ICREISG-2020, February 14 – 15, 2020, Bhubaneswar India

Secondary load frequency control of an islanded

microgrid by SSA optimized hybrid PID-LQG
controller
Sonalika Mishra Pratap Chandra Nayak Umesh Chandra Prusty
Department of Electrical Engineering. Department of Electrical Engineering. Department of Electrical Engineering
Veer Surendra Sai University of Veer Surendra Sai University of Veer Surendra Sai University of
Technology, Burla, India Technology, Burla, India Technology, Burla, India
sonalikamishra146@gmail.com pratapc.nayak@gmail.com umeshpintu1992@gmail.com

Ramesh Chandra Prusty

Department of Electrical Engineering
Veer Surendra Sai University of
Technology, Burla, India
ramesh.prusty82@gmail.com

Abstract—This study proposes a salp swarm algorithm
(SSA) tuned hybrid PID-LQG controller for load frequency
control of an isolated microgrid. In the beginning, micro-grid
considered here is a cluster of renewable energy sources such
as photovoltaic (PV), wind turbine generator (WTG) and
battery storage system which diverges from their optimal
operating point due to change in its environment. The optimal
value of the suggested PID-LQG controller is determined by
the SSA method. The supremacy of the proposed controller is
tested over the PI and PID controller. The results of SSA tuned
hybrid PID-LQG are compared to the genetic algorithm (GA)
and particle swarm optimization algorithm (PSO). It is noticed
that of SSA tuned hybrid PID-LQG controller is more effective
compared to some recently proposed approaches.
Keywords—Renewable energy, Microgrid, Salp
algorithm, Linear quadratic gaussian
I. INTRODUCTION
In the current scenario renewable energy sources, for
example, photovoltaic, wind turbine, biogas, fuel cell, diesel
and geothermal etc. are mostly preferred to be used in power
generation. These sources are accomplished with benefits
such as they reduce greenhouse effects and pollution,
diversifying energy supply. The utilization of renewable
energy sources (RES) in the microgrid has become more
popular. A microgrid is a small entity that can operate
independently and it inherits all the features of the main grid.
It is beneficial to be used in remote areas where the
transmission lines cannot reach. Whenever a load change
occurs in a power system it causes production and demand
mismatch. This results in the load frequency to divert and
disturbs the tie line interchange schedule. For the steady
function of the power system, it is required that the
generation should meet the load demand. In order to achieve
this load frequency control is introduced which aims is to
maintain the load frequency within a nominal rating. Under
the changing environment of the power system requires an
efficient control methodology. The design of an adequate
controller needs again an advanced optimization method.
Literature has shown the implementation of many advanced
optimization technologies in the field of the power system.
For automatic generation control using various tuning
techniques such as MFO, SOS, and improved SOS are
studied in [1-5]. The genetic algorithm has been applied for
the solar-thermal-diesel wind hybrid model at varying load
condition and comparative analysis between GA optimized
PI & PID controller has been shown [6]. Jaya algorithm is
implemented for two area microgrid system for load
frequency regulation[7], Symbiotic Organism Search(SOS)
algorithm based PID controller is carried out[8], Ant lion
optimizer (ALO) based NCTF controller integrated with
WECS based DFIG system have been shown[9], Load
frequency regulation in microgrid based on stochastic non-
integer order controller is carried out[10], improved salp
swarm algorithm based type-II fuzzy controller in load
swarm frequency control of multi-area microgrid[11], study of
teaching-learning based optimization algorithm tuned
controller for automatic load frequency control of multi-
source power systems[12], comparison between performance
analysis of tuning methods selection for FOPID controllers
design[13] and LQG controller design for load frequency
control (LFC) using genetic algorithm (GA) in power
system[14] have been applied for solving AGC Problem. For
solving the load frequency problem a newly raised algorithm
called alp swarm algorithm which is based on the swarming
nature of ocean insect’s salp is introduced.
II. MODEL EXPLANATION
The two areas multi microgrid system considered is a cluster
of PV, WTG, Diesel and battery storage systems such as
(battery energy storage systems) BESS and (Flywheel
energy storage system)FESS. The transfer function model of
the model under study is shown in Fig. 1. The two MGs are
interconnected trough the tie line. The distribution
management system (DMS) does the control operation of
the power system. The primacy of the designed controller is
compared to the PID and fuzzy PID controller under the
variation of different load conditions. The authentication of
the formulated algorithm is examined over the genetic
algorithm (GA) and particle swarm optimization (PSO). The
nominal parameter values are listed in the appendix.

978-1-7281-7034-3/20/$31.00 ©2020 IEEE

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 ICREISG-2020, February 14 – 15, 2020, Bhubaneswar India

Fig. 1 Schematic block diagram of the microgrid with the controller

III. HYBRIDPID-LQG CONTROLLER through the matrix Riccati equation [10], but other simple
methods to find Q and R matrix generally needs some trial
A conventional PID controller is a well-known
and error method. It is applied in this work. Q and R matrix
controller as it is mostly preferred by researchers. It is
are generally considered as diagonal matrices. ‘K’ is found
mostly is popular for its simple structure, reliability and
by using MATLAB function LQR().
efficient function at a reasonable cost. It operates in three
modes proportional, integral and derivative. The Q and R-value chosen here is
A. Linear quadratic Gaussian
10.73 0 0 
Linear quadratic Gaussian (LQG) is a strategy used to 
control linearized control problems. This controller optimizes Q=
 0 0.15 0  (3)
the act of a system by reducing the quadratic performance
index of that system to minimum. A grouping of a linear
 0 0 2.08
quadratic regulator with Kalman filter forms the structure of R=3.295
LQG.
K1 for area1= [0.8275, 0.5912, 0.3602]
B. Linear quadratic regulator K2 for area2= [1.1783, 0.8324, 0.5194]
It is an optimal controller used for linear systems based C. Kalman filter
on a control law i.e. u = − KX (t ) . ‘K’ stands for the LQR
To make efficient state feedback control for the system,
gain matrix. This control law ‘u’ depends upon gain matrix full state measurement of the system is an essential task and
‘K’. The state-space equation for the system is represented
all the states of the system should be feedback to the
as ܺሺ‫ݐ‬ሻ ൌ ܲܺሺ‫ݐ‬ሻ ൅ ‫ܷܪ‬ሺ‫ݐ‬ሻ (1)
controller. It can be done by a separate observer which is to
The objective of this control approach is to minimize the be connected in the feedback path. It is known as the
quadratic performance index. Here it is described in terms of Kalman filter.
a fitness function. The quadratic performance index is A system can be defined by its input and output state given
denoted by J. by equations below
ܺሶ ሺ‫ݐ‬ሻ ൌ ܲ‫ݔ‬ሺ‫ݐ‬ሻ ሶ ൅ ‫ݑܪ‬ሺ‫ݐ‬ሻ ൅ ‫ݓ‬ (4)

J= ( X T QX + U T RU ) dt (2)
ܻሺ‫ݐ‬ሻ ൌ ‫ݔܧ‬ሺ‫ݐ‬ሻ ൅ ‫ݑܨ‬ሺ‫ݐ‬ሻ ൅ ‫ݒ‬ (5)
Q' stands for a positive semi-definite matrix and ‘R' is a
symmetric matrix. A minimum value of ‘J’ depends on the
optimal values of the ‘Q’ and ‘R’ matrix. It can be solved

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 ICREISG-2020, February 14 – 15, 2020, Bhubaneswar India

Here P, H, E, F denotes system state matrix and ω ,ν where Δ f 1 and Δ f 2 is the fluctuation in load frequency
are input and output noise respectively. The value of ω
in area 1and area 2 respectively. ΔPTie is the fluctuation in
=0.01, ν =0.001are considered here for this micro-grid
system. Kalman estimator used collectively with a linear tie-line power.
quadratic regulator forms the structure of the linear- VI. RESULTS & ANALYSIS
quadratic Gaussian controller.
The frequency fluctuation of area 1, area2, area3 and
IV. SALP SWARM ALGORITHM(SSA) controller comparison with different algorithms are shown in
Fig.3 and Table.1. it can be viewed from the figures and
Salp swarm algorithm is a newly raised optimization
table 1 that the frequency fluctuation and tie-line power
scheme which is based on the swarming nature of ocean
deviation reduce with the use of a powerful controller. The
insect salp. Salp does optimization by forming a salp chain
integral time absolute error value found is minimum i.e. 2.61.
inside the deep ocean. The chain is separated into 2 divisions
It can be analyzed that the SSA algorithm is providing
i.e. leader, follower. The leader salp remains at the front to
minimum ITAE values as compared to GA, PSO technique.
which other salps follows. Like other optimization salps also
creates their position in ‘n’ dimensional search region.
Where ‘n’ is the no of variables.

V. OBJECTIVE FUNCTION
The selection of objective functions is an essential task in
the optimization problem. The objective function considered
here for this study is
t1
ITAE =  ( Δf1 + Δf 2 + ΔPTie ).t.dt (6) Fig. 2. Variation in load and source
0

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 ICREISG-2020, February 14 – 15, 2020, Bhubaneswar India

TABLE 1 CONTROLLER COMPARISONS WITH DIFFERENT ALGORITHMS

Controller parameters/fitness value GA: PI PSO: PI SSA:PI SSA: PID SSA: PID-LQG

MG1 KP=2.103 KP=2.093 KP= 2.003 KP=2.4892 KP=3.9892

KI=1.001 KI=2.1002 KI= 2.5021 KI=3.80 KI=3.900
KD=3.0913 KD=3.0913

MG2 KP=3.100 KP=3.00 KP=3.4750 KP=2.8811 KP=3.9812

KI=2.032 KI=1.036 KI=2.747 KI=3.690 KI=3.760
KD=2.1904 KD=2.0915
ITAE=13.77 ITAE=12.49 ITAE=7.729 ITAE=3.719 ITAE=2.61

VII. CONCLUSION
In this paper, the SSA based hybrid PID-LQG
controller is recommended for the load frequency of the
microgrid system. Firstly, a microgrid system is taken and
optimal values of suggested PID-LQG controller are
determined by the SSA method. The supremacy of the
f1(Hz)

proposed controller is tested over the classical PI and PID

controller. The results of SSA tuned hybrid PID-LQG are
compared to GA and PSO. It is noticed that of SSA tuned
hybrid PID-LQG controller is more effective compared to
some recently proposed approaches.
APPENDIX
The nominal values for MMG
Fig 3 (a)
Speed regulation constants:R1=0.05 (p.u),R2=0.04 (p.u),
Frequency bias constants:B1=10 (p.u.),B2=12.5(p.u.), Time
constants of turbine: Tt1 =0.4 (s), Tt 2 =0.4(s), Speed governor
time constants: Tg1 =0.1(s), T g 2 =0.1(s), Time constants of
f2 (Hz)

WT: TWT1 =0.5(s), TWT 2 =0.5(s),Time constants of PV: TPV1

=1.5(s), TPV 2 =1.5(s), Time constants of BESS: TBESS1
=0.1(s), TBESS 2 =0.1(s),Time constants of FESS: TFESS1
=0.1(s), TFESS 2 =0.1(s), Turbine gain constants: K T 1
=1(p.u.), K T 2 =1(p.u.),Governor gain constants: K g1 =1
Fig 3 (b)
(p.u.), K g 2 =1(p.u.),Gain constants of BESS: K BESS1 = -3
(p.u.), K BESS2 =-4(p.u.),Gain constant of FESS: K FESS = -
1.5 (p.u.), K FESS =-2(p.u.),Gain constant of WT: KWT1 =
1(p.u.), K WT 2 =1(p.u.),Gain constants of PV: K PV 1 =1(p.u.),
K PV 2 =1(p.u.),Inertia constants: M 1 =8(p.u.), M 2
=8(p.u.),Damping constants:D1 =1(p.u.), D2
=1(p.u.),Synchronizing coefficient: T12 =1.4. In above data:
subscripts 1,2 denote nominal values for MG1 and MG2
respectively.

Fig 3 (c)
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Fig.3. (a) Frequency fluctuation curve for area1 (b) Frequency fluctuation
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