index. Simulation studies carried out in MATLAB validates that a
Thyristor Controlled Series Compensator in series with tie-line can effectively improve the load following
performance of the power system in a deregulated environment.
2014 Elsevier Ltd. All rights reserved.

Introduction
Conventionally, the electricity supply industry has been a natural monopoly wherein electricity was considered as merely energy
supply sector. In this monopolistic market, same agency is responsible for power generation, transmission, distribution and control.
Since few decades, electric power industry has undergone rapid
changes from the conventional, monopolistic Vertically Integrated
Utility (VIU) conguration to Horizontally Integrated Utility conguration with distinct entities namely GENCOs, TRANSCOs and
DISCOs [15]. This has introduced an open power market and competition among different market players where customers/DISCOs
can buy power from different suppliers/GENCOs at competitive
prices. Since power generation, transportation, distribution and
control tasks are segregated, they have to be separately paid for,
by the transacting parties [2]. In the new competitive electricity
market, maintaining the physical ow of electricity, satisfying
consumers demand at proper voltage and frequency level, maintaining security, economy and reliability of the system, ensuring
proper protection, control and all measures for the proper functioning of the system are treated as separate ancillary services [4].
Load following is one among such ancillary services. In a power
system, changes in power supply or demand affect the operating
conditions. Hence, a power system must be kept very tightly
controlled in two ways. First, power coming into the system must
be exactly balanced against power owing out, at every moment.
Corresponding author.
E-mail address: rajeshja@gmail.com (R.J. Abraham).
http://dx.doi.org/10.1016/j.ijepes.2014.09.038
0142-0615/ 2014 Elsevier Ltd. All rights reserved.

Second, the system frequency must be held constant as far as

possible [3]. It too, can wander as power ow changes, and as a
result, the system can become unstable. Instant adjustment of
the generation to track the uctuations between the power supply
and demand so that the system is in perfect balance is called speed
regulation or load following.
Literature survey shows that several researchers have proposed
different methods to tackle the load frequency control problem in
deregulated environment [516]. Donde et al. [5] has proposed an
introductory idea of LFC control in deregulated power system
considering bilateral contract, contract violation, etc. A PID tuning
technique using internal mode control for decentralized load frequency control in deregulated environment has been investigated
in [6].
The authors of [7] has proposed a decentralized robust LFC
design technique through mixed H2 /H1 for three area power
system under bilateral policy scheme. A new robust controller for
load frequency control in a deregulated electricity environment
based on H1 norm and structured singular values of each control
area has been reported in [8]. In practical environment, access to
all state variables of a system is limited and measuring them is
either difcult or impossible. Rakhshani and Sadesh [9] has
suggested some practical viewpoints on load frequency control
problem in deregulated power system. A decentralized neural network based controller for load frequency control in a deregulated
power system has been explored in [10]. The impact of interline
power ow controller and Redox ow batteries on a two area
multiple unit thermal reheat power system in restructured
environment has been investigated in [11].

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M. Deepak, R.J. Abraham / Electrical Power and Energy Systems 65 (2015) 136145

Nomenclature
f
Pri
H
DP Di
DP Gi
T 12
T Gi
T Ri
T Ti
Bi
KI

nominal system frequency

rated power in the ith area
inertia constant
incremental load change in area i
incremental generation change in ith GENCO
synchronizing coefcient
steam turbine time constant
reheat unit time constant
turbine time constant
frequency bias constant
integral gain

The effect of Superconducting Magnetic Energy Storage in load

frequency control of a deregulated system with decentralized
controller based on mixed H2 /H1 technique has been explored in
[12]. Load frequency control for an interconnected system with
multi-source power generation under deregulated environment
has been presented in [13]. A new robust strategy to adapt classical
automatic generation control system to changing environment of
power system operation based on bilateral AGC scheme has
been proposed in [14]. A robust decentralized approach based on
l-synthesis for load frequency controller design of a restructured
multi-area power system under possible contract has been
reported in [15]. An intelligent solution for load frequency control
in a restructured power system using extended classier system
has been explored in [16].
In the mean time, several studies have investigated the potential of using Flexible AC Transmission Systems (FACTS) devices
for better power system control since it provides more exibility.
Not only the power transfer capability of transmission lines can
be increased [1724], but also, the dynamic stability can be
enhanced using TCSC [25]. However, a literature survey shows
that, the effect of a TCSC on oscillations in area frequencies and
tie-line power following a load perturbation has not yet been
studied. Hence this work aims to
1. Develop the linear incremental mathematical model of TCSC
suitable for AGC applications.
2. Optimize the integral gain settings of control areas using
Genetic Algorithm.
3. Study and compare the effect on AGC in deregulated environment of a thermal power system without and with TCSC.

K Ri
J
T TCSC
K TCSC
Ri

steam turbine reheat constant

cost index
TCSC time constant
TCSC gain constant
self-regulation parameters for the governor of the ith
area
Di
load damping coefcient in ith area
GENCO generation company
TRANSCO transmission company
DISCO
distribution company
ISO
independent system operator

GENCO2 ) and two DISCOs (DISCO1 ; DISCO2 ) in area-1 and two

GENCOs (GENCO3 , GENCO4 ) and two DISCOs (DISCO3 ; DISCO4 ) in
area-2, DPM is given by

cpf12

cpf13

cpf14

cpf22

cpf23

cpf32

cpf33

cpf24 7
7
7
cpf34 5

cpf41

cpf42

cpf43

cpf44

The sum of all the entries in a column in this matrix is unity. i.e.,
NGENCO
X

cpfij 1;

for j 1; 2; . . . ; NDISCO

i1

where NGENCO is the total number of GENCOs and NDISCO is the

total number of DISCOs. The expression for contracted power of
ith GENCO with DISCOs is given as

DPgci

NDISCO
X

cpfij DPLj ;

for i 1; 2; . . . ; NGENCO

j1

where DPgci is the contracted power of ith GENCO and DPLj is the
total load demand of jth DISCO. The scheduled steady state power
ow on the tie-line is given as:
DP tie12;scheduled = (Demand of DISCOs in area-2 from GENCOs in
area-1)-(Demand of DISCOs in area-1 from GENCOs in area-2).
The scheduled steady state power ow on the tie-line is given
as:

DPtie12;scheduled

2 X
4
4 X
2
X
X
cpfij DPLj 
cpfij DPLj
i1 j3

Deregulated environment

cpf11
6 cpf
6 21
DPM 6
4 cpf31

i3 j1

cpf13 DPL3 cpf14 DPL4 cpf23 DPL3 cpf24 DPL4 5

 cpf31 DP L1 cpf32 DPL2 cpf41 DPL1 cpf42 DPL2

In a restructured power market, there are distinct and separate

entities namely GENCOs, TRANSCOs and DISCOs exclusively for
generation, transmission and distribution of electric power. In such
a scenario, any DISCO can have individual and independent power
contracts with any GENCO either in the same area (Unilateral
Contract) or in other areas (Bilateral Contract) but under the
supervision of ISO [5]. Since the DISCOs are free to choose any
GENCOs for power contract based on prices, various combinations
of GENCODISCO contracts are possible in practice which can be
visualized through DISCO Participation Matrix (DPM). Number of
rows of the DPM is equal to number of GENCOs whereas number
of DISCOs determine the number of columns of DPM. Each entry
in this matrix called contract participation factor (cpf), corresponds
to the fraction of the total load contracted by a DISCO (column)
towards a GENCO (row). Thus the ijth entry of the DPM corresponds to the fraction of the total power contracted by DISCOj from
GENCOi . Thus for a two area system with two GENCOs (GENCO1 ,

The tie-line power error is dened as:

DPtie12;error DPtie12;actual  DPtie12;scheduled

At steady state, the tie-line power error, DPtie12;error , vanishes as

the actual tie-line power ow reaches the scheduled power ow.
This error signal is used to generate the respective Area Control
Error (ACE) signal as in the traditional scenario. i.e.,

ACE1 B1 Df 1 DP tie12;error

ACE2 B2 Df 2 a12 DPtie12;error

where a12  PPr1

with Pr1 and Pr2 being the rated area capacities of
r2
area-1 and area-2 respectively.
It is noted that the total load of the ith control area (DP Di ) is
the sum of the contracted and uncontracted load demand of the
DISCOs of the ith control area.

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M. Deepak, R.J. Abraham / Electrical Power and Energy Systems 65 (2015) 136145

Linearized model of TCSC

Thyristor Controlled Series Compensator (TCSC) is a series compensating device to govern the power ow by compensating for

the reactance of transmission line. It consists of a series capacitor

shunted by a Thyristor controlled inductive reactor whose reactance is varied according to the ring angle, a of the thyristor
[26]. Both capacitive and inductive reactance compensation are

Fig. 1. Schematic diagram of the interconnected power system with TCSC in series with tie-line near to area-1 in deregulated scenario.

Fig. 2. Linearized model of an interconnected thermalthermal system under deregulation.

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M. Deepak, R.J. Abraham / Electrical Power and Energy Systems 65 (2015) 136145

possible by proper selection of capacitor and inductor values of the

TCSC device. The variable reactance X TCSC represents the net equivalent reactance of the TCSC, when operating in either the inductive
or the capacitive mode.
Fig. 1 shows the schematic diagram of a two area interconnected thermalthermal power system with TCSC connected in
series with the tie-line under deregulated environment. For analysis, it is assumed that TCSC is connected near to the Area 1. The
reactance to resistance ratio in a practically interconnected power
system is quite high and hence tie-line resistance is neglected. The
incremental tie-line power ow without TCSC is given by [3],

where K TCSC is the gain of the TCSC controller and T TCSC is the time
constant of the TCSC. Since TCSC is kept near to area-1, frequency
deviation Df 1 may be suitably used as the control signal DErrors,
to the TCSC unit to control the percentage incremental change in
the system compensation level. Hence,

2pT 012
DPtie12 s
Df 1 s  Df 2 s
s

DPtie12

Dkc s

j V 1 j \d1  j V 2 j \d2
jX 12  X TCSC

10

where X 12 and X TCSC are the tie-line reactance and TCSC reactance
respectively.
From Fig. 1,



j V 1 j \d1  j V 2 j \d2
Ptie12  jQ tie12 V 1 I12 j V 1 j \d1
jX 12  X TCSC
11
Separating the real part of Eq. (11),

Ptie12

j V 1 jj V 2 j
sind1  d2
X 12  X TCSC

12

Let kc be the percentage of compensation offered by the TCSC

kc XXTCSC
. The tie-line ow can be represented in terms of kc as
12

Ptie12

j V 1 jj V 2 j
sind1  d2
X 12 1  kc

13

To obtain the linear incremental model, d1 ; d2 and kc are

perturbed by Dd1 ; Dd2 ; Dkc from their respective nominal values
0
d01 ; d02 and kc , so that, from Eq. (13)

DPtie12

j V 1 jj V 2 j
0 2

sind01  d02 Dkc

X 12 1  kc
j V 1 jj V 2 j

cosd01  d02 Dd1  Dd2

0
X 12 1  kc

14

2j
2j
If J 012 jV X1 jjV
sind01  d02 , and T 012 jV X1 jjV
cosd01  d02 , then Eq. (14)
12
12
becomes

J 012

DPtie12

1 

0 2
kc

Dkc

T 012
0

1  kc

Dd1  Dd2

15

R
R
Since Dd1 2p Df 1 dt and Dd2 2p Df 2 dt and taking Laplace
transform, Eq. (15) yields

DPtie12 s

J 012
1 

0 2
kc

Dkc s

2pT 012
0

s1  kc

Df 1 s  Df 2 s

16

Eq. (16) reveals that the tie-line power ow can be regulated by

controlling Dkc s, the percentage compensation of TCSC. If the
control input signal to TCSC damping controller is assumed to be
DErrors and the transfer function of the signal conditioning circuit
K TCSC
, then
is 1sT
TCSC

Dkc s

K TCSC
DErrors
1 sT TCSC

17

18

Thus the deviation in the tie-line power ow after the perturbation

becomes,

where T 012 is the synchronizing coefcient without TCSC and Df 1

and Df 2 are the frequency deviations in areas 1 and 2 respectively.
When TCSC is connected in series with the tie-line, the current ow
from area-1 to area-2 can be written as,

i12

K TCSC
Df s
1 sT TCSC 1

2pT 012

Df 1 s  Df 2 s
0
s1  kc
2
3
J012 5 K TCSC
4
Df 1 s

0 2
1  kc 1 sT TCSC

19

State space model of the two-area deregulated system with

TCSC
The block schematic shown in Fig. 2 represents the detailed
block diagram model of a two area multi-unit thermal system in
deregulated environment. The LFC in a deregulated power market
should be designed to accommodate all possible transactions, such
as unilateral based transactions, bilateral transactions, and a combination of these two transactions. The AGC system on which
investigations have been carried out comprises a two area interconnected thermal system as shown in Fig. 2. Area 1 consists of
two GENCOs (GENCO1 and GENCO2 ) of reheat thermal power generation units and Area 2 comprises two GENCOs (GENCO3 and
GENCO4 ) of non reheat thermal units. K I1 and K I2 are the integral
gain settings in area 1 and area 2 respectively. The state space
model of the two area system is characterized by the state space
form as

X_ AX BU Cp

20

where X; U and p are the state, control and load disturbance input
vectors respectively whereas A; B and C are the respective matrices
of appropriate dimensions. The vectors X; U and p are given by

3
Df 1
7
6
6 DPG1 7
7
6
6 DPG2 7
7
6
7
6
6 DPR1 7
7
6
6 DP 7
6 R2 7
7
6
6 DPT1 7
7
6
6 DP 7
6 T2 7
X6
7;
6 Df 2 7
7
6
6 DP 7
6 G3 7
7
6
6 DPG4 7
7
6
6 DP 7
6 T3 7
7
6
6 DPT4 7
7
6
6 DP 0 7
4 tie 5
Dk c
2

u1
u2


;

DPD1
DPD2

P
Total load demand of ith Area, DPDi Ni1 DP Li + Uncontracted load
demands of DISCOs in ith area where DPLi denotes the contract
demand ith DISCO, N is the number of DISCOs in ith area. The states
are chosen as deviations in frequencies (Df 1 ; Df 2 ) in area-1 and
area-2 respectively, the deviations in the power outputs of DISCOs
in area-1 (DPG1 ; DPG2 ) and (DP G3 ; DPG4 ) in area-2, the deviations in
reheat outputs in area-1 DP R1 ; DP R2 ), the deviations in turbine outputs in area-1 (DP T1 ; DP T2 ) and (DP T3 ; DPT4 ) in area-2 and the

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M. Deepak, R.J. Abraham / Electrical Power and Energy Systems 65 (2015) 136145

overshoot and lower settling time. A quadratic performance index

dened by,

Table 1
GA parameters.
Population size
Cross over
Elite count
Mutation
No. of generations
Initial penalty
Penalty factor

100
0.8
2
0.2
100
10
100

Df 1 Df 2 DP2tie12;error dt

21

is minimized for 10% load demand on each DISCO to obtain the optimum values of K I1 and K I2 using Genetic Algorithm.
Genetic Algorithm (GA)

deviations in tie-line power ow (DP tie12 ) and are also shown in

Fig. 2.

Objective function formulation for AGC

The ultimate objective of AGC is to maintain frequency and
inter-area tie-line power within their respective scheduled values
following a sudden load perturbation at the earliest. To do so, the
integral gains of the control areas (K I1 ; K I2 ) are tuned optimally to
obtain the area frequencies and power exchange with minimum

GA is a directed random search technique that uses the survival of the ttest concept in search of better solutions. Normally
the parameters to be optimized are represented as individual
strings in a GA population which are reproduced as in nature
[27]. To start the optimization, GA uses randomly produced initial
population and then, each individual string in the population is
evaluated by their tness, normally represented by the value of
objective function. Individuals with higher tness values are
selected and are then modied through selection, crossover and
mutation to obtain the next generation of individuals strings. The
new generation on average, will be better than the current

Table 2
Optimized gain settings of control areas.
Unilateral contract

Without TCSC
With TCSC

Bilateral contract
K I2

K I1

K I2

K I1

K I2

0.0246
0.243

0.009
0.0097

0.024
0.0248

0.0101
0.01

0.071
0.0712

0.022
0.0222

x 10

1.7

Best fitness

Fitness value

Fitness value

1.7
1.705
1.71
1.715
1.72
1.725
1.73
1.735
1.74

J= 0.000173774
KI1=0.0246
KI2=0.009

Contract violation

K I1

10

20

30

40

50

60

70

80

90

100

x 10

Best fitness

1.705
J= 0.000171202
KI1=0.243
KI2=0.0097

1.71

1.715

10

20

30

Generation

Fitness value

Fitness value

9.8
J= 0.00971741
KI1=0.024
KI2=0.0101

9.78
9.76
9.74
9.72
10

20

30

40

50

60

70

80

90

100

9.95
9.9
9.85
9.8
9.75
9.7
9.65
9.6

10

20

30

40

50

60

70

80

(c) Case-2:Bilateral Contract Without TCSC

(d) Case-2:Bilateral Contract With TCSC

90

100

9.82

Best fitness

9.772
J=0.00976314
KI1=0.071
KI2=0.022

9.77
9.768
9.766
9.764
10

20

30

40

50

60

70

80

90

100

x 10

Best fitness

Fitness value

Fitness value

100

J=0.00972048
KI1=0.0248
KI2=0.01

Generation

x 10

90

Best fitness

Generation

9.762

80

x 10
Best fitness

9.82

9.774

70

x 10

60

(b) Case-1:Unilateral Contract With TCSC

9.7

50

Generation

(a) Case-1:Unilateral Contract Without TCSC

9.84

40

9.81
9.8

J=0.00976722
KI1=0.0712
KI2=0.0222

9.79
9.78
9.77
9.76

10

20

30

40

50

60

70

80

Generation

Generation

(e) Case-3:Contract Violation Without TCSC

(f) Case-3:Contract Violation With TCSC

Fig. 3. Generation vs tness values obtained from GA optimization.

90

100

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M. Deepak, R.J. Abraham / Electrical Power and Energy Systems 65 (2015) 136145

GENCO3 (pu MW)

0.1

0.1
0.2
0.3
0.4

Without TCSC
With TCSC

10

12

14

18

0
0.1
0.15
0.2

Ptie 12 actual (pu MW)

10

12

14

16

18

10

12

14

16

0.08

18

Without TCSC
With TCSC

0.06
0.04
0.02
0
0.02

10

12

14

Time (s)

(b) Deviation in frequency of area-2

(b) Deviation in power output of GENCO-4

16

18

Fig. 6. Deviation in generation (DP G3 and DP G4 ) of GENCOs in area-2 for case-1.

0.02
0
0.02
0.04
0.06
0.08
0.1

Without TCSC
With TCSC

10

12

14

16

18

(c) Deviation in tie-line power flow

Fig. 4. Variations in area frequencies (Df 1 and Df 2 ) and tie-line power (DP tie12 ) in
case-1.

0.14

GENCO1 (pu MW)

Time (s)

Time (s)

0.12

An initial generation of 100 individual strings representing K i1 and

K i2 is chosen randomly. The performance index (J) given by Eq. (21)
is evaluated for each individual string in the population and
individuals strings with higher tness values are selected for cross
over and mutation to obtain the next generation. The GA parameters used are given in Table 1. The algorithm is repeated for 100
number of generations and computation is terminated until for a
particular generation, average tness is within 1% of best tness
value in the generations. This indicates convergence in the population. The gain settings based on the best ttest value from the current generation is chosen as optimal gain settings.
The optimized gain settings for (1) Unilateral Contract (2) Bilateral Contract and (3) Contract violation for areas 1 and 2 are given
in Table 2. Presented in Fig. 3 are plots showing the generation versus tness function for different cases.

0.1

Simulation results and discussion

0.08
0.06
0.04
0.02

Without TCSC
With TCSC

0
0

10

12

14

16

18

Time (s)

(a) Deviation in power output of GENCO-1

0.1

GENCO2 (pu MW)

(a) Deviation in power output of GENCO-3

0.05

0.12

0.02

(a) Deviation in frequency of area-1

Without TCSC
With TCSC

0.04

Time (s)

0.1

0.25

Without TCSC
With TCSC

0.06

Time (s)

0.05

f 2 (Hz)

16

0.08

0.02

GENCO4 (pu MW)

f1 (Hz)

Without TCSC
With TCSC

0.08

Time domain simulations using MATLAB have been carried out

for the AGC system with 10% load demand on each DISCO, ie
DPL1 DPL2 DPL3 DP L4 0:1 pu. TCSC is placed near area-1
considering 50% compensation. Fourth-order RungeKutta method
with an integration step size of 0.01 s is used for simulations. Studies are carried out on AGC in deregulated environment, for three
different possibilities as given below.
 Case 1: Unilateral contract.
 Case 2: Bilateral contract.
 Case 3: With contract violation.

0.06
0.04
0.02

Case 1-unilateral contract

0
0

10

12

14

16

18

Time (s)

(b) Deviation in power output of GENCO-2

Fig. 5. Deviation in generation (DP G1 and DP G2 ) of GENCOs in area-1 for case-1.

population [28]. In this way, the above process is repeated to create

the subsequent new generations until some termination condition
is reached.
In this work, GA is used to tune the integral gain settings
(K i1 ; K i2 ) of area-1 and area-2 respectively with and without TCSC.

In unilateral contract, DISCOs in an area can have power contract with GENCOs in the same area only. Assume that each DISCO
has a total load demand of 0.1 pu MW. Let DISCO1 and DISCO2 in
area-1 have power contract with GENCO1 and GENCO2 in area-1
as per the following DPM,

0:6 0:7 0 0

6 0:4 0:3 0 0 7
6
7
DPM 6
7
4 0
0 0 05
0

0 0

22

M. Deepak, R.J. Abraham / Electrical Power and Energy Systems 65 (2015) 136145

The dynamic responses without and with TCSC are plotted in

Fig. 4. It can be observed that, with TCSC, the transient response
has been improved in terms of ripples as well as settling time. In
unilateral contract, GENCOs in area-1 are having power contracts
with DISCOs in area-1 only. Hence as per the DPM given by Eq.
(22), DPtie12scheduled using Eq. (5) becomes zero and is depicted in
Fig. 4(c). It may be noted that as per Eq. (3), at steady state,
power output of GENCO-1 = cpf11  DPL1 + cpf12  DP L2 +
cpf13  DP L3 + cpf14  DPL4 = (0.6  0.1) + (0.7  0.1) + (0  0.1) +
(0  0.1) = 0.13 pu MW and power output of GENCO-2 at steady
state = cpf21  DPL1 + cpf22  DPL2 + cpf23  DPL3 + cpf24  DP L4 =
(0.4  0.1) + (0.3  0.1) + (0  0.1) + (0  0.1) = 0.07 pu MW. Similarly at steady state, power output of GENCO-3 = cpf31  DP L1 +
cpf32  DPL2 + cpf33  DP L3 + cpf34  DPL4 = (0  0.1) + (0  0.1) +
(0  0.1) + (0  0.1) = 0 pu MW and GENCO-4 has a steady state
power output of cpf41  DPL1 + cpf42  DPL2 + cpf43  DP L3 +
cpf44  DPL4 = 0 pu MW. The power outputs of various GENCOS
are plotted without and with TCSC in Figs. 5 and 6 and simulation
results matches with calculated values. It can be seen from Figs. 5
and 6 that a TCSC improves the power outputs in terms of
overshoots and the responses are more smooth.
0.2

Without TCSC
With TCSC

f1 (Hz)

0.1
0
0.1

Case 2-bilateral transactions

In this scenario a DISCO in an area has freedom to have power
contract with any GENCOs in other control areas. The bilateral contracts between DISCOs and various GENCOs are simulated based on
the following DPM, given by

3
0:1 0:24 0:33 0:18
6 0:2 0:16 0:17 0:22 7
7
6
DPM 6
7
4 0:27 0:4
0:5
0 5
2

0:43

0:2

Without TCSC
With TCSC

0.1
0.08
0.06
0.04
0.02
0
0

0.3

10

12

14

16

18

(a) Deviation in power output of GENCO-1

0

10

12

14

16

18
0.12

GENCO2 (pu MW)

Time (s)

(a) Deviation in frequency of area-1

0.1
0

f 2 (Hz)

Time (s)

0.4

0.1
0.2

Without TCSC
With TCSC

0.1
0.08
0.06
0.04
0.02
0
0

Without TCSC
With TCSC

0.3
0.4

0:6

0.12

0.2

0.5

23

Figs. 79 depict the corresponding simulation results without

and with TCSC. It may be noted that with TCSC, the transient oscillations and settling times have been reduced. It is clear from
Fig. 7(d) that with TCSC, DP tie12;error vanishes faster. In this case, calculated value of DPtie12;scheduled 0:04 pu MW, as given by Eq. (5)

GENCO1 (pu MW)

142

10

12

14

16

10

12

14

16

18

(b) Deviation in power output of GENCO-2

18

Time (s)

Time (s)

Fig. 8. Deviation in generation (DP G1 and DP G2 ) of GENCOs in area-1 for case-2.

Without TCSC
With TCSC

0.02
0.04
0.06
0.08
0.1
0.12

10

12

14

16

0.25

GENCO3 (pu MW)

Ptie 12 actual (pu MW)

(b) Deviation in frequency of area-2

0.15
0.1
0.05
0

18

Without TCSC
With TCSC

0.2

Time (s)

0.02
0.04
0.06
0

10

12

10

12

14

14

16

18

Time (s)

(d) Deviation in tie-line power flow error

0.25

GENCO4 (pu MW)

Ptie 12 error (pu MW)

0.08

16

18

(a) Deviation in power output of GENCO-3

Without TCSC
With TCSC

0.02

Time (s)

(c) Deviation in tie-line power flow

0.04

Without TCSC
With TCSC

0.2
0.15
0.1
0.05
0

10

12

14

16

18

Time (s)

(b) Deviation in power output of GENCO-4

Fig. 7. Variations in area frequencies (Df 1 and Df 2 ) actual tie-line power (DP tie12 )
and tie-line power error (DP tie12error ).

Fig. 9. Deviation in generation (DP G3 and DP G4 ) of GENCOs in area-2 for case-2.

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M. Deepak, R.J. Abraham / Electrical Power and Energy Systems 65 (2015) 136145

GENCO1 (pu MW)

0.2

f1 (HZ)

0
0.2
0.4
0.6
0.8

Without TCSC
With TCSC

10

12

14

16

0.2
0.15
0.1
0.05
Without TCSC
With TCSC

18

Time (s)

GENCO2 (pu MW)

f2 (Hz)

0.1
0
0.1
0.2
0.3
Without TCSC
With TCSC

10

12

16

18

14

16

Without TCSC
With TCSC

0.15
0.1
0.05
0

18

10

12

14

16

18

Time (s)

(b) Deviation in frequency of area-2

(b) Deviation in power output of GENCO-2

Fig. 11. Deviation in generation (DP G1 and DP G2 ) of GENCOs in area-1 for case-3.

0.05
0.25

0.1
0.15
0.2

Without TCSC
With TCSC

10

12

14

16

18

Time (s)

(c) Deviation in tie-line power flow

GENCO3 (pu MW)

Ptie 12 actual (pu MW)

14

0.2

Time (s)

0.05

Without TCSC
With TCSC

0.2
0.15
0.1
0.05
0

10

12

14

0.25

0.05
0.1

10

12

14

16

18

Time (s)

(d) Deviation in tie-line power flow error

18

Without TCSC
With TCSC

0.2
0.15
0.1
0.05
0

Fig. 10. Variations in area frequencies (Df 1 and Df 2 ) and actual tie-line power
(DP tie12 ) and (DP tie12error ) for case-3.

16

(a) Deviation in power output of GENCO-3.

0.15

Time (s)

Without TCSC
With TCSC

GENCO4 (pu MW)

Ptie 12 error (pu MW)

12

(a) Deviation in power output of GENCO-1

0.2

0.5

10

Time (s)

(a) Deviation in frequency of area-1

0.4

10

12

14

16

18

Time (s)

(b) Deviation in power output of GENCO-4

matches with simulation result. At steady state, power output of
GENCO-1 = DP G1 = (0.1  0.1) + (0.24  0.1) + (0.33  0.1) + (0.18
 0.1) = 0.085 pu MW. Similarly DPG2 = (0.2  0.1) + (0.16  0.1) +
(0.17  0.1) + (0.22  0.1) = 0.075 pu MW, at steady state. Further,
at steady state, DPG3 = (0.27  0.1) + (0.4  0.1) + (0.5  0.1) +
(0  0.1) = 0.117 pu MW and DP G4 = (0.43  0.1) + (0.2  0.1) +
(0  0.1) + (0.6  0.1) = 0.123 pu MW. The corresponding plots are
presented in Figs. 8 and 9. TCSC has improved the transient
behaviour of the response.
Case 3-contract violation
In this scenario, DISCOs in an area may have an excess uncontracted power demand. As per industrial practice, this uncontracted load must be supplied by the GENCOs in the same area
according to their respective ACE participation factor. Consider a
case where DISCO-1 demands 0.1 pu MW uncontracted excess
power.
The total load in area I (DPD1 ) = Contracted Load of DISCO1 +
Contracted Load of DISCO2 + Uncontracted power = (0.1 + 0.1) +
0.1 = 0.3 pu MW.

Fig. 12. Deviation in generation (DP G3 and DP G4 ) of GENCOs in area-2 for case-3.

Similarly for area II (DP D2 ) = Contracted Load of DISCO3 +

Contracted Load of DISCO4 = (0.1 + 0.1) = 0.2 pu MW.
With the DPM given by Eq. (23), at steady state, GENCO-1 generates, DPG1 = cpf11  DP L1 + cpf12  DP L2 + cpf13  DPL3 + cpf14 
DPL4 + apf11  uncontractedpower = (0.1  0.1) + (0.24  0.1) +
(0.33  0.1) + (0.18  0.1) + 0:5  0:1: = 0.135 pu MW. Similarly
at steady state, DP G2 = 0.125 pu MW. Further, DPG3 = 0.117 pu MW
and DPG4 = 0.123 pu MW which are same as in previous case. The
uncontracted load of DISCO-1 is reected in generations of
GENCO-1 and GENCO-2 in its area. The responses obtained for this
case are shown in Figs. 1012 and clearly reveal the superiority of
TCSC over those without TCSC. The uncontracted load of DISCO-1 is
reected in DP G1 DP G2 at steady state as shown in Fig. 11 and
matches with calculated (desired) value. As shown in Fig. 12, the
generation of GENCOs-3 and 4 is not affected by the excess
uncontracted load of DISCO-1.
In deregulated environment the contract affects not only the
load demand of an area but also the exchanged tie-line power ow.

144

M. Deepak, R.J. Abraham / Electrical Power and Energy Systems 65 (2015) 136145
0.6

Unilateral contract
With bilateral contract
With contract violation

0.4

State space equations of the two area system

k c

0.2
0
0.2
0.4
0.6
0.8

Appendix B

10

12

14

16

18

20

Time (S)
Fig. 13. Variation in the incremental change of the percentage compensation (Dkc )
of TCSC for case-1, case-2 and case-3.

Inclusion of TCSC in the existing system enables better performance in terms of settling time and faster response.
Fig. 13 shows the variation in incremental change of the percentage compensation (Dkc ) of TCSC for the deregulated power system with unilateral, bilateral and contract violation cases. It may
be noted that, the TCSC reactance varies in accordance with tie-line
power ow deviations.
Conclusion
An attempt has been made to damp out the area frequency
oscillations and tie-line power ow after a sudden load demand
using TCSC. A linearized model of the TCSC has been proposed
and used to study its effect in load following. Extensive analysis
is done for AGC scheme considering unilateral transactions, bilateral transactions, and contract violation. Genetic Algorithm has
been used to tune the integral gain settings of both areas with
and without TCSC considering a quadratic performance index for
the above three scenarios. It is found that in all the cases, the area
frequency error becomes zero at the steady state. Performance of
AGC has been improved in terms of settling time, peak overshoot,
damping, etc., with the use of TCSC in all the three cases. It is found
that actual values of generations and tie-line power exchanges of
GENCOs obtained from simulations are matching with the corresponding calculated (desired) values. Hence a Thyristor Controlled
Series Compensator (TCSC) can be used effectively for load following in a deregulated power system.
Appendix A
1. System Data [29]

K P1 K P2 120 Hz=pu MW

1
Df 1_t
Df 1 t K P1  DPG1 t K P1  DPG2 t
T P1
K P1 DPD1 t  K P1 DPtie t




1
1
K R1
K R1
DPG1_ t
DPG1 t

DPR1 t
DPT1 t
T R1
T R1 T T1
T T1




1
1
K
K
R2
R2
DPG2_ t
DPG2 t

DPR2 t
DPT2 t
T R2
T R2 T T2
T T2
1
DPR1_ t
DP T1 t  DP R1 t
T T1
1
DPR2_ t
DP T2 t  DP R2 t
T T2

1
1
DPT1_ t
  Df 1 t  DPT1 t apf11  u1 t
T G1
R1

cpf11 DPL1 cpf12 DP L2 cpf13 DPL3 cpf14 DPL4

1
1
DPT2_ t
  Df 1 t  DPT2 t apf12  u1 t
T G2
R2

cpf21 DPL1 cpf22 DP L2 cpf23 DPL3 cpf24 DPL4
1
Df 2_t
Df 2 t K P2  DPG3 t K P2  DPG4 t  K P2 DPD2 t
T P2
 a12  K P2 DPtie t
1
DPG3_ t
DP T3 t  DPG3 t
T T3
1
DPG4_ t
DP T4 t  DPG4 t
T T4

1
1
DPT3_ t
  Df 2 t  DPT3 t apf21 u2 t cpf31 DPL1
T G3
R3

cpf32 DPL2 cpf33 DP L3 cpf34 DPL4

1
1
DPT4_ t
  Df 2 t  DPT4 t apf22  u2 t cpf41 DPL1
T G4
R4

cpf42 DPL2 cpf43 DP L3 cpf44 DPL4
2pT 12
DP0tie_t
Df 1 t  Df 2 t
1  kc
K TCSC
1
Dkc_t
Df t 
Dkc t
T TCSC
T TCSC 1
J0
DPtie t
DP0tie t Dkc t
2
1  kc

T P1 T P2 20 s
R1 R2 R3 R4 2:4 Hz=pu MW
B1 B2 B3 B4 0:42249
T G1 T G2 T G3 T G4 0:08 s
T T1 T T2 T T3 T T4 0:42 s
T R1 T R2 10 s;
K R1 K R2 0:5
Pr1 Pr2 1200 MW
X 12 10 X
T 12 0:0866
d0 300
2. TCSC Data [22]

K TCSC 2
T TCSC 0:02 s

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