ICSET 2008
Stability Analysis Based on Synchronized
Phasor Measurements
B. B. Monchusi, Student Member, IEEE, Y. Mitani, Member, IEEE, L. Changsong, Student Member,
IEEE and S. Dechanupaprittha, Student Member, IEEE.
 overview of the small stability of the system operating state is
Abstract-- A method to analyze stability on a multi-machine
power system was developed. For steady state estimation the
phasor voltages and angles were used to calculate the frequency
deviations. The calculated frequency deviations were then
filtered by an FFT filter to extract the power oscillations. By
linearly approximating a set of differential equations, the
Eigenvalues for the system were identified from the dominant
mode. To do transient stability analysis, rotor angles were
calculated from generator parameters; phasor voltages and
currents by using direct methods. The Equal Area criterion was
used to analyze disturbance scenario and determine the critical
stability region of the power system. The algorithms developed
were tested on a four-machine two area system by simulation of
disturbance scenario in the network.
Index Terms--Phasor Measurement, Steady State Estimation,
Fast Fourier Transform, Transient Stability, Equal Area
Criteria.
I. INTRODUCTION
The time varying coefficients of phase quantities make it
difficult for utilities to use synchro-phasor measurements to
control and stabilize the power system. The phasor
measurements are gathered by Phasor Measurement Units
(PMUs) with Global Positioning System (GPS) from power
plants and transmitted to a central place to determine
generator angles and speeds [1]. Prior knowledge of the
system and direct measurements are necessary to ensure that
phasor measurements give a real picture of the rotor angle [2].
The generator measurable outputs with its electrical
parameters have been used to estimate the state variables [3].
Small signal stability is the ability of a system to return to a
normal operating state following a small disturbance. When
eigenvalues are used to analyze the disturbance, a complete
This work was supported in part by a Grant-in-Aid for Scientific Research
under Grant (A) 18206028 of JSPS.
B. B. Monchusi is with the Department of Electrical Engineering, Kyushu
Institute of Technology, Japan (e-mail: g586405b@tobata.isc.kyutech.ac.jp).
Y. Mitani is with the Department of Electrical Engineering, Kyushu
Institute of Technology, Japan (e-mail: mitani@ele.kyutech.ac.jp).
L. Changsong is with the Department of Electrical Engineering, Kyushu
Institute of Technology, Japan (e-mail: g586407c@tobata.isc.kyutech.ac.jp).
S. Dechanupaprittha is with the Department of Electrical Engineering,
Kyushu Institute of Technology, Japan (e-mail:
e586406s@tobata.isc.kyutech.ac.jp).
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978-1-4244-1888-6/08/$25.00 
c 2008 IEEE
presented [4].
This paper presents a method to detect oscillations from
frequency deviations. The calculated frequency deviation was
filtered by an FFT filter to extract the power oscillations. For
evaluation of power oscillations, the frequency amplitude was
calculated using Eigenvalues. The Eigenvalues were also
calculated using the space model obtained from the load-flow
solution. The results were compared with the FFT results.
Transient stability involves the determination of non-linear
system dynamic response to large disturbances [4]. A method
to analyze transient stability using Equal Area Criteria, Phasor
Measurement Units (PMUs) and generator parameters was
discussed. The generators internal angles were calculated by
using voltages and currents, measured by PMUs placed at the
terminals of the generator busses, and generator parameters.
The maximum electrical power was predicted from the data
measured by the phasor measurements and generator
parameters in angle subspace using the least square method.
The transient stability was analyzed by the area under the
power delta curve using the Equal Area Criteria method and
the critical clearing time.
The multi-machine network was reduced to a single
machine infinite bus (SMIB) to be used for transient stability
assessment. The dynamic equations were integrated using the
fourth order Runge-Kutta method to simulate the rotor angle.
A three phase fault applied on one of the generator buses for
simulations.
The rest of the paper discusses the formulation of the
algorithm to asses the multi-machine bus system for
oscillation detection and transient stability analysis. The
algorithms were tested through simulations.
II. STEADY STATE
During steady state operation, the frequency deviation
between the voltage phasors was calculated and filtered by an
FFT filter to detect the oscillation in the data. FFT filters data
by direct manipulation in the frequency domain. For precise
estimation of the dominant modes, the frequency outside the
required range was removed. The inverse of the FFT was then
computed on the filtered data[5].
The central oscillation frequency of the original data was
computed by filtering with initial frequency band and then set
from analyzing the FFT of the original data. The filtered data V2 ·
§ 1 1 · 2 § IfdXad · §
contains only the component of the wanted frequency. The ¨  ¸Vq  ¨ ¸Vq  ¨¨ Qg  ¸¸ (3)
formula for the central frequency ( f 0 ) according to [5] is: © xq xd ¹ © xd ¹ © xq ¹

n
1
¦ (T The rotor angle į can then be computed by
 Ti 1 )
f i 2 i
(1)
0 n 1 Vq V cosG  T  (4)
The new filtering width ǻf of the second time FFT Filter is
set at a value of the central frequency r 0.08Hz. and be used in the swing equations to calculate the
acceleration power of machines.
The frequency deviation variables were used to construct
the oscillation model below.

. B) Combining machines
ª .. º ª ºª º ª . º
«'G 12 » «0 1 » «'G 12 » «'G 12 » Assuming that the coherency is known, the inertia constant
« . » « ».« » A.« » (2) of the equivalent machine can be calculated by summing the
«' Z 12 » «D 1 » «' Z 12 » «' Z 12 » inertia of the individual machines in a coherent area. The
«¬ »¼ ¬ D 2 ¼ «¬ »¼ «¬ »¼ machine which swing together were combined together to
form one group and the other machines another group. The
'G 12 and Z 12 are the extracted phase difference and the network was reduced to a two machine system. The two
extracted frequency difference .Complex Eigenvalues of the machine network was further reduced to a single finite
state matrix, whose real part and imaginary part respectively machine and an infinite bus. The equivalent inertia constant,
represents the damping and frequency of dominant oscillation delta and electric power were computed.
were calculated from the oscillation model [5]. The mode
The area under the power-delta curve can be calculated
shapes corresponding to the generator speed state entries for
from the swing equation, with a three phase fault on as
each of the critical modes were determined. The mode shape
follows
help classify whether the modes are local or inter-area.

Fig. 1, shows the FFT filter process. M BMc

M
MB  Mc (5)
/GCUWTGRJCUQTXQNVCIG

Calculate the frequency deviation Where B is one group of machines that swing together and
C represents another group.
FFT Filter with initial frequency band

M B PB  M c Pc
Compute central oscillation frequency f0
Pe
MB  Mc (6)
Set new filter frequency band to f0·ǻf

Set new filter frequency band to f0·ǻf

Where Pe is the electrical power
Data used in oscillation mode equation

G G B  GC (7)
Fig. 1. FFT filter process

IV. TRANSIENT STABILITY

III. SYSTEM REDUCTION
A) System
A multi-machine system was chosen for this study. The
assumption was made that voltages and current can be
measured by synchronized phasor measurement devices at the
terminal of the generator. Additionally, the generator
parameters were known. According to [3], if the external bus
voltage has a magnitude of V and phase Ԧ, Vd and Vq, which
are the components of the bus voltage after they have been
converted by Parks transformation from;
A) Equal Area Criteria
Using a time-domain program, the paper followed the
procedure for Single Machine Infinite Bus (SIME) [6]. The
machines which swing together were identified and grouped
together. The groups were then replaced by a two machines
system, and then converted into an equivalent single machine
system. The transient stability was then assessed using Equal
Area Criteria [6]. From the swing equation,

Vq can be calculated by

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 d 2G Multi-machine system
M Pa
dt 2 (8) Calculation of rotor angle from phasors and generator parameters

Reduction of generators to two machines

Pa Pm  Pe
(9) Reduction of system to SMIB

Where Pa is the accelerating power and Pm the Calculation of delta, M, Pe, Pa for SMIB

mechanical power. Equal Area Criteria –power-delta curve

The area under the power-angle curve can be calculate by Asses stability – critical clearing time

Gc Fig. 2. Stability analysis process

A1 ³G (Pmech  Pmax D sinG ).dG
0 (10) Fig. 2 shows a summary of the process that was developed
for the analysis of a fault on a multi-machine system.
(S Gp)
A2 ³G Pmax P sinG  Pmech).dG
c  (11) V. SIMULATIONS

Where The method developed was tested on a four machine

system. The four-machine system was designed on Dymola
D= during fault with objectstab. A contingency of the system with a temporary
fault on the generator 1 bus was simulated on Matlab see Fig.
P= post fault 3.
G1
C=Clearing time : : 3rd
3rd T... T...

L1...

L1...
Bus1 L3_10... L101_... Bu... Bu... G3
Area A1 is the accelerating positive area and A2 is the L3_20 L13_...
decelerating or negative area. L3_10...
G2 Bu... Bu... Bu...
: Bus3 Bu... : 3rd
The critical clearing time is the maximum time between the 3rd T... Bus4 T...

Bus5
j1

j1
fault initiation and its clearing for a transient stable network Bus2 Bu... G4

12 + j ...
10 + j 1

[6]. When the critical clearing angle is known, the critical

Z...

Z...
clearing time can be computed by
Fig. 3. Four machine system

2M (G c c  G 0 )
tcc The swing curves of the four machines are shown below in
Pmech Fig. 4.
(12)
Delta vs Time

CC stands for critical clearing. 1.0

G2.delta [rad] G4.delta [rad] G1.delta [rad] G3.delta [rad]

0.9

B) Assessing Stability 0.8

0.7
The stability limit for the SMIB system was defined as a
delta(rad)

condition where the decelerating area A2, equals the 0.6

accelerating area A1. The transient stability of the system is 0.5

assured when A1<A2. 0.4

0.3

The dynamic equations were integrated using the fourth 0.2

0 4 8 12 16 20
order Runge-Kutta method to simulate the rotor angle. time(sec)

Fig. 4. Rotor angle movement for the 4 generators

Fig. 5, shows the frequency deviation for each of the four

generators used for the simulation.

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 䏛䎃䎔䎓
䎐䎗
together, that is, G1+G2 and G3+G4. The grouped machines
䎛
䏙䎔䏉䏕䏈䏔 rotate 180й apart from each other.
䏙䎕䏉䏕䏈䏔
䎙 䏙䎖䏉䏕䏈䏔
䏙䎗䏉䏕䏈䏔
The two machines network was further reduced into a
䎗 SMIB. The inertia constant, delta and the electrical power
were calculated according to (5), (6) and (7) respectively.
䎩䏕䏈䏔䏘䏈䏑䏆䏜䎃䎋䎫䏝䎌

䎕
Using the least square method the maximum electrical power
䎓
was determined to be 6.3215 p.u. see figure 7. The stable
equilibrium point was reached at 15.369˚ and the unstable
䎐䎕 equilibrium point at 164.63˚.
䎐䎗 䎳䏒䏚䏈䏕䎃䏙䏖䎃䎧䏈䏏䏗䏄䎃䎦䏘䏕䏙䏈
䎚

䎐䎙 䎙 䎻䎝䎃䎔䎑䎘䎜
䎓 䎘䎓䎓 䎔䎓䎓䎓 䎔䎘䎓䎓 䎕䎓䎓䎓 䎕䎘䎓䎓 䎖䎓䎓䎓 䎖䎘䎓䎓 䎗䎓䎓䎓 䎗䎘䎓䎓 䎼䎝䎃䎙䎑䎖䎕
䎷䏌䏐䏈䎋䏖䏈䏆䎌
䎘

Fig. 5. Waveforms of the frequency deviation for each generator 䎗

䏓䏒䏚䏈䏕䎋䏓䎑䏘䎑䎌
The frequency range of the dominant oscillation mode was 䎖

estimated from the FFT results. The dominant oscillation 䎻䎝䎃䎓䎑䎕䎛 䎻䎝䎃䎕䎑䎛䎚

mode was found to be around 0.4957Hz for the analyzed data 䎕 䎼䎝䎃䎔䎑䎙䎚䎘 䎼䎝䎃䎔䎑䎙䎚䎘

see figure 6. The frequency band of the FFT was then set 䎔

between 0.4-0.6Hz. 䎓
䎓 䎜䎓 䎔䎛䎓
䏇䏈䏏䏗䏄䎋䏇䏈䏊䏕䏈䏈䏖䎌

Using the formula (1), the centre frequency was calculated

to be 0.5109 for the four machine model. The centre Fig. 7. Power delta curves for SMIB
frequency of the dominant oscillation mode was used to For stability, the accelerating area must be greater or equal
extract data by the FFT filter, in order to estimate the to the decelerating area. Table 1 shows the accelerating and
oscillation model. decelerating areas at different time steps. In figure 8, the fault
was cleared at 0.1 seconds and the rotor angle remained
stable.
䎐䎖
䏛䎃䎔䎓
䎔

䎓䎑䎜 TABLE I
䎓䎑䎛
TIME STEPS AND CORRESPONDING AREA AND POWER ANGLES
䎓䎑䎚

䎓䎑䎙
Time A1 A2 Clearing Angle
0.01 0.0032 6.9826 15.4918
䎤䏐䏓䏏䏌䏗䏘䏇䏈

䎓䎑䎘

䎓䎑䎗
0.02 0.0130 6.9824 15.8643
䎓䎑䎖
0.03 0.0292 6.9816 16.4852
䎓䎑䎕
0.04 0.0518 6.9794 17.3544
䎓䎑䎔
0.05 0.0810 6.9747 18.4719
0.06 0.1166 6.9662 19.8377
䎓
䎓 䎓䎑䎕 䎓䎑䎗 䎓䎑䎙 䎓䎑䎛 䎔
䎩䏕䏈䏔䏘䏈䏑䏆䏜䎋䎫䏝䎌
䎔䎑䎕 䎔䎑䎗 䎔䎑䎙 䎔䎑䎛 䎕
0.07 0.1587 6.9523 21.4519
0.08 0.2073 6.9311 23.3145
Fig. 6. FFT results 0.09 0.2624 6.9004 25.4253
The new filtering frequency band for the second time filter 0.1 0.3239 6.8580 27.7845
was set to f0-0.08Hz~f0+0.08Hz. The Eigenvalue was found 0.2 1.2956 5.2204 65.0351
to be  0.0971 r j 3.1146 and the frequency 0.4957Hz, 0.25 2.0244 3.2764 86.4801
indicating inter-area oscillations. 0.26 2.1896 2.8221 99.3056
0.27 2.3613 2.3619 105.8866
A mathematical model of the system made up of a set of 0.28 2.5394 1.9060 112.7159
non-linear first order differential equations was linearized 0.3 2.9152 1.0561 127.1194
around and equilibrium point from the load-flow solution. The 0.309 3.0927 0.7247 133.9251
Eigenvalue calculated from the state space model was 0.30908 3.0943 0.7220 133.9865
 0.058464 r j 0.3.3841 and the frequency, 0.5381Hz. There 0.4 5.1825 2.0534 214.0374
was a difference of 0.0424Hz in the frequency calculated
using both methods.

The four machines system was reduced to form a two

machines system by combining the machines that swing

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 䎗䎓
䎶䏚䏌䏑䏊䎃䎨䏔䏘䏄䏗䏌䏒䏑䎃䎶䏒䏏䏘䏗䏌䏒䏑 VI. CONCLUSION
䎖䎘
Oscillations were analyzed from measured synchronized
䎖䎓
phasors of voltage for steady state. Natural angular frequency
䎕䎘 was estimated from the phase angle fluctuations at steady
䎕䎓 state. The FFT filter was used to extract the desired frequency
䎧䏈䏏䏗䏄䎋䎧䏈䏊䏕䏈䏈䏖䎌

䎔䎘 from the angular frequency. Inter-area oscillations were

䎔䎓 observed at 0.4957 Hz from the frequency deviations. An
䎘
Eigenvalue scan between 0.4 and 0.6Hz on all generator
䎓
frequency deviation was done to determine the mode of the
䎐䎘
oscillations. Inter-area oscillations were observed. Using the
load-flow information, the oscillations were observed at
䎐䎔䎓
䎓 䎓䎑䎘 䎔 䎔䎑䎘 䎕 䎕䎑䎘
䎷䏌䏐䏈䎋䎶䏈䏆䏒䏑䏇䏖䎌
䎖 䎖䎑䎘 䎗 䎗䎑䎘 䎘
0.5381Hz.

Fig. 8. Stable rotor angle Transient stability was assessed on a multi-machine system
using the equal area criteria based on measurements from
Figure 9 shows the rotor angle just before the critical
PMUs and generator parameters. The multi-machine system
clearing time. The calculated critical clearing time for the
was reduced to a two machine system, then to a single
SMIB was 105.8933й and the critical clearing time, 0.27001
machine equivalent. The stability criterion was developed on a
seconds according to (12). The initial angle was calculated to SMIB system using the area under the power-delta curve and
be 15.368й . the critical clearing time. It was proven that transient stability
can be assessed on a multi-machine system through PMU
䎕䎓䎓
䎶䏚䏌䏑䏊䎃䎨䏔䏘䏄䏗䏌䏒䏑䎃䎶䏒䏏䏘䏗䏌䏒䏑
measurements, generator parameters and the equal area
criteria; using the area under the power-delta curve area and
䎔䎘䎓 critical clearing time.

䎔䎓䎓
VII. ACKNOWLEDGMENT
䎧䏈䏏䏗䏄䎋䎧䏈䏊䏕䏈䏈䏖䎌

䎘䎓
This work was supported in part by a Grant-in-Aid for
Scientific Research (A) 18206028 of JSPS.
䎓

䎐䎘䎓
VIII. REFERENCES
[1] Vidalinc, A., “On-Line Transient Stability Analysis of a Multi-Machine
䎐䎔䎓䎓
Power” Virginia Polytechnic Institute and State University, July 1997.
䎓 䎓䎑䎘 䎔 䎔䎑䎘 䎕 䎕䎑䎘 䎖 䎖䎑䎘 䎗 䎗䎑䎘 䎘
[2] Del Angel, A., “Artificial Neural Networks to estimate rotor angles and
䎷䏌䏐䏈䎋䎶䏈䏆䏒䏑䏇䏖䎌
speeds from phasor measurements”, 2003.
[3] Venkatasubramanian, V.; Kavasseri, G.; “Direct computation of
Fig. 9. Rotor angle near the critical clearing time
Generator internal dynamic states from terminal measurements", IEEE
In figure 10, the fault was cleared at 0.4s which resulted in Proceedings of the 37th Hawaii International Conference on System
Sciences, 2004.
an unstable rotor angle.
[4] Liu, S., “Assesing placement of controllers and non-linear behaviour of
electrical power system using normal form information” Iowa State
University, 2006.
䎗
䏛䎃䎔䎓 䎶䏚䏌䏑䏊䎃䎨䏔䏘䏄䏗䏌䏒䏑䎃䎶䏒䏏䏘䏗䏌䏒䏑
䎖䎑䎘
[5] Changsong, L.; Watanabe,M.; Mitani, Y.; Okubo,M.; Yokota,K;”
䎖
Estimate Global Steady State Stability Based on One Location Phasor
Measurement”, Japan,2007.
[6] Pavella, M.; Murthy, P.G., " Transient Stability of Power Systems:
䎕䎑䎘
Theory and Practice ", John Wiley & Sons Ltd., 1994.
[7] Kimbark, W.K, “Power System Stability Volume 1 Elements of Stability
䎧䏈䏏䏗䏄䎋䎧䏈䏊䏕䏈䏈䏖䎌

䎕
Calculations” IEEE Press Power Engineering Series, 1995, New York.
[8] P.Kundur, Power System Stability and Control, McGraw Hill, 1994.
䎔䎑䎘 [9] Yu.Y, Electric Power System Dynamics, Academic Press, 1983.
[10] Pavella, M.; Damien, E.; Ruiz-Vega, D, " Transient Stability of Power
䎔 Systems: A unified Approach to Assessment and Control ", Kluwer
academic Publishers, USA. 1934.
䎓䎑䎘 [11] Pavella, M.; Messina, R.; E.; Ruiz-Vega, D, “A Novel Approach to the
Assessment of Power System Damping ", 14th PSCC, Sevilla, 28-29
䎓
June 2002.
䎓 䎓䎑䎘 䎔 䎔䎑䎘 䎕 䎕䎑䎘 䎖 䎖䎑䎘 䎗 䎗䎑䎘 䎘
䎷䏌䏐䏈䎋䎶䏈䏆䏒䏑䏇䏖䎌

Fig. 10. Unstable rotor angle

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