2012 2nd International Conference on Power, Control and Embedded Systems

Load Frequency Control Methodologies for

Power System
Rahul Umrao1; Sanjeev Kumar1; Man Mohan2 and D.K.Chaturvedi2, Senior Member, IEEE

require more careful consideration of all forms of system

Abstract--There are volume of research articles regarding Load instability and control problems. The network blackouts show
Frequency Control (LFC) of single area/multi area power system that to improve the overall power system control response, it is
considering various control strategies. To use these research important to provide more effective and robust control
articles in a systematic way, an exhaustive literature review is strategies in order to achieve a new trade-off between system
required to avoid duplication in research work. In this paper, a
review on LFC of power system using different control security, efficiency and dynamic robustness.
techniques is given. The linear and nonlinear models with The LFC problem has been augmented with the valuable
different conventional and intelligent control techniques have research contributions from time to time, like LFC/AGC
been discussed. LFC strategies based on digital, self-tuning regulator designs incorporating parameter
control, adaptive, VSS systems, and soft computing control have variations/uncertainties, load characteristics, excitation
been included. control, and parallel ac/dc transmission links [8]. The
Index Terms--AC/DC transmission links, automatic generation microprocessor based AGC regulator, self-tuning regulator,
control, deregulated power systems, load frequency control, adaptive AGC regulator designs and Artificial intelligence
multilevel control. regulators have also been presented [9]-[10].
The small signal analysis is justified for studying the system
I. INTRODUCTION response for small perturbations. However, the
implementation of AGC strategy based on a linearized model
Power system frequency control/regulation, very well on an essentially nonlinear system does not necessarily ensure
the stability of the system. Considerable attention has been
known as load frequency control has been one of the functions paid by researchers to consider the system nonlinearities to
of automatic generation control (AGC) and also has been one develop a robust controller. It is shown in the literature that
of the important control problems for research. The reliability governor dead-band nonlinearity tends to produce continuous
and stability of the power system is mainly depends upon oscillations in the area frequency and tie-line power transient
frequency deviation from its nominal value. The problem is response which produces destabilizing the effect on the system
worse in case of integrated power system. [11].
In load frequency control problem frequency and tie-line
power exchanges are two variables which should be under II. SYSTEM DEVELOPMENT
investigation [1]. Maintaining frequency and power
interchanges with neighbouring control areas at the scheduled In starting linear models were developed as single, two and
values are the two main primary objectives of a power system multi area systems then after systems nonlinearity were
LFC. These objectives are met by measuring a control error incorporated for studying realistic system dynamics. The early
signal, called the area control error (ACE), which represents work in the area of AGC has been done to control the
the real power imbalance between generation and load, and is frequency of a power system via the fly-ball governor of the
a linear combination of net interchange and frequency synchronous machine. But this technique was not sufficient so
deviations [2]. a closed control loop with proportional-integral (PI) control
The increasing number of major power grid blackouts that action was added to the system [12]-[13]. This scheme
have been experienced in recent years [3]-[7], for example, the constitutes the classical approach to the AGC of power
Brazil blackout of March 1999, Iran blackout of Spring 2001 systems. Very early works in this important area of AGC have
and Spring 2002, Northeast USA-Canada blackout of August been done by Cohn et al. [14]-[18]. This work was based on
tie-line bias control strategy. Milan proposed a linear regulator
2003, Southern Sweden and Eastern Denmark blackout of design [12]. Then Kwatny et al. has proposed an optimal
September 2003, the Italian blackout of sep 2003,the Russia tracking approach to AGC, considering load to be the output
blackout of May 2005, and the north-eastern Indian blackout of the dynamic system [19]. Quazza [20] proposed a non-
of July 2012 shows that today’s power system operations interactive control methodology considering as:
1. Non-interaction between frequency and tie-line
1
powers controls
Research scholars, Faculty of Engineering, Dayalbagh Educational Institute,
Agra, mail id: [email protected], [email protected]
2. Each control area taking care of its own load
2
Faculty of Engineering, Dayalbagh Educational Institute, Agra, mail id: variations.
[email protected], [email protected]

978-1-4673-1049-9/12/$31.00 ©2012 IEEE

Authorized licensed use limited to: Netaji Subhas University of Technology New Delhi. Downloaded on March 09,2025 at 11:21:33 UTC from IEEE Xplore. Restrictions apply.
 Later on, the effect of Generation rate constraint (GRC) was [1] were the first to present their pioneering work on optimal
included in these types of studies, considering both continuous AGC regulator design using this concept. A two area
and discrete power system models [21]. The small signal interconnected power system consisting of two identical
analysis is justified for studying the system response for small power plants of non-reheat thermal turbines was considered
perturbations [22]. However, the implementation of AGC for investigations [20], [38]-[40].
strategy based on a linearized model on an essentially Adaptive control is a control methodology of controller to
nonlinear system does not necessarily ensure the stability of adapt with parameter variation [41]. Adaptive control strategy
the system. Considerable attention has been paid by is found to be very effective in improving the stability and
researchers to consider the system nonlinearities [23]-[25]. transient response of the system [42]-[43]. There is a
Tripathi et al. proposed a destabilizing effect of governor difference between robust control and adaptive control
dead-band and reheat turbine nonlinearities on conventional technique. Robust control technique guarantees that control
the AGC system shown in [11]. laws for parameter variations can’t change for a given
Supplementary controllers were designed to regulate the ACE boundary. While adaptive control law will be change with
to zero effectively. Later on, energy source dynamics were changing conditions. Ross proposed an error adaptive
incorporated in AGC regulator design [26]. The standard computer control (EACC) technique [44].
definitions of the terms associated with the AGC of power Tripathi et al. proposed an adaptive regulator which is
systems were analyzed in [27] and also following that, implemented on a microprocessor for load-frequency control
suggestions for dynamic modeling for LFC are discussed [11]. Vajk et al. presents an adaptive regulator which uses the
thoroughly. Based on the experiences with actual a priori known information and satisfies the multi-objective
implementation of AGC schemes, modifications to the character of the control of the Hungarian power system [45].
definition of ACE are suggested from time to time to cope Pan et al. uses a PI adaptation to satisfy the hyper stability
with the changed power system environment [28]. Since many condition for taking care of the parameter changes of the
presently regulated markets are likely to evolve in to a hybrid system. Only the available information on the states and
scheme, and some deregulated markets are already of this output are required for the control [9]. Sho et al. proposed a
type, the effects of deregulation of the power industry on LFC multi-area adaptive load frequency control (LFC) based on the
have been addressed thoroughly [29]-[30]. self-tuning regulator (STR) for a comprehensive automatic
generator control simulator (AGCS) [46]. Liaw et al. proposed
III. CONTROL STRATEGIES controller uses a signal synthesis adaptation approach such
A lot of control techniques are proposed by the researches that the performance of the controlled system is insensitive to
in there pioneer work to design LFC controllers [31]-[32]. The the changing load and system parameter variations [47]. It is
controllers are based on: designed such that only the outputs of the controlled plant are
A. Classical control techniques fed back to the controller. A reduced reference model is used
1) LQR based controlling techniques to simplify the design, making the controller easier to
2) Proportional, derivative, integral controlling implement. Self tuning controllers are also a part of adaptive
techniques control scheme.
B. Soft computing/Artificial intelligence techniques The self tuning controllers are optimized the running
1) Fuzzy logic based techniques parameter of the system for fulfillment of objective function
2) Neural network based techniques which could be maximized or minimized [48]. Generally the
3) Genetic algorithm based techniques error is minimized and the efficiency is maximized. Lee et al.
4) Particle swarm based techniques used a control methodology where extended least squares
5) Hybrid and other techniques technique is used for estimation of parameters [49]. The area
Description of load frequency control techniques are generator corrective control is computed by a self-tuning
described by different researchers. algorithm derived from the minimization of a generalized cost
function, which is defined in terms of the system output and
A. Classical control techniques the weighting on the control effort.
The pioneering work by a number of control engineers, 1) LQR based controlling techniques:
namely Bode, Nyquist, and Black, has established links Optimal control design for the linear systems with quadratic
between the frequency response of a control system and its performance Linear Quadratic Regulator (LQR) is established
closed-loop transient performance in the time domain. The [50]-[53]. The purpose of optimal regulator design is to
investigations carried out using classical control approaches determine the optimal control rule. There are several
reveal that it will result in relatively large overshoots and competing objectives that need to be simultaneously satisfied
transient frequency deviation [33]-[36]. Moreover, the settling (system step response, rise time, overshoot, disturbance
time of the system frequency deviation is comparatively long rejection, or integral absolute error). These objectives are
and is of the order of 10–20s [37].The AGC regulator design imbedded in system’s Eigen values that are measures of
techniques using modern optimal control theory enable the system stability and robustness. Ray et al. proposed a
power engineers to design an optimal control system with combination of ‘Matching conditions’ and Lyapunov stability
respect to given performance criterion [9]. Fosha and Elgerd

Authorized licensed use limited to: Netaji Subhas University of Technology New Delhi. Downloaded on March 09,2025 at 11:21:33 UTC from IEEE Xplore. Restrictions apply.
 theory is adopted to implement a robust stabilizing controller AGC regulator designs are based on adaptive control schemes
[54]. [69]- [70]. The main contribution of the proposed controller is
Yang et al. suggested a controller which is based on to enhance the controlled performance of the conventional
structured singular values (SSVs) and each local area load- PID controller by adding a self-tuning on the existing
frequency controller can be designed independently [55]-[56]. conventional PID controller. The conventional PID controller
Ko et al. published that LQR problem needs to be with online self-tuning pre compensation has a superior
reformulated for finding a common Lyapunov function for the performance than the conventional PID controller.
set of considered linear systems [57]. This is accomplished by
B. Soft computing /Artificial intelligence (AI) techniques
representing the underlying control optimization problem in
terms of a system of linear-matrix-inequality (LMI) The emerging techniques of artificial intelligence (AI) have
constraints [58].The H∞ control strategy was used many a common feature, i.e. they had the ability to process the
scientists and researchers. The advantage of H∞ control complex information [70]-[73]. In AI technique all the short
technique is to use this technique in multi variable system and circuit analysis in three-phase is carried out offline, and the
also where cross compiling between the channels exits [59]. fault is located online within short time. Different AI tools
Although the H∞ control problem can be regarded as were successfully employed for all power system purposes
robustness against exogenous signal uncertainty, in the case such as Expert Systems, Artificial Neural Network (ANN),
when parameter uncertainty appears in the plant modeling, Fuzzy Logic and genetic algorithm realizing distinctive
robust behavior on H∞ performance as well as stability cannot performances over the conventional ones [74]-[77]. Among
be guaranteed by standard H∞ control. The necessary and the various AI based techniques, fuzzy logic approach is
sufficient conditions for the existence of robust H∞ controller observed to be applicable and attractive for dealing with
design with circular pole constraints are derived in terms of a complex and ill-defined problems which may be impossible or
linear matrix inequality (LMI) in order to construct a desired too expensive with conventional methods.
controller. Kan et al. proposed a H∞ load-frequency control for 1) Fuzzy Logic Approach
interconnected power systems with circular pole constraints A fuzzy logic based intelligent controller is designed to
[60]. The objective was to design controller such that the facilitate the smooth operation and less oscillatory when
closed-loop system was stable and the H∞ norm of a specified system is subjected to a sudden load change [78]-[79]. Fuzzy
closed-loop transfer function is minimized. Cimen et al. controller is based on a logical system called fuzzy logic
designed a robust load frequency controller based on H∞ which is much closer in spirit to human thinking and natural
design techniques applied MIMO system [61]. Al-Tamirni language than classical logical systems [78], [80]-[83]. The
proposed that H∞ load-frequency controller for a power system complexity and multi-variable conditions of the power system,
generator will be designed without the knowledge of the conventional control methods may not give satisfactory
system model [62]. Mandour et al. proposed an algorithm was solutions [84]-[86]. On the other hand, their robustness and
the H∞ control using γ iteration. This algorithm will use the reliability make fuzzy controllers useful in solving a wide
loop shifting two Riccati formula of H∞ control [63].The range of control problems [87]-[88]. Load frequency control in
disadvantage of H∞ approach is that this technique includes two area system using fuzzy logic algorithm is found to be
higher level of mathematical analysis and system nonlinearity suitable [89]-[91]. But the plain fuzzy rule based expert
cannot be well handled. systems have some drawbacks as [64]:
• It is difficult to acquire knowledge
2) Proportional, derivative, integral controlling • There is no adaptability and hence for dynamic time
techniques: varying system, it is unable to perform well due to
Among various types of load frequency controller, the PI change in system.
controller is most widely applied to speed-governing system To overcome these drawbacks, [92], a new intelligent
for LFC scheme [63]-[65]-[67]. control technique is proposed based on polar fuzzy sets. The
The most of proposed techniques were based on the polar fuzzy sets were first introduced in 1990[77]. Polar fuzzy
classical proportional and integral (PI) or proportional, sets differ from standard fuzzy sets only in their Polar fuzzy
integral and derivative (PID) controllers. Its use is not only for sets are defined on a universe of angle and hence repeat shapes
their simplicities, but also due to its success in a large number every 2π radian [64]. Polar fuzzy logic controller performs to
of industrial applications [68]-[70]. For PID controller design, improve the stability and dynamic performance of the power
overshoot/undershoot and settling time are used as objective system [93].
function for multi-objective optimization in LFC problem 2) Artificial Neural Network based Techniques
[41]. One of the developments in the field of modern control In the last few years, considerable progress has been made
theory is in the direction of its application in optimal control in application of ANNs. This is because, unlike expert
allows the power engineers to cope with the problems arising systems, neural networks do not relay on a knowledge (Rule)
out of due to the complex structure of power systems. The base, but look for and identify patterns, given appropriate
development of design techniques for load frequency control design and training [94]-[96]. Load frequency control using
of a power system in the last few years is very significant. artificial neural network is described in [97]. Chaturvedi et al.
proposed a new neural network. This neural network called as

Authorized licensed use limited to: Netaji Subhas University of Technology New Delhi. Downloaded on March 09,2025 at 11:21:33 UTC from IEEE Xplore. Restrictions apply.
 generalized neural network. The GNN has been developed by • Mutation: Causes individual genetic representations
choosing different compensatory aggregation functions and to be changed according to some probabilistic rule.
threshold function in the same neuron. Here back propagation Genetic algorithms are more likely to converge to global
through time learning algorithm is used. The GNN controller optimal than conventional optimization techniques, since they
is found very suitable for controlling the plant dynamics in search from a population of points, and are based on
very less time [98]. probabilistic transition rules. Conventional optimization
Bevrani et al. proposed a new approach based on artificial techniques are ordinarily based on deterministic hill –
Flexible Neural Networks (FNNs) to design of load frequency climbing methods, which, by definition, will only find local
controller for a large scale power system in a deregulated optima. Genetic algorithms can also tolerate discontinuities
environment. In this approach, the power system is considered and noisy function evaluations.
as a collection of separate control areas under the bilateral In the study of [106], the optimal values of the parameters
Load Frequency Control (LFC) scheme [99]. Sabahi et al. ƒ1 (or) ƒ2 and Δ 1 (or) Δ 2 which minimize an array of
were developed a modified dynamic neural network (MDNN) different performance indices are easily and accurately
controller in two-area power system for generating electricity computed using a genetic algorithm.
with good quality [100]. Also, in this paper to achieve the Researchers selected different fitness functions as their
sensitivity of power systems model, neural network emulator requirements and understanding. Al-Hamouz proposed the
used for identification the power system. In PI controller, the variable structure controller (VSC) feedback gains selection
nonlinearities of the system are not accounted for and they are by GA. The proposed method provides an optimal and
incapable of gaining good dynamical performance for a wide systematic way of feedback gains selection in the VSC
range of operating conditions in a multi-area power system. A compared to trial and error methods. The application of the
strategy for solving this problem because of the distributed proposed method to the LFC problem reveals that not only the
nature of a multi-area power system is presented by using a system performance is highly improved but also the control
multi-agent reinforcement learning (MARL) approach is given effort is dramatically reduced as compared to previous
[101]-[103]. Sundaram et al. presented an Artificial Neural methods [107]. Using GA and by proper choice of the
Network (ANN) which is applied to self tune the parameters performance index to be evaluated, the designer can achieve a
of PID controller [104]. Multi area system had been tradeoff between the frequency deviation and the control
considered for simulation of the proposed self tuning ANN effort.
based PID controller. Nikzad et al. proposed that the calculation of the
After the evolution of soft computing tools, many performance index for each of the individuals in the current
researchers are tried to find better output. So they tried newer population must be simulated to obtain the value of the
techniques that were based on Genetic Algorithms and Particle performance index [108]. Aditya et al. proposed that Optimum
Swarm. These are also called optimization techniques. gain settings of different types of controllers are obtained
3) Genetic algorithm approach using the genetic algorithm (GA) for a two area hydro power
A newly intelligent control technique is the genetic system. Aditya minimized an objective function for obtaining
algorithms based load frequency controller. Genetic the optimum gain settings of integral (I), PI, ID, and PID
algorithms (GA) are global search techniques, based on the controllers using a genetic algorithm [109].
operations observed in natural selection and genetics. They Panda et al. proposed GA along with decomposition
operate on a population of current approximations [105]. The technique as developed has been used to obtain the optimum
individuals initially drawn at random, from which megawatt frequency control of multi-area electric energy
improvement is sought. Individuals are encoded as strings systems. In this work, one point crossover also called Holland
(chromosomes) constructed over some particular alphabet, crossover was adopted with a probability Pc∈ [0.6, 0.95] with
e.g., the binary alphabet {0, 1}, so that chromosomes values modifications in exchange of chromosomal materials [110].
are uniquely mapped onto the decision variable domain. Once IBRAHEEM et al. is used to get the optimal AGC feedback
the decision variable domain representation of the current gains with the help of GA. A penalty function based strategy
population is calculated, individual performance is assumed is used to satisfy transient response specifications of system
according to the objective function which characterizes the frequency and power flow deviations and consequently, area
problem to be solved. It is also possible to use the variable control error (ACE) is minimized to zero. The area
parameters directly to represent the chromosomes in the GA interconnections considered are with AC link only and AC
solution. link in parallel with DC link [111]. Arivoli et al. investigates
Genetic operators can be divided into three main categories the performance of the two-area identical, thermal reheat
reproduction, cross over and mutation. systems interconnected with AC-DC tie-lines using Mutual
• Reproduction: Selects the fittest individuals in the Aid Criterion (MAC) with Genetic algorithm (GA) [112].
current population to be used in generating the next Bhongade et al. have developed a model which also
population. includes the Superconducting Magnetic Energy Storage
• Cross over: Causes pairs, or larger groups of (SMES) units to inject or absorb the active power of an
individuals to exchange genetic information with one interconnected power system. The functioning of Genetic
another. Algorithm based PID controller has been tested on a 39-bus

Authorized licensed use limited to: Netaji Subhas University of Technology New Delhi. Downloaded on March 09,2025 at 11:21:33 UTC from IEEE Xplore. Restrictions apply.
 New England system and 75-bus Indian power system utilizes the mechanism of PSO and a natural selection
network [113]. mechanism of GA [138]. Shayeghi et al. proposed a TCPS tie-
No doubt that GA gives better results to previous techniques line power flow control to stabilize the system frequency
but it has some problems as: oscillations positively through interconnection, which is also
• To find the optimal solution for complex high expected to provide a new ancillary service for the further
dimensional, multimodal problems often requires power systems [139]. Gautam ei.al proposes an improved
very expensive fitness function evaluations. PSO framework adopting a crossover operation scheme to
• Genetic algorithm does not handle well with increase exploitation capability of PSO because PSO have
complexity. That is, where the number of elements drawbacks like local optimal trapping due to premature
which are exposed to mutation is large there is often convergence(i.e. exploration problem) [140].
an exponential increase in search space size. Das et al. is proposed a PSO tuned PI controller for
• GA may have a tendency to converge towards local autonomous hybrid energy generation system. The
optima or even arbitrary points rather than the global autonomous hybrid generation system consisting of wind
optimum of the problem. turbine generators (WTG), solar thermal power system
• Operating on dynamic data sets is difficult, as (STPS), diesel engine generators (DEG), fuel cells (FC),
genomes begin to converge early on towards battery energy storage system (BESS) and aqua-electrolyzer
solutions which may no longer be valid for later data. (AE) has been considered for simulation studies [141]. Here,
• GAs cannot effectively solve problems in which the PSO is used for optimization of PI controller gains of the
only fitness measure is a single right/wrong measure proposed hybrid system. Boroujeni et al. are proposed a PSO
(like decision problems), as there is no way to tuned IP controller to control frequency deviation and
converge on the solution (no hill to climb). compared the result with conventional IP controller [142].
For specific optimization problems and problem instances, 5) Hybrid and Other Techniques:
other optimization algorithms may find better solutions than To improve the performance of power system many
genetic algorithms (given the same amount of computation researchers gave hybridized techniques. A newly intelligent
time) as swarm intelligence (e.g.: Artificial bee colony, control technique is the design of a fuzzy system by
Particle swarm optimization). evolutionary algorithms has been proposed, of which the best
4) Particle swarm optimization (PSO) approach known are genetic fuzzy systems [143]-[144]. In this work,
Kennedy, proposed particle-swarm optimization (PSO) they apply the idea of evolutionary fuzzy systems to the LFC
[114]-[116]. Many researchers have been given different problem. During control a fuzzy system issued to decide
methodologies of PSO to solve the problem of LFC. PSO is a adaptively the proper proportional and integral gains of a PI
relatively new evolutionary computation technique [117]- controller according the area-control error and its change
[121]. [145]-[148].
PSO is initialized by a population of random solutions and Du et al. developed an online algorithm for Fuzzy Logic
potential solution is assigned a randomized velocity [122]- Controller (FLC) with Genetic Algorithm (GA). The
[124]. The potential solutions, called particles, are then mathematical model for Multi-Area AGC system used in their
‘flown’ through the problem space [125]-[126]. Each particle paper is a four-area interconnected power system model with
keeps track of its coordinates in the problem space, which are reheat nonlinearity effect of the steam turbine and upper and
associated with the best solution or fitness achieved so far lower constraints for generation rate nonlinearity of hydro
[127]-[132]. turbine [149].
Gozde et al. and Nikzad et al. are proposed swarm Abdennour proposes an adaptive optimal gain scheduling
optimization based optimal proportional-plus-integral (PI) approach to the Load Frequency Control (LFC) problem. The
controller. The design is determined an optimization problem obtained gains by GA are used to train an Adaptive Network–
and a novel cost function is derived for increasing the based Fuzzy Inference System (ANFIS) to provide a general
performance of convergence to the solution [133]. To optimize mapping between the operating conditions and the optimal
the parameters of the cost functions and the PI-controller, the control gains [150].
craziness based particle swarm optimization (CRAZYPSO) To ease in design for adaptive gain settler of PI controller a
algorithm is used [134]-[135]. Jayanthi et al. is proposed a new GA using elitist strategy combined with similarity
controller for investigating with spinning reserves such as measure is proposed by Junag et al. [148]. To improve the
Superconducting Magnetic Energy Storage device (SMES) performance of the controller, design of the Fuzzy-PI (FPI)
and Gas Turbine units. PI controller gains are tuned using an controller by hybridizing a genetic algorithm and particle-
EAPSO technique to find best parameter for the tuning of swarm optimization, called FPI–HGAPSO, is proposed [148]-
controller [136]. [156]. FPI–HGAPSO is based on the hybrid of the genetic
Omari et al. are tuned the gain of PID gains using Particle algorithm and particle-swarm optimization [157]-[159]. In
Swarm Optimization (PSO) technique [137]. Taher et al. are FPI–HGAPSO, elites in the population of GAs are enhanced
tuned the control parameter of PI controller on the basis of by particle-swarm optimization and these enhanced elites are
Hybrid PSO algorithms method. HPSO uses the GA operators selected as parents for cross over and mutation operations.
such as selection, crossover and mutation operators. HPSO

Authorized licensed use limited to: Netaji Subhas University of Technology New Delhi. Downloaded on March 09,2025 at 11:21:33 UTC from IEEE Xplore. Restrictions apply.
 In [144], a life-cycle model that combines PSO, GA and hill new evolutionary computing method based on imperialist
climbers was proposed. In that method, individuals are competitive algorithm (ICA), which was formulated by
updated by PSO initially, then by GA when there is no recent Gargari and Lucas, is used for tuning the parameters of a PID
improvement on fitness value, then by hill climbers, then back controller [170].
to PSO and soon. In that method, no modification to the
original GA or PSO is made. In [157], the hybrid of GA and IV. CONCLUSIONS
PSO (HGAPSO), which in corporate PSO into GA, is In this paper an exhaustive literature survey is performed
proposed and applied to recurrent-network design. The starting with conventional techniques to the latest soft
learning algorithm is different from the original GA or PSO, computing and intelligent techniques to develop advance
and thus different from the life-cycle model. In this work, the controllers for LFC. The paper also describes various
concept of HGAPSO is applied to fuzzy-system design, which nonlinearities in the system models to make it more realistic
eases the design effort in LFC by fuzzy PI controller. and at the same time integrated approach is used to develop
To overcome the problems of GA a more recent and new intelligent control schemes.
powerful computational intelligence technique bacterial It is hoped that this research article will help to many
foraging (BF) is used in which the number of parameters that researches for future work in the field of LFC.
are used for searching the total solution space is much higher
compared to those in GA. Social foraging behavior of V. REFERENCES
Escherichia coli bacteria is used by Nanda et al. [160] and Ali [1] C. E. Fosha, and O.I Elgerd., “The megawatt-frequency control problem:
et al. [161]. a new approach via optimal control theory,” IEEE Trans. Power App.
Syst., vol. PAS-89(4), pp. 556–563, Apr. 1970.
Pothiya et al. focused on a new optimization technique of a [2] Nagrath I.J.; and Kothari D.P., “Power System Engineering,” 3rd edition,
fuzzy logic based proportional integral (FLPI) load frequency McGraw-Hill Publication, 2003.
controller by the multiple Tabu search (MTS) algorithm [162]. [3] UCTE, Final report of the investigation committee on the 28 September
2003 blackout in Italy, Available online at: http://www.ucte.org, 2004.
The Tabu search (TS) algorithm is an iterative search that [4] G. Andersson, P. Donalek, R. Farmer, “Causes of the 2003 major grid
starts from some initial feasible solution and attempts to blackouts in North America and Europe and recommended means to
determine a better solution in the manner of a hill-climbing improve system dynamic performance,” IEEE Trans. Power Syst., vol.
20(4), pp.1922–1928, 2005.
algorithm. Vrdoljak et al. presented a new discrete-time [5] Makarov Y. V., Reshetov V. I., Stroev V. A., “Blackout prevention in
sliding mode controller for load-frequency control (LFC) in the United States, Europe and Russia,” Proc. IEEE, vol. 93(11), pp.
control areas (CAs) of a power system. Design of the discrete- 1942–1955, 2005.
[6] Sanaye-Pasand M., “Security of the Iranian national grid,” IEEE Power
time sliding mode controller for LFC with desired behavior is Energy Mag., vol. 5(1), pp. 31–39, 2007.
accomplished by using a genetic algorithm [163]. Dong et al. [7] E.A.S. Sarma, “It’s lights out for India,” Times of India, Rep., 2 Aug.
presented a new approach which is based on active 2012.
disturbance rejection control (ADRC). Estimating and [8] H.D. Mathur, and H.V. Manjunath, “Study of dynamic performance of
thermal units with asynchronous tie-lines using fuzzy based controller,”
mitigating the total effect of various uncertainties in real time J. Electrical System, vol. 3(3), pp. 124-130, 2006.
[164]. Ganpathy et al. proposed a new approach to the design [9] C.T. Pan, and C.M. Liaw, “An adaptive controller for power system and
of decentralized controllers, using Multi-Objective load frequency control,” IEEE Trans. Power Syst., vol. 4(1), pp. 122–
128, Feb 1989.
Evolutionary Algorithm (MOEA), for load frequency control [10] V.R. Moorthi, and R.P. Agarawal, “Suboptimal and near optimal control
of interconnected power systems with AC-DC parallel tie- of a load frequency control system,” Proc. Inst. Elect. Eng., vol.119,
lines. Steady state Multi-Objective Evolutionary Algorithm is 1653–1660, Nov 1972.
[11] S.C. Tripathy, T.S. Bhatti, C.S. Jha, O.P. Malik, and G.S. Hope,
based on ε-dominance concept [165]. “Sampled data automatic generation control analysis with reheat steam
Chatterjee published a concept of Dual mode control is turbines and governor dead band effects,” IEEE Trans. Power App.
applied in the PI controller, such that the proportional mode Syst., vol. PAS-103(5), pp. 1045–1051, May 1984.
[12] C. Milan, “Linear regulator design for a load and frequency control,”
is made active when the rate of change of the error is IEEE Transactions on Power Apparatus and Systems, vol. PAS-91(6),
sufficiently larger than a specified limit otherwise switched pp. 2271-2285, November 1971.
to the integral mode. A digital simulation is used in [13] M. Liawc., H. Chaok., “On the design of an optimal automatic
generation controller for interconnected power systems,” Int. J. Control,
conjunction with the Hooke-Jeeve’s optimization technique to vol. 58, pp. 113–127, 1993.
determine the optimum parameters of the PI controller [166]. [14] N. Cohn, “Some aspects of tie-line bias control on interconnected power
Sakhavati et al. was proposed a design method for robust systems,” Amer. Inst. Elect. Eng. Trans., vol. 75, pp. 1415–1436, Feb.
controller which was based on Quantitative Feedback Theory 1957.
[15] J. Nanda; and. B.L. Kaul, “Automatic generation control of an
(QFT). In QFT one of the main objectives is to design a interconnected power system,” IEE Proc., vol. 125(5), pp. 385-390, May
simple, low order controller with minimum bandwidth [167]. 1978.
Optimal gain tuning of PI controllers for various case [16] Kumar P.; and Ibraheem, “AGC strategies: A comprehensive review,”
Int.J. Power Energy Syst., vol. 16(1), pp. 371–376, 1996.
studies for the LFC problem is proposed and obtained using [17] Ibraheem; and Kumar P., “Study of dynamic performance of power
Artificial Bee Colony (ABC) algorithm by [168]. The system with asynchronous tie line considering parameter uncertainties,”
Artificial Bee Colony algorithm which was introduced in IE(I) Journal-EL, vol. 85,pp. 35-42, 2004.
[18] C.F. Hang, and C.F. Lu, “Power system load frequency control with
2005 by Karaboga, is used as an optimization search fuzzy gain scheduling designed by new genetic algorithms,’’ Proc. of
simulates the intelligent foraging behavior of a honey bee IEEE Int. Conf. on Fuzzy systems, Hawaiian, USA, pp. 64-68, May
swarm. Paramasivam et al. [169]. Soheilirad et al. proposed a 2002.

Authorized licensed use limited to: Netaji Subhas University of Technology New Delhi. Downloaded on March 09,2025 at 11:21:33 UTC from IEEE Xplore. Restrictions apply.
 [19] H.G. Kwatny, K.C Kalnitsky, and A. Bhatt, “An optimal tracking [45] I. Vajk, M. Vajta, and L. Keviczky, “Adaptive load frequency controlof
approach to load frequency control,” IEEE Trans. Power App. Syst., vol. Hungarian power system,” Automatica, vol. 21(2), pp. 129 –137, 1985.
PAS-94(5), pp. 1635–1643,Sep/Oct 1975. [46] R.R. Shoultsand, and J.A.J. Ibarra, “Multi area adaptive LFC developed
[20] G. Quazza, “Large scale control problems in electric power systems,” for a comprehensive AGC simulator,” IEEE Trans. Power App. Syst.,
Automatica, vol. 13(6), pp. 579–593, Nov 1977. vol. 8(2), pp. 541–547,Mar 1993.
[21] R.P. Schulte, “An automatic generation control modifications for [47] C. M. Liaw, “Design of a reduced-order adaptive LFC for an
present Demands on interconnected power systems,” IEEE Trans. interconnected hydrothermal power system,” Int. J. Contr., vol. 60(6),
Power Syst., vol. 11(3), pp. 1286–1294, Aug 1996. pp. 1051–1063, Dec. 1994.
[22] R.K. Green, “Transformed automatic generation control,” IEEE Trans. [48] K. Yamashita, and H. Miyagi, “Load-frequency self-tuning regulator for
Power Sys., vol. 11(4), pp. 1799-1804, Nov 1996. interconnected power systems with unknown deterministic load
[23] I.A. Chidambaram, and S. Velusami, “Decentralized biased controllers disturbances,” Int. J. Contr., vol. 49(5), pp. 1556 –1568, May 1989.
for load-frequency control of interconnected power systems considering [49] K. A. Lee, H. Yee, and C. Y. Teo, “Self-tuning algorithm for automatic
governor dead band non-linearity,” IEEE INDICON 2005 Conference, generation control in an interconnected power system,” Elect. Power
Chennai, India, pp. 521-525, Dec 2005. Syst. Res., vol. 20(2), pp. 157 –165, Feb. 1991.
[24] M. Young-Hyun, “Extended integral control for load frequency control [50] P. Gahinet, “Explicit controller formulas for LMI-based H∞ synthesis,”
with consideration of generation-rate constrains,” Proceedings of the Amer. Cont. Conf., vol.3, pp. 2396–2400, Jun 1994.
IEEE PES 2000 Summer Meeting, 2000. [51] K. Jhou, J.C Doyle, and K. Glover, “Robust and Optimal Control,”
[25] D. Das, M.L. Kothari, D.P. Kothari, and J. Nanda, “Variable structure Englewood Cliffs, 1st edition, Prentice-Hall, 1996.
control strategy to automatic generation control of interconnected reheat [52] G. Ray, A.N. Prasad, and G.D. Prasad, “A new approach to the design of
thermal systems,” Proc. Inst. Elect. Eng. Contr. Theory App., vol. robust load-frequency controller for large scale power systems,” Journal
138(6), pp. 579-585, Nov 1991. of Electrical & Electronics Engineering, Vol.9 (2), pp. 977-982, 2009.
[26] IEEE PES Working Group, “Hydraulic turbine and turbine control [53] A. Kakilli, Y. Oguz, H. Calik, “The Modeling of Electric Power Systems
models for system dynamic,” IEEE Trans. Power Syst., vol. PWRS-7(1), on the State Space and Controlling of Optimal LQR Load Frequency,”
pp. 167–174, Feb 1992. Journal of Electrical & Electronics Engineering, Vol.9 (2), pp. 977-982,
[27] P. Kundur, “Power system stability and control,” TMH Publication, 3rd 2009.
edition, 5th reprint, 2008. [54] G. Ray, and C. S. Rani, “Stabilizing decentralized robust controllers of
[28] A.E. Gegov, and P.M. Frank, “Decomposition of multivariable systems interconnected uncertain power systems based on the Hessenberg
for distributed fuzzy control [power system load frequency control],” form:Simulated results,” Int. J. Syst. Sci., vol. 32(3), pp. 387 –399, 2001.
Fuzzy Sets Syst., vol. 73(3), pp. 329–340, Aug 1995. [55] T.C. Yang, and H. Cimen, “Applying structured singular values and a
[29] G.A. Chown, and R.C. Hartman, “Design and Experience with a fuzzy new LQR design to robust decentralized power system load frequency
logic controller for automatic generation control,” IEEE Transactions on control,” ICIT, Shanghai, pp. 880-884, Dec 1996.
power system, vol. 13(3), pp. 965-970, 1998. [56] T. C. Yang, Z. T. Ding, and H. Yu, “Decentralised power system load
[30] K. Sabhi, A. Sharifi, M. Aliyari,Teshnhlab; and M. Aliasghary, “Load frequency control beyond the limit of diagonal dominance,” Int. J. Elect.
frequency control in interconnected power system using multi-objective Power Energy Syst., vol. 24, pp. 173 -184, 2002.
PID controller,” Journal of Applied Science, vol. 8(20), pp. 3676-3682, [57] H.S. Ko, J. Jatskevich, G. Dumont, and G.G. Yoon, “An advanced LMI-
2008. based-LQR design for voltage control of grid-connected wind farm,”
[31] Ibraheem; P. Kumar, and D.P. Kothari, “Recent philosophies of Electric Power Systems Research, vol. 78(4), pp. 539–546, April 2008.
automatic generation control strategies in power systems,” IEEE [58] Y. Wang, R. Zhou, and C. Wen, “Robust load-frequency controller de-
Transactions on Power Systems, vol. 20(1), pp. 346-357, Feb 2005. sign for power systems,” Proc. Inst. Elect. Eng. C, vol. 140(1), pp.111–
[32] Ibraheem, and P. Kumar, “Overview of power system operation and 116, Jan. 1993.
control philosophies,” International Journal of Power and energy [59] M. H. Rahi, and A. Feliachi, “H∞ robust decentralized controller for
System, vol. 26(1), pp. 203-214, 2006. nonlinear power systems,” Proc. 30th South eastern Symp. Syst. Theory,
[33] D.R. Chaudhary, “Modern control engineering,” 3rd edition, PHI, Private pp. 268–270, Mar 1998.
Limited, 2005. [60] A. Kanchanaharuthai, and P. Ngamsom, “Robust H∞ Load-Frequency
[34] A. J. Wood, and B. F. Wollenberg, “Power Generation, Operation, and Control for Interconnected Power Systems with D -Stability Constraints
Control,” 2nd edition, Wiley, New York, 1996. via LMI Approach,” American Control Conference, Portland, 4387-
[35] N. Jaleeli, L.S. Vanslyck, D.N. Ewart, L.H. Fink, and A.G. Hoffman, 4392, 8-10June 2005.
“Understanding automatic generation control,” PAS-7(3), 1106-1122, [61] H. Cimen, “Decentralized H∞ Load Frequency Controller Design Based
Aug, 1992. on SSVs,” TJEE, vol. 8(1), pp. 43-53, 2000.
[36] K. Ogata, “Modern control engineering,” 2nd edition, PHI Publication, [62] A. Al-Tamirni, F.L. Lewis, Y. Wang, “Model-Free H-Infinity Load-
2002. Frequency Controller Design for Power Systems,” ISIC. IEEE 22nd
[37] D.M. Vinod Kumar, “Intelligent controllers for automatic generation International Symposium, pp. 118 – 125, 2007.
control,” In Proc. 1998 IEEE region 10 International Conference on [63] M.E. Mandour, E.S. Ali, M.E. Lotfy, “Modern Electric Power Systems
Global connectivity in Energy, Computer, Communication and Control, (MEPS), Proceedings of the International Symposium, Wroclaw, pp. 1-
pp. 557-574, 1998. 6, sep. 2010.
[38] M.A. Sheirah, and M.M. Abid-Ei-Fattah, “Improved load frequency [64] Chaturvedi D.K, “Soft Computing: Applications to Electrical
self-tuning regulator,” Int. J. Contr., vol. 39(1), 143–158, Jan 1984. Engineering Problem,” 1st ed., Springer Verlag, 2007.
[39] C. Concordia; L.K. Krichmayer, “Tie-line power and frequency control [65] J. Nanda, and A. Mangla, “Automatic generation control of an
of electric power systems,” AIEE Transactions, pt. II, vol. 72, pp.562- interconnected hydro-thermal system using conventional integral and
572, Jun. 1953. fuzzy logic controller,” IEEE International Conference on Electric
[40] P. Kumar, and Ibraheem, “Dynamic performance evaluation of 2-area Utility Deregulation, Restructuring and Power Technologies, 372-377,
interconnected power systems: A comparative study,” J. Inst. Eng., vol. 2004.
78, pp. 199–208, 1998. [66] C.S. Chang, W. Fu., and F. Wen, “Load frequency control using genetic-
[41] Y. L. Karnavas; and D.P. Papadopoulos, “AGC for autonomous power algorithm based fuzzy gain scheduling of PI controllers,” J. of Elect.
system using combined intelligent techniques,” Elect. Power Syst. Res., Machines Power Syst., vol. 26(1), pp. 39–52, Jan 1998.
vol. 62(3), pp. 225-239, Jul 2002. [67] D.R. Patil, “Two area load frequency control with fuzzy gain scheduling
[42] J. Nasser, S. V. Louis, N. E. Donald, H. F. Lester, and G. H. Arthur, of PI controller, parts 1 and 2,” IEEE Trans. Sq’st., Man Cybern, 20(2).
“Understanding automatic generation control: the agc task force,” IEEE [68] LIMK. Y.; WANG Y.; ZHOU R., (1996), “Robust decentralized load
Transactions on Power Systems, vol. 7(3), pp. 1106-1122, August 1992. frequency control of multi-area power systems,” IEE Proc. Gener.
[43] Y. Wang, R. Zhou, and C. Wen, “Robust load-frequency controller Transm. Distrib., vol. 5, pp.377–386, 1990.
design for power systems,” Proc. Inst. Elect. Eng. C, vol. 140(1), pp. [69] A. Rubaai, and V. Udo, “Self-tuning LFC: Multilevel adaptive
111–116, Jan 1993. approach,” Proc. Inst. Elect. Eng. Generation, Transmission, Distrib.,
[44] C. W. Ross, “A comprehensive direct digital load frequency controller,” vol. 141(4), pp. 285–290, Jul 1994.
in Proc. IEEE, PICA Conf. , Pittsburgh, PA, , pp. 231 –238, 1967.

Authorized licensed use limited to: Netaji Subhas University of Technology New Delhi. Downloaded on March 09,2025 at 11:21:33 UTC from IEEE Xplore. Restrictions apply.
 [70] J. Talaq, and F. Al-Basri, “Adaptive fuzzy gain scheduling for load- [95] T. ISHI, G. SHIRAI, and G. FUJITA, “Decentralized load frequency
frequency control,” IEEE Trans. Power Syst., vol. 14(1), pp. 145–150, based on H-inf control,” Electr. Eng. Jpn, vol. 3(136), pp. 28–38, 2001.
Feb 1999. [96] H.L. Zeynelgil, A. Demiroren, and N.S. Sengor, “The application of
[71] Holland J., “Adaptation in natural and artificial systems,” 2nd edition, ANN technique to automatic generation control for multi-area power
Univ. Michigan Press, 1975. system,” Elect. Power Energy Syst., vol. 24(5), pp. 345–354, Jun. 2002.
[72] M. Chilaliand, and P. Gahinet, “H∞ design with pole placement [97] A. Demiroren, Sengor N.S., and H.L. Zeynelgil, “Automatic generation
constraints: An LMI approach,” IEEE Trans. automa. Control, vol. 41, control by using ANN technique,” Elect. Power Compon. Syst., vol.
pp. 358–367, Mar 1996. 29(10), pp. 883–896, Oct 2001.
[73] D. Rerkpreedapong, A. Hasanovic, and A. Feliachi, “Robust Load [98] D. K. Chaturvedi, P. S. Satsangi, and P. K. Kalra, “Load frequency
Frequency Control Using Genetic Algorithms and Linear Matrix control: A generalized neural network approach,” Elect. Power Energy
Inequalities,” IEEE Transactions on Power Systems, vol. 18(2), pp. 855- Syst., vol. 21, no. 6, pp. 405 –415, Aug. 1999.
861, May 2003. [99] H. Bevrani, T. Hiyama, Y. Mitani, K. Tsuji, and M. Teshnehlab, “Load-
[74] H. Kazemim, M. Karrari B. Menhajm, “Decentralized robust adaptive- frequency regulation under a bilateral LFC scheme using flexible neural
output feedback controller for power system load frequency control,” networks,” Eng Int Syst, CRL Publishing Ltd, pp. 109-117, 2006.
Electr. Eng. J., vol. 84, pp. 75–83, 2002. [100] K. Sabahi, M. Teshnehlab, M. Aliyari, and M. Mansouri, “Load
[75] D. Das, and S.K. Aditya, “Design of load frequency controllers using Frequency Control in Interconnected Power System Using Modified
genetic algorithm for two area interconnected hydropower system,” Dynamic Neural Networks,” Fifteenth Mediterranean conference on
Elect. Power Compon. Syst., vol. 31(1), pp. 81–94, Jan 2003. control and automation, Greece, pp. 27-29, July 2007.
[76] A.J. Momoh, “Electric power system applications of optimization,” 2nd [101] T.P.I. Ahamed, P.S.N. Rao, and P.S. Sastry, “A reinforcement learning
edition, Dekker Publication, USA, 2008. approach to automatic generation control,” Elect. Power Syst. Res., vol.
[77] D.K. Chaturvedi, O.P. Malik, and U.K. Choudhury, “Polar fuzzy 63, pp. 9 –26, Aug 2002.
adaptive power system stabilizer,”The Institution of Engineers(India), [102] T.P.I. AHAMED, “A neural network based automatic generation
vol. 90, pp. 35-45, 2009. controller design through reinforcement learning,” Int. J. Emerging
[78] B. Anand; A. Ebenezer Jeyakumar, “Load frequency control with fuzzy Electr. Power Syst., vol. 6(1), pp. 1–31, 2006.
logic controller considering non-linearities and boiler dynamics,” [103] F. Daneshfar, and H. Bevrani, “Load frequency control: A GA based
ICGST-ACSE Journal, vol. 8, pp. 15-20, Jan 2009. multi-agent reinforcement learning,” IET J. of Generation,
[79] P. Aravindan, M.Y. Sanavullah, “Fuzzy logic based automatic load Transmission & Distribution., vol.4(1), pp. 13–26, Jan 2010.
frequency control of two area power system with GRC,” International [104] V.S. Sundaram, and T. Jayabarathi, “A novel approach of load
Journal of Computational Intelligence Research, vol. 5, pp. 37-44, 2009. frequency control in multi area power system,” International Journal of
[80] Q.P. Ha, “A fuzzy sliding mode controller for power system load Engineering Science and Technology, Vol. 3(3), pp. 2494-2506, Mar
frequency control,” In Proc. second international conference on 2011.
knowledge based intelligent electronic systems, pp. 149-154, 1998. [105] S. Matsuhita, K. Yukita, Y. Goto, K. Ichiyangi, S. Aoki, and Y.
[81] T. Hiyama, “Robustness of fuzzy logic power system stabilizers applied Mizutani, “Automatic generation control using GA considering
to multi machine power systems,” IEEE Trans. on Energy Conversion, distributed generation,” Trans. and Distr. Conf. and Exhibition2002:Asia
vol. 9(3), pp. 451-459, Feb 1994. Pacific, vol. 3, pp. 1579-1583, Oct 2002.
[82] C.S. Indulkar, and B. Raj, “Application of fuzzy chacontroller to [106] B.V. Prasanth, and S.V.J. Kumar, “Load frequency control for a two
automatic generation control,” Elect. Machines Power Syst., vol. 23(2), area interconnected power system using robust genetic algorithm
pp. 209–220, Mar.–Apr 1995. controller,” Journal of Theoretical and Applied Information Technology,
[83] T. Sijak, O. Kuljaca, L. Kuljaca, and S. Tesnjak, “Design of fuzzy vol. 2, pp.1204-1212, 2008.
regulator for power system secondary load frequency control,” Proc. of [107] Z.M. Al-Hamouz, and H.N. Al-Duwaish, “A new load frequency
the 10th Med. Conf. on Control and Automation, Lisbon, Portugal, July variable structure controller using genetic algorithms,” Electric Power
2002. Systems Research, vol. 55, pp. 1 – 6, 2000.
[84] A. Ismail, “Robust load frequency control,” in Proc. IEEE Conf. Contr. [108] M. Nikzad, R., Hemmati, S.S.S.A. Farahani, S. Mojtaba, and S.
App., 2, New York, Dayton, OH, 634–5, Sep. Boroujeni, “Comparison of Artificial Intelligence Methods for Load
[85] K.A. El-Metwally, “An Adaptive Fuzzy Logic Controller for a Two Frequency Control Problem,” Australian Journal of Basic and Applied
Area Load Frequency Control Problem,” ieee conf, pp. 300-306, March Sciences, vol. 4(10), pp. 4910-4921, 2010.
2008. [109] ADITYA, “Design of Load Frequency Controllers Using Genetic
[86] Y.H. Moon, R. Heon-Su, K. Baik, and S.C. Park, “Fuzzy logic based Algorithm for Two Area Interconnected Hydro Power System,” Electric
extended integral control for load frequency control,” Proceeding of Power Components and Systems, vol. 31(1), pp. 81-94, Jun 2010.
IEEE winter meeting, vol.1, pp. 1289-1293, May 2001. [110] G. Panda, S. Panda and C. Ardil, “Automatic Generation Control of
[87] H.D. Mathur, and H.V. Manjunath, “A fuzzy based improved intelligent Multi-Area Electric Energy Systems Using Modified GA,” International
controller for automatic generation control,” International Journal of Journal of Electrical and Electronics Engineering, vol. 4(6), pp. 419-
Engineering Simulation, vol. 7(3), pp. 29-35, 2006. 426, 2010.
[88] X. Meng, X. Gong, X. Feng, X. Zheng, and W. Zhang, “ PI fuzzy sliding [111] IBRAHEEM, O. SINGH, N. HASAN, “Genetic algorithm based scheme
mode load frequency control of multiarea interconnected power for optimization of AGC gains of interconnected power system,”
systems,” Proceedings of the 2003 IEEE International Symp. On Journal of Theoretical and Applied Information Technology, pp. 33-39,
Intelligent Control, Houston, Texas, pp. 5-8, Oct 2003. 2005.
[89] Y.H. Song, and A.T. Johns, “Application of fuzzy logic in power [112] R. Arivoli, and I. A. Chidambaram, “Design of Genetic Algorithm (GA)
systems: part 1 general introduction to fuzzy logic,” IEE Power Based Controller for Load-Frequency Control of Power Systems Inter
Engineering Journal, vol. 11(5), pp. 219-222, 1997. Connected With AC-DC TIE-LINE,” Int. J Comp Sci. Emerging Tech,
[90] Y.H. Song, and A.T. Johns, “Application of fuzzy logic in power Vol-2(5), pp. 280-286, Oct. 2011.
systems: part 2 general introduction to fuzzy logic,” IEE power [113] S. Bhongade, B. Tyagi, H.O. Gupta, “Genetic algorithm based PID
Engineering Journal, vol. 12(4), pp. 185-190, 1998. controller design for a multi-area AGC scheme in a restructured power
[91] D. XIUXIA, L. PINGKANG, “Fuzzy logic control optimal realization system,” International Journal of Engineering, Science and Technology,
using GA for multi-area AGC systems,” Int. J. Inf. Technol., vol. 12(7), Vol. 3(1), pp. 220-236, 2011.
pp. 63–72, 2006. [114] J. Kennedy; and R. Eberhart, “Particle swarm optimization,” Proc. of
[92] R. Umrao, and D.K. Chaturvedi, “Load Frequency Control using Polar IEEE Int. Conf. on Neural Networks, Perth, Australia, pp.1942-1948,
Fuzzy Controller,” IEEE conference, Tencon, Fukuoka, Japan, pp. 557- Dec 1995.
562, 21-24 November 2010. [115] J. Kennedy, “The particle swarm: social adaptation of knowledge,” Proc.
[93] T.H. Ortmeyer, and Hiyama T., “Frequency response characteristics of IEEE Int. Conf. Evolutionary Computation, pp. 303–308, April 1997.
the fuzzy polar power system stabilizer,” IEEE Transactions on Energy [116] K. Qi, W. Lei, and Q. Wu, “Research on Fuzzy Adaptive Optimization
Conversion, vol. 10(2), June 1995. Strategy of Particle Swarm Algorithm,” International Journal of
[94] D. K. Chaturvedi, "Artificial Neural Network Learning Using Improved Information Technology, Vol. 12(3), pp. 65-77, 2006.
Genetic Algorithms," Journal of the Institution of Engineers (India), pp. [117] Y.L. Abdel-Magidand, and M.M. Dawoud, “Genetic algorithms
1-8, 2001. applications in load frequency control,” Proc. First Int. Conf. Genetic

Authorized licensed use limited to: Netaji Subhas University of Technology New Delhi. Downloaded on March 09,2025 at 11:21:33 UTC from IEEE Xplore. Restrictions apply.
 Algorithms Eng. Syst.: Innovations and Application, pp. 207–213, Jan [140] S.K. Gautam, K. Goyal, “Improved Particle Swarm Optimization Based
1995. Load Frequency Control In A Single Area Power System,” Annual
[118] A. Adham, P. Amnuaisuk, Somnu, and H.C. Kuan, “Particle Swarm IEEE India Conference (INDICON), pp. 978-981, 2010.
Optimizations: A Critical Review,” IKT, pp. 1-7, 2007. [141] D.C. Das, A. K. Roy, and N. Sinha, “PSO optimized frequency
[119] R. M. Alrashidi, and M. E. El-Hawary, “A Survey of Particle Swarm controller for wind- solar thermal-diesel hybrid energy generation
Optimization Applications in Power System Operations,” Electric system: a study,” International Journal of Wisdom Based Computing,
Power Components and Systems, December, pp. 1349–1357, 2006. vol. 1(3), 128, Dec. 2011.
[120] R. Asanga, S.K. Halgamuge, and H.C. Watson, “Self-Organizing [142] S.M.S. Boroujeni, B.K. Boroujeni, M. Abdollahi, and A. Delafkar,
Hierarchical Particle Swarm Optimizer with Time-Varying Acceleration “Multi-area Load Frequency Control using IP Controller Tuned by
Coefficients,” IEEE Transactions on Evolutionary Computation, vol. Particle Swarm Optimization,” Research Journal of Applied Sciences,
8(3), pp. 240-255, June 2004. E&T, vol. 3(12), pp.1396-1401, 2011.
[121] S. Kok, and J.A. Snyman, “A Strongly Interacting Dynamic Particle [143] D.E. Goldberg, “Genetic algorithms in search optimization and machine
Swarm Optimization Method,” Journal of Artificial Evolution and learning,” Addison–Wesley, 2nd edition, 1989.
Applications, vol. 9, pp. 134-139, 2008. [144] C.F. Juang, “A hybrid of genetic algorithm and particle swarm
[122] M. Clerc, “The swarm and the queen: towards a deterministic and optimization for recurrent network design,” IEEE Trans. Syst., vol.
adaptive particle swarm optimization,” Proceedings of the 1999 34(2), pp. 997–1006, Nov 2004.
Congress on Evolutionary Computation, vol. 3, pp. 1951-1957, 6-9 July [145] S.K. Aditya, and D. Das, “Design of load frequency controllers using
1999. genetic algorithm for two area interconnected hydro power system,”
[123] M. Dorigo, O.M.A. Montes de, and A. Engelbrecht, “Particle swarm Elect. Power Compon. Syst., vol. 31(1), pp. 81–94, Jan 2003.
optimization,” Scholarpedia, vol. 3(11):1486, pp. 1-4, 2008. [146] M. Clerc, and J. Kennedy, “The particle swarm explosion, stability, and
[124] Y. Guangyou, “A Modified Particle Swarm Optimizer Algorithm,” 8th convergence in a multidimensional complex space,” IEEE Trans.
International Conference on Electronic Measurement and Instruments, Evolutionary Computation, vol. 6(1), pp. 58-73, Feb 2002.
2675 – 2679, 2007. [147] F.H. Coodoon, F. Hofhann, and L. Magdalena, “Genetic fuzzy systems:
[125] K. Hsin-Chuan, C. Jiang-Ren, and L. Ching-Hsiang, “Particle Swarm evolutionary tuning and learning of fuzzy knowledge bases,” Advances
Optimization for Global Optimization Problems,” Journal of Marine in Fuzzy Systems-Applications and Theory, World Scientific, vol. 19, Feb
Science and Technology, vol. 14(3), pp. 170-181, 2006. 2001.
[126] L.S. Ho, Y. Shiyou, N. Guangzheng, W.C.L. Edward, and H.C. Wong, [148] C.F. Juang; and C.F. Lu, “Power system load frequency control with
“A Particle Swarm Optimization- Based Method for Multi-objective fuzzy gain scheduling designed by new genetic algorithms,” Proc. of the
Design Optimizations,” IEEE Transactions on Magnetics, vol. 41(5), IEEE Int. Conf. on Fuzzy Sys., vol. 1, pp. 64-68, 2002.
pp. 1756-1759, May 2005. [149] X. Du, and P. Li, “Fuzzy Logic Control Optimal Realization Using GA
[127] Z. Liping, Y. Huanjun, and H. Shangxu, “A New Approach to Improve for Multi-Area AGC Systems,” International Journal of Information
Particle Swarm Optimization,” Genetic and Evolutionary Computational Technology, vol. 12 (7), pp. 1-10, 2006.
Conference, pp. 134–139, 2003. [150] A. Abdennour, “Adaptive Optimal Gain Scheduling for the Load
[128] F. Ma, and X. Chen, “Application of varying population size particle Frequency Control Problem,” Electric Power Components and Systems,
swarm optimization algorithm to AGC of power systems,” Proc. of the vol. 30(1), pp. 45-56, 2002.
6th World Cong. On Intelligent Control and Automation, Dalian, China, [151] R.C. Eberhart, and Y. Shi, “Particle swarm optimization: Developments,
21-23, June 2006. Applications and Resources,” Proceedings of the 2001 Congress on
[129] Y. Shi, and R. Eberhart, “A modified particle swarm optimizer,” Evolutionary Computation, Vol. 1, pp. 81-86, 27-30 May, 2001.
Proceedings for IEEE International Conference on Evolutionary [152] S.P. Ghoshal, and S. Goswami, “Application of GA based Optimal
Computation, pp. 69 – 73, 4-9 May, 1998. Integral Gains in Fuzzy Based Active Power-Frequency Control of Non-
[130] H. Rania, and B. Cohanim, “A Comparison of Particle Swarm Reheat and Reheat Thermal Generating Systems,” Electric Power
Optimization and the Genetic Algorithm,” American Institute of Systems Research, vol. 67, pp. 79-88, Mar 2003.
Aeronautics and Astronautics, pp. 1-13, 2004. [153] S.P. Ghoshal, “Application of GA/GA-SA based fuzzy automatic
[131] P. Sidhartha, and N. P. Padhy, “Comparison of Particle Swarm generation control of a multi-area thermal generating system,” Elect.
Optimization and Genetic Algorithm for TCSC-based Controller Power Syst. Res., vol. 70(2), pp. 115–127, Jul 2004.
Design,” International Journal of Computer Science and Engineering, [154] Hang C.F.; and Lu C.F., (2002), “Power system load frequency control
vol. 1, pp. 41-49, 2007. with fuzzy gain scheduling designed by new genetic algorithms’’, Proc.
[132] M. Vladimiro, and N. Fonseca, “EPSO - Evolutionary Particle Swarm of IEEE Int. Conf. on Fuzzy systems, Hawaiian, USA, 64-68, May.
Optimization, a New Algorithm with Applications in Power Systems,” [155] Roy R.; and Ghoshal S.P., (2006), “Evolutionary Computation Based
pp. 1-6, 2004. Optimization in Fuzzy Automatic Generation Control,” IEEE Trans. on
[133] M. Nikzad, S.S.S. Farahani, M.G. Naraghi, M.B. Tabar, and A. Power Systems, Vol.8, 61-68, May.
Javadian, “Comparison of meta heuristic optimization methods in load [156] D. Swagatam, A. Ajith, and K. Amit, “Particle Swarm Optimization and
frequency control,” Indian Journal of Science and Technology, vol. 4 Differential Evolution Algorithms: Technical Analysis, Applications and
(7), July 2011. Hybridization Perspectives,” Computational Intelligence (SCI) 116, vol.
[134] H. Gozde, M. C. Taplamacioglu, I. Kocaarslan, and E. Cam, “Particle 1(38), 2008.
Swarm Optimization Based Load Frequency Control in a Single Area [157] T. Krink, and M. Lovberd, “The life cycle model: combining particle
Power System,” UPECSB, Vol. 2(8), pp.1-6, 2008. swarm optimization, genetic algorithm and hill climbers,” Proc. Parallel
[135] H. Gozde, M.C. Taplamaclu, I. Kocaarslan, “A Swarm Optimization Problem Solving from Nature, Granada, Spain, pp. 115-119, Sept 2002.
Based Load Frequency Control Application in a Two Area Thermal [158] S. Naka, T. Genji, T. Yuru, and Y. Fukuyama, “A hybrid particle swarm
Power System,” ELECO, Busra, pp. 124-128, 5-8 Nov. 2009. optimization for distribution state estimation,” IEEE Trans. on Power
[136] R. Jayanthi, and I.A. Chidambaram, “Decentralized controller gain Systems, vol. 18, pp. 60-68, Feb 2003.
scheduling using PSO for power system restoration assessment of an [159] Tsai, Jinn-Tsong; Liu; Tung-Kuan; Chou; and Jyh-Horng, “Hybrid
interconnected power system with SMES unit,” IJRRCS, vol. 2(2), 389- Taguchi-Genetic Algorithm for Global Numerical Optimization,” IEEE
396, April 2011. Trans. on Evolutionary Computation, vol. 8(4), pp. 365-377, August
[137] B.S.A. Omari, and A.S.A. Hinai, “Design of PID-Swarm Load 2004.
Frequency Controller of Interconnected Power System,” International [160] J. Nanda, S. Mishra, and L.C. Saikia, “Maiden Application of Bacterial
Conference on Communication, Computer & Power (ICCCP’07) Foraging-Based Optimization Technique in Multiarea Automatic
Muscat, pp. 1-5, Feb. 2007. Generation Control,” IEEE Transactions on power systems, vol. 24(2),
[138] S. A. Taher, R. Hematti, A. Abdolalipour, and S. H. Tabei, “Optimal pp. 602-609, May 2009.
Decentralized Load Frequency Control Using HPSO Algorithms in [161] E.S. Ali, and S.M. Abd-Elazim, “Optimal PID Tuning for Load
Deregulated Power System,” American Journal of Applied Sciences, vol. Frequency Control Using Bacteria Foraging Optimization Algorithm,”
5(9), pp. 1167-1174, 2008. Proceedings of the forteenth International Middle East Power Systems
[139] H. Shayeghi, H.A. Shayanfar, A. Jalili, “LFC Design of a Deregulated Conference (MEPCON’10), Egypt, pp. 19-21, December 2010.
Power System with TCPS Using PSO,” International Journal of [162] S. Pothiya, I. Ngamroo, S. Runggeratigul, and P. Tantaswadi, “Design of
Electrical and Electronics Engineering, Vol. 3 (10), pp. 632-640, 2009. Optimal Fuzzy Logic based PI Controller using Multiple Tabu Search

Authorized licensed use limited to: Netaji Subhas University of Technology New Delhi. Downloaded on March 09,2025 at 11:21:33 UTC from IEEE Xplore. Restrictions apply.
 Algorithm for Load Frequency Control,” International Journal of
Control, Automation and Systems, vol. 4(2), pp. 155-164, April 2006.
[163] K. Vrdoljak, N. Peric, and I. Petrovic, “Sliding mode based load-
frequency control in power systems,” Electric Power Systems Research,
vol. 80, pp. 514–527, 2010.
[164] Dong L., Zhang Y., “On Design of a Robust Load Frequency Controller
for Interconnected Power Systems,” 2010 American Control
Conference, Baltimore, pp. 1731-1736, June-July 2010.
[165] S. Ganapathy, S. Velusami, “MOEA based Design of Decentralized
Load-Frequency Controllers for Interconnected Power Systems with
AC-DC Parallel Tie-lines and Considering Nonlinearities,”
International Journal of Computer Applications, Vol.1(8), pp. 32-37,
2010.
[166] K. Chatterjee, “PI Controller for Automatic Generation Control Based
on Performance Indices,” World Academy of Science, Engineering and
Technology, vol. 75, pp. 321-328, 2011.
[167] A. Sakhavati, G.B. Gharehpetian, and S.H. Hosseini, Decentralized
robust load-frequency control of power system based on quantitative
feedback theory,” Turk J Elec Eng & Comp Sci, vol. 19(4), pp. 513-530,
2011.
[168] R. Jayanthi, I.A. Chidambaram, “Power System Restoration Index for
Load Frequency Control Assessment Using Artificial Bee Colony
Algorithm in a Two-Area Reheat Interconnected Power System
Coordinated with SMES Units,” International Journal of Soft
Computing and Engineering (IJSCE), vol. 1(6), pp. 361-370, Jan. 2012.
[169] B. Paramasivam, and I.A. Chidambaram, “Design of Load-frequency
Controller using Artificial Bee Colony Algorithm for an Interconnected
Power System Coordinated with UPFC and RFB,” International Journal
of Computer Applications, vol. 36(5), pp. 1-12, December 2011.
[170] M.S. Soheilirad, M.A.J. Ghasab, S. Sefidgar, and A. Saberian, Tuning of
PID Controller for Multi Area Load Frequency Control by Using
Imperialist Competitive Algorithm,” Journal of Basic and Applied
Scientific Research, vol. 2(4), pp. 3461-3469, 2012.

Authorized licensed use limited to: Netaji Subhas University of Technology New Delhi. Downloaded on March 09,2025 at 11:21:33 UTC from IEEE Xplore. Restrictions apply.