Abstract
The article focuses on the design of higher order sliding mode observer (HOSMO) based super twisting sliding mode control (ST-SMC) for load frequency problems in an interconnected multi area power systems. A sudden load disturbance in any area can cause deviations in frequency and tie line power from their desired values. The proposed design functions for the improved overall performance of the system. High frequency oscillations (chattering) which is the main operational problem with SMC is investigated through ST-SMC. Firstly, with inherent advantages of robustness, insensitivity to uncertainties and disturbances, the HOSMO estimates the system states from the output and control signal. Secondly, the ST-SMC acts only on the first time derivative of sliding surface to ensure finite time convergence of frequency and tie line power deviations. The supremacy of the proposed design compared to modern state of the art lies in improved transient and steady state behavior, robustness and chattering free control without any loss in control accuracy. Furthermore, performance indices like integral square error (ISE), integral absolute error (IAE) and integral time absolute error (ITAE) for the said controller are found to be lesser compared to that of linear and nonlinear SMC. The said controller also results in acceptable frequency deviation when validated under random step load disturbances, parameter uncertainties, with an integration of renewable energy resource and nonlinearities in power systems like generation rate constraints (GRC) and governor dead band (GDB).
Similar content being viewed by others
References
S. K. Pandey, S. R. Mohanty, and N. Kishor, “A literature survey on load-frequency control for conventional and distribution generation power systems,” Renewable and Sustainable Energy Reviews, vol. 25, pp. 318–334, September 2013.
A. Pappachen and A. P. Fathima, “Critical research area on load frequency control issues in a deregulated power system: A state-of-the-art-of-review,” Renewable and Sustainable Energy Reviews, vol. 72, pp. 163–177, May 2017.
D. K. Chaturvedi, P. S. Satsangi, and P. K. Kalra, “Load frequency control: a generalized neural network approach,” Electrical Power & Energy Systems, vol. 21, no. 6, pp. 405–415, August 1999.
C. S. Indulkar and B. Raj, “Application of fuzzy controller to automatic generation control,” Electric Machines and Power Systems, vol. 23, no. 2, pp. 209–220, April 2007.
S. P. Ghoshal, “Multi area frequency and tie line power flow control with fuzzy logic based integral gain scheduling,” Journal of Institute of Engineers, vol. 84, pp. 135–141, December 2003.
S. K. Sinha, R. N. Patel, and R. Prasad, “Application of GA and PSO tuned fuzzy controller for AGC of three area thermal-hydro power system,” International Journal of Computer Theory and Engineering, vol. 2, no. 2, pp. 238–244, April 2010.
S. K. Aditya and D. Das, “Design of load frequency controllers using genetic algorithm for two area interconnected hydropower system,” Electric Power Components and Systems, vol. 31, no. 1, pp. 81–94, June 2010.
C. F. Juang and C. F. Lu, “Load-frequency control by hybrid evolutionary fuzzy PI controller,” IEE proceedings Gen. Trans. Dist., vol. 153, no. 2, pp. 196–204, March 2006.
B. Bandyopadhyay, F. Deepak, and K. S. Kim, “Sliding mode control using novel sliding surfaces,” Lecture Notes in Control and Information Sciences, ISBN 978-3-642-03447-3, June 2009.
G. Ray, S. Dey, and T. K. Bhattacharyya, “Multi-area load frequency control of power systems: a decentralized variable structure Approach,” Electric Power Components and System, vol. 33, no. 3, pp. 315–331, February 2004.
Y. Mi., Y. Fu, and C. Wang, “Decentralized sliding mode load frequency control for multi-area power systems,” IEEE Transaction Power System, vol. 28, no. 4, pp. 4301–4309, November 2013.
M. K. Sarkar, A. Dev, P. Asthana, and D. Narzary, “Chattering free robust adaptive integral higher order sliding mode control for load frequency problems in multi area power systems,” IET Control Theory Appl., vol. 12, no. 9, pp. 1216–1227, May 2018.
Y. Mi, X. Hao, Y. Liu, Y. Fu, C. Wang, P. Wang, and P. C. Loh, “Sliding mode load frequency control for multi area time delay power system with wind power integration,” IET Gen. Trans. Dist., vol. 11, no. 18, pp. 4644–4653, December 2017.
D. Fulwani, B. Bandyopadhyay, and L. Fridman, “Non-Linear sliding surface: towards high performance robust control,” IET Control Theory and Applications, vol. 6, no. 2, pp. 235–242, January 2012.
S. Prasad, S. Purwar, and N. Kishor, “Non-linear sliding mode load frequency control in multi-area power system,” Control Engineering Practice, vol. 61, pp. 81–92, April 2017.
S. Mondal and C. Mahanta, “Adaptive integral higher order sliding mode controller for uncertain systems,” Journal of Control Theory Applications, vol. 11, no. 1, pp. 61–68, February 2013.
S. Mondal and C. Mahanta, “Nonlinear sliding surface based second order sliding mode controller for uncertain linear systems,” Communications in Nonlinear Science and Numerical Simulation, Elsevier, vol. 16, no. 9, pp. 3760–3769, September 2011.
M. Reichhartinger and M. Horn, “Application of higher order sliding mode concepts to a throttle actuator for gasoline engines,” IEEE Transaction on Industrial Electronics, vol. 56, no. 9, pp. 3322–3329, September 2009.
J. Liu, Y. Gao, X. Su, M. Wack, and L. Wu, “Disturbanceobserver-based control for air management of PEM fuel cells systems via sliding mode technique,” IEEE Transaction on Control Systems Technology, vol. 27, no. 3, pp. 1129–1138, 2018.
L. Fridman, A. Levant, and J. Davila, “Observation of linear systems with unknown inputs via high-order slidingmodes,” International Journal of System Sciences, vol. 38, no. 10, pp. 773–791, October 2007.
A. Levant, “Higher order sliding modes, differentiation and output feedback control,” International Journal of Control, vol. 76, no. 9–10, pp. 924–941, November 2003.
L. Fridman, A. Levant, and J. Davila, “Higher order sliding mode observer for linear system with unknown inputs,” Proc. of the International Workshop on Variable Structure Systems, Alghero, Sardinia, Italy, June 2006.
L. Fridman, Y. Shtessel, C. Edwards, and X. G. Yan, “Higher order sliding mode observer for state estimation and input reconstruction in nonlinear systems,” Int. J. of Robust and Nonlinear Control, vol. 18, no. 4–5, pp. 399–412, March 2008.
M. Mohamed, X. G. Yan, S. Spurgeon and B. Jiang, “Robust sliding mode observer design for interconnected systems,” Proc. of the 55th Conference on Decision and Control, Las Vegas, NV, USA, December 2016.
A. Chalanga, S. Kamal, L. Fridman, B. Bandyopadhyay, and J. A. Moreno, “Implementation of super twisting control: Super twisting and higher order sliding mode observer-based approach,” IEEE Transaction on Industrial Electronics, vol. 63, no. 6, pp. 3677–3685, February 2016.
J. Liu, W. Luo, X. Wang, and L. Wu, “Robust model based fault diagnosis for PEM fuel cell air fed systems,” IEEE Transaction on Industrial Electronics, vol. 63, no. 5, pp. 3261–3270, February 2016.
C. T. Heng, Z. Jamaludin, A. Y. B. Hashim, L. Abdullah, and N. A. Rafan, “Design of super twisting algorithm for chattering suppression in machine tools,” International Journal of Control, Automation and Systems, vol. 15, no. 3, pp. 1259–1266, May 2017.
J. Liu, C. Wu, Z. Wang, and L. Wu, “Reliable filter design for sensor networks using type-2 fuzzy framework,” IEEE Transaction on Industrial Electronics, vol. 13, no. 4, pp. 1742–1752, January 2017.
J. Liu, H. An, Y. Gao, C. Wang, and L. Wu, “Adaptive control of hypersonic flight vehicle with limited angle-ofattack,” IEEE/ASME Transaction on Mechatronics, vol. 23, no. 2, pp. 883–894, January 2018.
W. Tan, S. Chang, and R. Zhou, “Load frequency control of power system with nonlinearities,” IET Gen. Trans. Dist., vol. 11, no. 17, pp. 4307–4313, October 2017.
K. Y. Lim, Y. Wang, and R. Zhou, “Robust decentralized load-frequency Control of multi-area power systems,” Proc. Inst. Elect. Eng., Generation, Transmission, Distribution, vol. 143, no. 5, pp. 377–386, September 1996.
D. Lee and L. Wang, “Small-signal stability analysis of an autonomous hybrid renewable energy power generation/ energy atorage system part I: time domain simulations,” IEEE Transaction on Energy Conversion, vol. 23, no. 1, pp. 311–320, March 2008.
Author information
Authors and Affiliations
Corresponding author
Additional information
Recommended by Associate Editor Xiaojie Su under the direction of Editor Hamid Reza Karimi.
Ark Dev received his M.Tech. degree in Electrical Engineering from National Institute of Technology Manipur, India in 2017. He is currently working towards a Ph.D. degree in the Department of Electrical Engineering, NIT Manipur, India. His research interests include design of sliding mode control for uncertain systems and prediction-based sliding mode control for time delay systems.
Mrinal Kanti Sarkar received his Ph.D. degree in Electrical Engineering from National Institute of Technology Durgapur, India in 2015. He is currently working as an assistant professor in the Department of Electrical Engineering, NIT Manipur, India. His research interests include magnetic levitation systems, dc-dc converter, optimal control and sliding mode control.
Rights and permissions
About this article
Cite this article
Dev, A., Sarkar, M.K. Robust Higher Order Observer Based Non-linear Super Twisting Load Frequency Control for Multi Area Power Systems via Sliding Mode. Int. J. Control Autom. Syst. 17, 1814–1825 (2019). https://doi.org/10.1007/s12555-018-0529-4
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12555-018-0529-4