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IFAC PapersOnLine 53-2 (2020) 12986–12991
Simultaneous
Simultaneous Active
Active and
and Reactive
Reactive Power
Power
Simultaneous
Sharing with
Simultaneous Active and
Frequency
Active and Reactive Power
Restoration
Reactive and
Simultaneous
Sharing with Frequency Reactive Power
Active andRestorationPower
and
Sharing
Sharing with
Voltage
with Frequency
Regulation for
Frequency Restoration
Single and
Phase
Restoration and
Sharing with
Voltage Frequency
Regulation forRestoration
Single and
Phase
Voltage
Voltage Regulation for
Microgrids
Regulation for Single
Single Phase
Phase
Voltage Regulation for Single Phase
Microgrids
Microgrids
Microgrids
Microgrids ∗
Miguel Parada Contzen ∗∗
Miguel
Miguel Parada
Parada Contzen
Contzen
Miguel
Miguel Parada
Parada Contzen
Contzen ∗∗
∗
∗
Electric and Electronics Engineering
Miguel Parada Contzen Department, Universidad del
∗ Electric
Electric and
and Electronics
Electronics Engineering
Engineering Department,
Department, Universidad
Universidad del del
∗
∗
∗ Electric and Bío-Bío, Chile
Electronics (e-mail:
Engineering mparada@ubiobio.cl).
Department,
∗ Electric and Bío-Bío, Chile
Electronics
Bío-Bío, Chile (e-mail:
Engineering
(e-mail: Department, Universidad
mparada@ubiobio.cl).
mparada@ubiobio.cl). Universidad del del
Electric and Electronics
Bío-Bío, Chile Engineering
(e-mail: Department, Universidad del
mparada@ubiobio.cl).
Bío-Bío, Chile (e-mail: mparada@ubiobio.cl).
Abstract: The control of Bío-Bío,
microgrids Chileat(e-mail:
secondary mparada@ubiobio.cl).
hierarchical level offers multiple challenges.
Abstract:
When the entire The control
microgrid of microgrids
is seen as at at secondary hierarchical level offers(MIMO)
a Multiple-Input-Multiple-Output multiplesystem challenges. and
Abstract:
When
Abstract: the The
entire
The control
microgrid
control of
of microgrids
is seen
microgrids as a
at secondary hierarchical
Multiple-Input-Multiple-Output
secondary hierarchical level
level offers
offers multiple
(MIMO)
multiple challenges.
system
challenges. and
When
the Voltage
Abstract:
When the
the entire
TheSource
entire microgrid
control Inverters
microgrid of is seen
(VSI)
microgrids
is seen as
as a
at
a Multiple-Input-Multiple-Output
connected
secondary as hierarchical
control actuators,
Multiple-Input-Multiple-Output level offers (MIMO)
distributed
multiple
(MIMO) system
controllers
challenges.
system and
and
the
When
the Voltage
haveVoltagethe Source
entire
Source Inverters
microgrid
Inverters is (VSI)
seen
(VSI) as connected
a as control
Multiple-Input-Multiple-Output actuators, distributed
(MIMO) controllers
system and
When
the been proposed
the entire
Voltage Source to independently
microgrid is seen as connected
aachieve as
active control
poweractuators,
Multiple-Input-Multiple-Output sharing, reactive distributed
(MIMO) power controllers
system sharing,
and
the
have Voltage
frequency Source Inverters
beenrestoration,
proposed Inverters
toor
(VSI)
(VSI)
independently
voltage
connected
connected
regulationachieve
around
as
active
control
asnominal
control
power
actuators,
actuators,
sharing,
values. Here
distributed
distributed
reactive
we address power
controllers
controllers
these sharing,
issues
the
have Voltage
been Source
proposed Inverters
to (VSI)
independently connected
achieve as
active control
power actuators,
sharing, distributed
reactive power controllers
sharing,
have
frequencybeenrestoration,
simultaneously proposed
in generictoor independently
voltage
single phase regulationachieve
aroundactive
mesh-micro-grids nominal power
withvalues. sharing,
arbitrary Here reactive
we address
non-linear power
loads, these sharing,
in issues
order
have
frequencybeenrestoration,
simultaneously proposed
in to
generic or independently
voltage
single regulation
phase achieve
aroundactive
mesh-micro-grids nominal power
with sharing,
values.
arbitrary Here reactive
we address
non-linear power
loads, these sharing,
in issues
order
frequency
simultaneously
to derive formal restoration,
in generic
conditionsor voltage
single
that phaseregulation
phase
can around
mesh-micro-grids
bemesh-micro-grids
usedaround
to checknominal with
if awithgiven values.
arbitrary Here
controller we address
non-linear
allows loads,
toloads, these
reach allissues
in order
four
frequency
simultaneously restoration,
in generic or voltage
single regulation to checknominal
if a given values.
arbitrary Here
controller we address
non-linear
allows to these
reach in issues
all order
four
simultaneously
to derive
mentioned formal in
control generic
conditions
objectives.single
that Thephase
can be
papermesh-micro-grids
used to check
is complemented if with
aawith
given
witharbitrary
controller
a simulation non-linear
allows to
example loads,
reach wherein
all order
four
the
simultaneously
to derive formal inconditions
generic single
that phase
can be mesh-micro-grids
used to check if given arbitrary
controller non-linear
allows to loads,
reach in
all order
four
to derive
mentioned
main formal
control
characteristics conditions
objectives.
of the thatthat The
proposed can be
paper used
is to check
complemented
methodology can if a given
with controller
a simulation allows to
example reach where all four
the
to derive
mentioned formal
control conditions
objectives. The canpaper
be used
is to check
complemented if abegiven
seen.
with controller
a simulation allows to reach
example where all four
the
mentioned
main control objectives.
characteristics of the proposed The paper is complemented
methodology can be seen. with a simulation example where the
mentioned
main ©control
characteristics objectives.
of the The ispaper is complemented with thea CCsimulation example
license where the
Copyright
main 2020 The
characteristics the proposed
ofAuthors. This
proposed methodology
an open
methodology can
can be
access article be seen.
under
seen. BY-NC-ND
main
Keywords:characteristics of the licenses/by-nc-nd/4.0)
Agents, Distributed
(http://creativecommons.org/ proposedcontrol,methodology
Microgrids,can be seen.
Power-system control, Reactive power,
Keywords:
Active power, Agents, Distributed
Synchronization,
Agents, Distributed control,
Voltage Microgrids,
regulation Power-system control, Reactive power,
Keywords:
Keywords:
Active power, Agents, Distributed control,
Synchronization, control,
Voltage
Microgrids,
Microgrids,
regulation
Power-system
Power-system control, control, Reactive Reactive power, power,
Keywords:
Active Agents, Distributed control, Microgrids, Power-system control, Reactive power,
Active power,
power, Synchronization,
Synchronization, Voltage Voltage regulation
regulation
Active1.power, Synchronization, Voltage regulation
INTRODUCTION the author knows, a formal stability analysis including
1.
1. INTRODUCTION
INTRODUCTION the
all four
the author
author controlknows,
knows, aa formal
objectives stability
formalsimultaneously
stability analysis analysis
analysishas including
not been
including
1. INTRODUCTION the
all
addressed author
four controlknows,
before, a
objectives
and formal stability
simultaneously
the proposed procedure has not
including
isnot been
been
general
At the secondary 1. INTRODUCTION
level of the hierarchical control scheme all the
all
addressed author
four
four to controlknows,
before,
control
a
objectives
and
objectives
formal
the stability
simultaneously
proposed
simultaneously
analysis
procedure has including
not
is
has ornot been
general
been
At the
typically secondary
used for levellevel of
microgrids, the hierarchical
see for example control scheme
(Guerrero addressed
enough
all four control
addressed before,
admit and
several
before,objectives
and the the proposed
variations
simultaneously
the proposed
proposed on procedure
models
procedure is
has isnot general
control
been
At the secondary
secondary of the
the hierarchical
hierarchical control scheme addressed
enough to before,
admit and
Finally,several procedure is general
general
typically
At the
typically
et al.,
At the
typically 2013; used
used
secondary
used
for level
for
Palizban
for
microgrids,
level andof
microgrids,
of
microgrids,
see for
see
Kauhaniemi,
the
for example
hierarchical
see for
example
2015;
example
control (Guerrero
Bidram
control
scheme
(Guerrero objectives.
addressed
and enough
scheme
(Guerrero enough to before,
admit and
several thevariations
Section 4 illustrates
proposed
variations
on
on
models
models
or
the closed
procedure is
or
the closed
closed
control
generalloop
control
loop
etet al., 2013;
typically
al., 2013; used Palizban
forseveral
Palizban andcontrol
microgrids,
and Kauhaniemi,
seeobjectives
Kauhaniemi, 2015;are
for example
2015; Bidram
(Guerrero
Bidram and objectives.
and analysis to
withadmit
Finally,
help several
of Section
a variations
44 illustrates
simulation on models
example. the or control loop
Davoudi,
typically
et al.,
al., 2013;
2013; 2012),
used for microgrids,
Palizban see for example
and Kauhaniemi,
Kauhaniemi, 2015; Bidram proposed.
(Guerrero
Bidram enough
objectives.
and objectives. to admit
Finally, severalSection variationsillustrates on models
the or
closed control
loop
et
Davoudi, Palizban
2012), several and control objectives 2015; are proposed.and analysis with Finally,
help of Section
a 4 illustrates
simulation example. the closed loop
Foral.,three phase AC microgrids, active and reactive power objectives.
analysis with Finally,
help ofSection 4A illustrates the closedofloop
aamatrix
simulation
et
Davoudi, 2013; Palizban
2012), several andcontrol
Kauhaniemi,objectives 2015; areBidram
proposed.and analysis  example.
For
Davoudi,
For three
three phase
2012),
phase AC microgrids,
several control active
objectivesand reactive
are power
proposed. Throughwith this paper,
help of simulation  is the transpose
example. A.
sharing
Davoudi,
For three (Han2012),
phase etAC al.,microgrids,
several
AC 2016)
control
microgrids, areactive
the most
objectives
active and
and reactive
relevant,
are
reactive power
proposed.and The
power analysis
Through with
identity this help
paper,
matrix of a
and simulation
matrix
the null
A is
is
matrixthe
example.
the transpose
transpose
are respectively of
of A
A ..
sharing
For three (Han
phaseetACet al., 2016)
microgrids, are the most relevant, and Through this paper, matrix is the transpose of ..
theactive and reactive power 
sharing
several
For
sharingthree (Han
publication
phase
(Han etAC al.,
deal 2016)
withare
microgrids,
al., 2016) are the
topicmost
active
the and
most relevant,
independently
reactive
relevant, and
for The
power
and Through identity this paper,
matrix andmatrix
the
A
null
A 
is
matrixthe transpose
are respectively of A
A
several
sharing
several publication
(Han
publication et deal
al.,
deal with
2016)
with the
are
the topic
the
topic mostindependently
relevant,
independently for
and
for denoted
Through
The by
identity thisI and
paper,
matrix 0 . A
and column
matrix
the null
A vector

is
matrixthe of ones
are is
transpose denoted
respectively of A .
the active
sharing
several (Han and et
publication reactive
al.,
deal cases,
2016)
withare the (Schiffer
e.g the
topicmost etrelevant,
al., 2014;and
independently Lu as
for denoted
The
denoted andby
1 , identityby and
matrix
and
a IIIvector 00with
.. and
A
A column
the null
column
zeros invector matrix
vector
every of
of ones
are
ones
position is
is denoted
respectively
denoted
except in
the
several
the active and
publication
active and reactive
deal
reactive cases,
with
cases, e.g
the
e.g (Schiffer
topic
(Schiffer et al.,
independently
et al., 2014;
2014; Lu
for
Lu The
denoted identity
by matrix
and 0 . and
A the null
column matrix
vector of are
ones respectively
is denoted
and active
Chu, 2015; Parada Contzen theand Raisch, 2016). denoted
as 1i-th
, androw bya Ivector
and 0with . Avalue column
zerosis in vector
every of ones as
position is sdenoted
several
the
and active
Chu,publication
and reactive
2015; Paradadealcases,
reactive with e.g
Contzen topic
(Schiffer
and independently
Raisch, et al.,
al., 2014; for
2016). Lu the denoted where
bya Ivector
and 0with its
. Avalue column one,
vector is denoted
of ones isexcept
ssdenoted
i ∈ Rin
in
N
the
and Chu, and
2015; Parada cases,
Contzen (Schiffer
e.g and Raisch, et 2014;
2016). Lu as
as 11i-th
the ,, and
and row where
aN vector its
with zeros
zerosis in
one,
in every
everyis position
denoted
positionas except
except in
the active and reactive cases, e.g (Schiffer et al., 2014; Lu the row where its value is one, is denoted as R
 N
and Chu, 2015; Parada Contzen and Raisch, 2016). ii ∈
N
In order as
so that i-th
1i-th
, and aN vector
s i = 1with . Ifvalue zerosis in
necessary, every
the positionasexcept
dimensions ∈
ofi ∈theseR in
and Chu,to2015; achieveParadapower sharing,and
Contzen theRaisch,
frequency and volt- the
2016). the row
row where
where its
its value is one,
one, is
is denoted
denoted as s R N
In
and order
Chu, to achieve
2015; Paradapower sharing,
Contzen the
and frequency
Raisch, and
2016). volt- so that = 1 . If necessary, the dimensions of these
R
s N
In order to achieve power sharing, the frequency and volt- so that
i-th  = 1 . If necessary, the dimensions of these
∈
N
i=1
ageorderamplitude of the controlled voltage source and inverters the
matrices row
will s
i=1where
be
s i stated its value
as is one,the
an index. is denoted
An element as in sposition
i
RN
In to achieve power sharing, the frequency volt- so that
i-th  N
i=1 s i
= 1 . If necessary, dimensions ofi ∈ these
age
In amplitude
order to achieve of the
the
power controlled
sharing, voltage
the source
frequency and volt- matrices
so j) that of awill i=1be s i stated
=A1 .isIfdenotedas an index.
necessary, A]ijthe An element
. dimensions in position
of these
N
age
(VSI) amplitude
need to be of controlled voltage source inverters
volt- matrices
(i,
 will
matrixbe
s i stated
i
as an index.
[A An element in position
of modified from its nominal value. There-
i=1
In order to achieve power sharing, the frequency and so j) that =A1 .isIfdenoted necessary, the dimensions of these
N
age
(VSI)
age amplitude
need
amplitude to beof the
modified
the controlled
from
controlled voltage
its nominal
voltage source
value.
source inverters
There-
inverters matrices
(i,
matrices of a will
i=1be
matrix
will be stated
stated as
as an
an index.
[A
index. ] An
.
An element
element in
in position
position
(VSI)
age need
fore,amplitude
nominal to be modified
frequency
of modified
the controlledfrom
restoration its nominal
and
voltage voltage value.
source There-
regulation
inverters (i,
(i, j)
matrices of
of a
a matrix
will
matrix A
be stated is
is denoted
as an index.
denoted [A
[A
A
A ]
] .
An
. element in position
(VSI)
(VSI) need
needare to be
tofrequency
be from its nominal value. There- j)
There- (i, j) of a matrix2.AMICROGRID A is denoted [A A ij
ij
A]MODEL
ij .
fore,
(VSI)
fore,
nominal
strategies needare
nominal alsomodified
tofrequency
be considered
modified
fromasitssecondary
restoration nominal
and
fromasitssecondary
restoration
voltage
nominal
and voltage
value.
regulation
level
value. control
There- (i, j) of a matrix A is denoted [A
regulation A]ij ij .
strategies
fore,
strategies nominal
objectives. are
Some also
frequency
also considered
restoration
considered
publications as
that and
secondaryvoltage
deal voltage level
level
with level
this control
regulation
control
aspects 2.
2. MICROGRID
MICROGRID MODEL
MODEL
fore, nominal
strategies
objectives. are
Somefrequency
also restoration
considered
publications as
that and
secondary
deal with regulation
control
thisSimpson-
aspects 2. MICROGRID MODEL
strategies
objectives.
are (Parada are
Some alsopublications
Contzen, considered
2019; Guo as secondary
that deal
et al.,with2015;level
this control 2.1 Model and control
aspects 2. MICROGRID of a voltageMODEL source inverter (VSI)
strategies
objectives.
are (Parada are
Some alsopublications
Contzen, considered
2019; Guoas secondary
that deal
et al., with
2015;level control 2.1 Model and control
thisSimpson-
aspects 2. MICROGRID of a voltage MODEL
source inverter (VSI)
objectives.
are (Parada Some publications
Contzen, 2019; that
Guo deal
et al., with
2015; this aspects
Simpson-
Porco
objectives.
are et al.,Some
(Parada 2013,publications
Contzen, 2015). 2019;More recently,
that
Guo deal
et al., these
with
2015; this aspects 2.1 Model and control of
secondary
Simpson- 2.1 Model and control of a
a voltage
voltage source
source inverter
inverter (VSI)
(VSI)
are
Porco
control(Parada
et al.,
issues Contzen,
2013,
have 2015).
been 2019;MoreGuo
addressed et
recently,
by al.,
books 2015;
theseas Simpson-
secondary
(Zambroni 2.1
The Model
model and
proposedcontrol in of
thisa voltage
section source
is based inverter
on the (VSI)
internal
are
Porco
control(Parada
et al.,
issues Contzen,
2013,
have 2015).
been 2019;MoreGuo
addressed et
recently,
by al.,
books 2015;
theseas Simpson-
secondary
(Zambroni 2.1
The Model
model and
proposedcontrol in of
thisa voltage
section source
is based inverter
on the (VSI)
internal
Porco
control
de Souza et al.,
issues 2013,
and2013,have 2015).
been
Castilla, 2019;More
addressed recently,
by
Guorecently,
et books
al., these
2018). as secondary
(Zambroni The
control model proposed
strategies in
described this section
in, e.g., is based on the
PeçasonLopes internal
et al.
Porco
control
de Souza
Souza et al.,
issues
and havehave 2015).
been
Castilla, 2019;More
addressed
Guo et by
et books
al., these
2018). as secondary
(Zambroni The model proposed in this section is based the internal
control
de issues
and been2019;
Castilla, addressed
Guo byal.,
books2018). as (Zambroni control The
control
(2006); model strategies
proposed
strategies
Rocabert etdescribed
in(2012);
described
al. in,
this section
in, e.g.,
is based
e.g.,
Schiffer Peças
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Peças
et Lopes
the internal
Lopes
(2016). As et
et al.
al.
one
control
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on andand have been
Castilla,
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2019; Guo by
et books
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control model proposed
strategies in
described this section
in, is
e.g., based
Peças on the
Lopes internal
et al.
de Souza Castilla,publications,
2019; Guo etinal., this paper we focus (2006);
2018). control
(2006);
can Rocabert
strategies
Rocabert
consider that et
eta al.
described
al. (2012);
(2012);
multi-phase Schiffer
in, e.g.,
Schiffer
power et al.
Peças
et al. (2016).
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(2016).
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As et oneal.
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Based
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Based on the quoted in this we focus can
(2006);
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Schiffer
power
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As
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Based single
on
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in
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paper we
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multi-phase Schiffer
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Based
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and thepapersimultaneousfocus can is
is aaa consider
section collection
collection of single-phase
that
of
are fundamentallysingle-phase
a multi-phase circuits,
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same the
the themodels
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three-phasein this
devices
in this
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on single
achievement
objectives. of the
phase
of theAC
Exploding four
four the described
microgrids
described
similarities secondary
and
secondarythe level control
simultaneous
level and can
control is consider
collection that
of a multi-phase
single-phase poweras
circuits, electronic
the models devices
in this
on single phase
achievement of the ACfour microgrids
described andbetween
secondary single-
the simultaneous
level control section
is a
section
models are
collection
are fundamentally
of single-phase
fundamentally
thatfundamentally
can be foundthe the
the same
circuits,
same
incircuits,
Parada the
as the
the
Contzenthree-phase
models
three-phasein
(2019);this
achievement
objectives.
three-phaseExploding of the
Exploding
power four the
models, described
similarities secondary
in thesecondarybetween
following level control
single-
Section and is
we section
modelsa
section collection
are
that of
can single-phase
be found in same
Parada the
as themodels
three-phasein this
achievement
objectives. of the four the described
similarities between level control
single- and models
Parada are
that
Contzen fundamentally
can be
and found
Raisch thein same
Parada
(2016) as Contzen
and the
Contzen
the (2019);
three-phase
(2019);
references
three-phase
objectives.
three-phase
propose a linearized power
Exploding
power models,
the
models,
model in
in
of the
similarities
the following
between
following Section
single-
Section we
and
we section
models are
that fundamentally
can be found thein same
Parada as the
Contzenthree-phase
(2019);
objectives.
three-phase
propose Exploding
power models, in the
the microgrid,
the similarities
models, between Section
following valid
single-when we Parada
and models
Parada
within. Contzen
that
Contzen can and
can and
be found Raisch
Raischin (2016)
in(2016)
Parada and the
the references
andContzen (2019);
references
three-phase
propose
it is desired
three-phase
propose aaa linearized
linearized
power
to operate
power
linearized
model
model
models,
modelaroundof
in
of
in
of
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the
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following
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a nominal
following
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Section
valid
given
Section
valid
when
by models
we
when
we
when
Parada
within.
Parada
that
Contzen
Contzen and
be found
and Raisch Raisch (2016)
Parada
(2016) and
Contzen
and the
(2019);
the references
references
it is desired
propose desired to
a linearized operate modelaroundof a nominal
the nominal
microgrid, point given
valid when within.
by within.
Parada Contzen and Raisch (2016) and the Source
references
itRMS is
propose
it is voltage
is desired
desired to
and
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formally to
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propose The
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verter single-phase
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angular
and demand little communication requirements. As far as value
2405-8963 Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license. V ∈ R, ω = 2πf > 0 is a constant nominal angular
Peer review under responsibility of International Federation of Automatic Control.
10.1016/j.ifacol.2020.12.2146
 Miguel Parada Contzen et al. / IFAC PapersOnLine 53-2 (2020) 12986–12991 12987

frequency, with f > 0 the nominal frequency in Hertz, vj

and δi (t) ∈ R is the phase shift angle with respect to Zij
..
a fixed arbitrary reference. The variation of the voltage .
amplitude around its nominal value is normed according vi Zik
to local and regional regulations with a realistic bound ii
vk
|νi (t)| < 5.0%  1. Zil ..
ii0 .
The intern dynamics of the inverters can be considered
very fast, and therefore they are typically neglected. In vl
this case, the input/output relationships for the operation
(angular) frequency ωo,i := ψ̇i (t) and the voltage am-
plitude Vi (t) at node i ∈ V, considering internal control Fig. 1. Voltage and current at node i ∈ V of a Single phase
loops, switching modulation and appropriate filtering, can AC microgrid with Ni = {j, ..., k, ..., l}.
be modeled as in (Schiffer et al., 2014, 2016, etc.) with the
transmission process. The undirected edges of the graph
following equations:
are transmission lines between the nodes, denoted (i, j) ∈
ψ̇i (t) = dψi (t), E. Any passive circuit can be equivalently represented
(1)
Vi (t) = dVi (t), by this structure through a Kron reduction procedure
as described in (Dörfler and Bullo, 2013; Grainger and
where dψi (t) ∈ R and dVi (t) ∈ R are, respectively, Stevenson, 1994).
the frequency and amplitude control inputs. This model
assumes that each inverter is equipped with some DC At every active node i ∈ V, we will consider a load
storage unit, large enough to increase and decrease the described by an arbitrary time variant sinusoidal current
AC power output in a certain range. source. A transmission line (i, j) ∈ E between nodes i
and j = i will be assumed as an impedance composed
When the inverter is operated around the nominal fre- by a resistance Rij in series with an inductance Lij . It is
quency ω and RMS value V , the inputs can be modified assumed that these line parameters are constant and can
as dψi (t) = ω + κuψ i (t) and d (t) = V (1 + ui (t)), where
Vi V
be estimated with reasonable accuracy.
ui (t) and uVi (t) are inputs that control small variations of
ψ
Consider the circuit depicted in Figure 1, where the i-th
the original signals around the nominal values. The term
node is shown. The voltage induced by the voltage source
κ > 0 is a constant thought to limit the magnitude of the √
can be denoted as vi (t) = 2Vi (t) sin(ψi (t)), ∀i ∈ V.
frequency input after feedback.
The load is described by a current source consuming a
With this, the intern dynamics of inverter i in (1) can be sinusoidal current ii0 (t) and the resulting current injected
written as: by the source is denoted as ii (t). An expression for this
δ̇i (t) = κuψ current can be obtained from a circuital analysis of the
i (t),
(2) grid. From here, when ψi (t) = ωt + δi (t), neglecting the
νi (t) = ui (t).
V
transient behavior of the line dynamics, the active and
Additionally, we are interested on the frequency deviation reactive power injected by each source can be modeled
with respect to nominal frequency υi (t) := ψ̇i (t) − ω = by expressions that, for all generation units i ∈ V, are
δ̇i (t). Deriving equation (2), we can model the dynamics quadratic in the voltage RMS value, Vi (t), and trigono-
of the frequency deviation by the following expression metric in the phase angle, δi (t), with respect to a fixed
υ˙i (t) = κu̇i (t). (3) reference. For simplicity, from here on we will drop the
explicit time dependence of the variables.
We assume that υi (t) cannot be directly measured and
used for feedback. When the voltage amplitudes are bounded around its
nominal value, i.e. when Vi (t) = V (1 + νi (t)) ≈ V ⇐⇒
From here, a the set of inverters can be characterized as νi (t) ≈ 0, and the phase angles of the different voltages are
a network of agents with two control inputs described by small, i.e. δi (t) ≈ δj (t) ⇐⇒ θij (t) := δi (t) − δj (t) ≈ 0,
the following compact equations: then a linearized model can be stated around the described
υ := δ̇δ = κu
uψ , operation point. Indeed, defining
(4)
ν := u V , Pij = 2
Rij
V 2 , Qij = 2
ωLij
V 2,
Rij + ω Lij
2 2 Rij + ω 2 L2ij
where δ = col {δi (t)}i∈V , ν = col{νi (t)}i∈V , u V :=
 
col uVi (t) i∈V , and u ψ := col uψ the expressions for active and reactive power can be
i (t) . Note that υ̇
υ=
simplified by a Taylor linearization in the following way:
i∈V
u and the mean value of the amplitude deviation is given
κu̇ 
by ν̄ = N1 1ν . Pi (t) = Pi0 + Pij (1 + νi )2
j∈Ni

2.2 Circuital model of the grid − Pij (1 + νi )(1 + νj ) cos(θij )
j∈Ni
An electric grid can be described as an undirected graph 
+ Qij (1 + νi )(1 + νj ) sin(θij )
C = (V, E), where the vertices are a collection of N
electric nodes i ∈ V where the single-phase generation 
j∈Ni

units studied in Subsection 2.1 are connected. These ≈ Pi0 + Pij (νi − νj ) + Qij θij .
sources can be considered control actuators for the electric j∈Ni j∈Ni
12988 Miguel Parada Contzen et al. / IFAC PapersOnLine 53-2 (2020) 12986–12991


Qi (t) = Qi0 + Qij (1 + νi )2 3. CLOSED LOOP ANALYSIS
j∈Ni
 3.1 Control Objectives
− Qij (1 + νi )(1 + νj ) cos(θij )
j∈Ni
 We are interested in four different control objective. First,
− Pij (1 + νi )(1 + νj ) sin(θij ) Active and Reactive power sharing can be treated as con-
j∈Ni sensus problems like in the quoted publications. Beside
  these two objectives, we are also interested in synchro-
≈ Qi0 + Qij (νi − νj ) − Pij θij . nization of the grid at nominal frequency and voltage
j∈Ni j∈Ni amplitude regulation, i.e. in limiting the deviation of the
This approximation can be generalized to all nodes i ∈ V amplitudes with respect to the nominal value.
of the microgrid as in the following equation:
       For power sharing, we will define the following linear
p
=
p0
+
CQ CP δ transformation:
q q0 −CCP CQ ν , (5)
T = D (T o ) = [11N −1 −II N −1 ] ,
where the power injected by at the nodes is given by where T = (V, E) is a directed tree with |E| = N − 1
o
p = col {Pi (t)}i∈V and q = col {Qi (t)}i∈V , the power edges that go from every node j = 1 to the first node.
consumed by the loads is given by p 0 = col {Pi0 (t)}i∈V Any other strictly directed tree can be used as in Parada
and q 0 = col {Qi0 (t)}i∈V , and the matrices that describe Contzen (2017), but we restrict the analysis to this one for
the distribution circuit are such that simplicity. With help of this transformation we can define
  error vectors,

 Qik , if i = j
e p := T p̄p = T F p ∈ RN −1
C Q ]ij =
[C k∈N i

 −Qij , if i = j ∈ Ni e q := T q̄q = T F q ∈ RN −1 ,
0 , in other case
that describes the per unit difference between the power
and injected at the first node with the power injected in all
 
 Pik , if i = j the other nodes. Note that the error vectors are a reduc-

tion of order and therefore there is no inverse function
[C
C P ]ij = k∈Ni
between the normalized powers and their respective errors.

 −Pij , if i = j ∈ Ni
0 , in other case However, the following relationship can be stated when
considering the properties of the transformation T and its
Note that with these definitions, matrices C p = L̂(Cp ) pseudo-inverse T + = T  (T T T  )−1 :
and C q = L̂(Cq ) coincide with the Laplacian matrices of 1
weighted graphs with the same edges that the microgrid e p = T p̄p ⇐⇒ p̄p = T +e p + 11 p̄p
N
and weights given by respectively Pij and Qij . 1
e q = T q̄q ⇐⇒ q̄q = T +e q + 11 q̄q .
Equation (5) represents a linearized model of the grid. For N
a discussion on the influence of the non-linearities see,
From here, Active Power Sharing can be defined for every
for example, Parada Contzen (2019), where very similar
i = j ∈ V as
models are used separately for the case of active power
in three-phase grids. Note however, that any Lyapunov lim Pi /χi = lim Pj /χj ⇐⇒ lim e p = 0 ,
t→+∞ t→+∞ t→+∞
stability related condition obtained from approximation and Reactive Power Sharing as
(5) is a necessary condition for global stability of the non-
linear model. lim Qi /χi = lim Qj /χj ⇐⇒ lim e q = 0 .
t→+∞ t→+∞ t→+∞

In the quoted publications, when active and reactive power
are studied independently, the model used is a special case
of (5) that considers either ν = 0 for active power or δ = 0
for reactive power. Therefore, matrix C P is not presented
in the models already analyzed. Here, however, this matrix
describe the crossed influence of the independent variables
δ and ν over reactive and active powers.
Instead of dealing directly with the injected powers at node
i ∈ V measured in [kW ] or [kV A], it is usual to treat power
as a dimensionless quantity P̄i = Pi /χi or Q̄i = Qi /χi
measured in per unit [p.u.]. That is, relative to a base
quantity χi > 0. A practical choice of the proportional
constants would be the nominal power rating Si of the
respective generation unit. Also, different bases could be
considered for Active and Reactive power, although we use
the same one for simplicity. By defining F = diag {χi }i∈V ,
we can define p̄p = F p and q̄q = F q . It is also useful to
define the per unit change rate of the loads as w̄w p = p̄p˙ and
w̄ ˙
w q = q̄q .
That is, power sharing is a consensus problem on the
elements of the vectors p̄p and q̄q . This is equivalent to a
Lyapunov stability problem of the error vectors e p and e q
as shown in Parada Contzen (2017).
The typical approach to achieve active power sharing is
to feedback, through a droop controller or a distributed
consensus algorithm, the per unit active power injected by
the inverters, in order to modify the operation frequency
of the grid. The idea is to temporary delay some voltages
to modify the electric angle between them and in that way
regulate active power. However, the traditional approach
implies that the frequencies at each node vary from its
nominal value in stationary state.
Similarly, to achieve reactive power sharing, the feedback
of per unit reactive power measurements is done over
the amplitude inputs of the inverters, resulting in small
variations of the RMS values around the nominal power.
Therefore, the synchronization and voltage regulation ad-
ditional objectives must be considered.
 Miguel Parada Contzen et al. / IFAC PapersOnLine 53-2 (2020) 12986–12991 12989

For synchronization, we are interested in the operation 1

ω11
frequency of the different inverters connected to the grid K pp
s
to be identical to the nominal value. That is, ∀i ∈ V,
Synchronization is defined as p̄p
+ +
L pp κ dψ
lim ωo,i = ω ⇐⇒ lim υi = δ̇i = 0 ⇐⇒ lim υ = 0 . uψ
t→+∞ t→+∞ t→+∞
This is more restrictive than a simple consensus problem,
L pq

because we are not interested only in obtaining equal

operation frequencies, but we force these frequencies to L qp

be equal to the nominal value.

1 uV
+ +
In the case of voltage regulation, the control objective V dV
L qq
q̄q s

follows a slightly different approach. In opposition to

the frequency modification, because the deviation of the K qq
voltage amplitudes around the nominal value is necessary V1
for power sharing, we cannot enforce these variations to
be zero. However, we can still ask that the mean value of Fig. 2. Control strategy diagram.
all these deviations is zero so that, in average, all nodes of
compensate the effect of matrix C p in model (5). Note
the grid work at the nominal value. Therefore, we define
that one could further generalize this control strategy
Voltage Regulation through the following expression:
by including secondary crossed feedbacks with matrices
1  K qp = 0 and K pq = 0 of proper dimensions to force the
lim ν̄ = 0 ⇐⇒ lim 1 ν = 0.
t→+∞ t→+∞ N
control input uψ to depend dynamically on uV and vice
versa.
3.2 Proposed Controllers
Note that the graphs Gpp , Gpq , Gqp , and Gqq might eventu-
Based on the control strategies proposed in the already ally have different sets of edges. However, it is reasonable
quoted publications, we will consider the controller de- to define the edges of all graphs identically in order to
picted in Figure 2, which can be described by the following avoid unnecessary communication efforts. Indeed, if we
equations: aim to keep these graphs connected, what is not strictly
 t necessary for the active power branch, we could define the
u ψ (t) = L ppp̄p(t) + L pqq̄q (t) + K pp u ψ (τ )dτ (6) weights of the graphs over a star-tree centered on the i-th
0 node in such a way that only N − 1 communication links
 t   are needed, between the center node and all the others.
u V (t) = L pq p̄p(τ ) + L qqq̄q (τ ) + K qq u V (τ ) dτ (7) Additional edges would imply also additional communica-
0 tion links between inverters that are not connected to the
The upper branch in the figure is a primary active power i-th node. Furthermore, if the secondary gains are chosen
in such a way that k pp = kpps i and k qq = kqq s i , with
sharing controller that modifies the frequency input d ψ =
kpp ∈ R and kqq ∈ R, we also restrict the exchange of
ω11 + u ψ of the inverters, by an active power feedback
signals only between the i-th node and the others keeping
through matrix L pp = −lppI − L̂(Gpp ) ∈ RN ×N , where the needed communication links to a minimum.
lpp ≥ 0 is the droop constant and L̂(Gpp ) is the Laplacian
matrix of a weighted undirected graph Gpp over the set of 3.3 Dynamic behavior of closed loop system
vertexes V that compose the microgrid. We also consider
a reactive power feedback characterized by matrix L qp = We are interested in finding
 a dynamical model of  the form
−lqpI − L̂(Gqp ) ∈ RN ×N , with lqp ≥ 0 and Gqp another x = Ax +B
ẋ w p , w̄
Bw , where x = e p , e q , υ  , ν̄ , w = w̄ w q ,
weighted graph over the vertexes of the microgrid. An and matrices A ∈ R(3N −1)×(3N −1) and B ∈ R(3N −1)×(2N )
integral secondary controller characterized by K pp = depending on the parameters of the transmission circuit
1k pp ∈ RN ×N , with k pp ∈ RN , is considered to achieve (5) and the described controller.
synchronization.
Note that from the inverse relationships between the errors
The lower branch of the controller is associated to the and the normalized powers we have that
reactive power sharing objective and modify the amplitude 1
input of the inverters d V = V (11 + u V ). An integral T +e p + 11 p̄p)
C q L ppp̄p = C q (−lppI − L̂(Gpp ))(T
N
consensus based power feedback is considered to achieve
= C q L ppT +e p .
this objective with L qq = L̂(Gqq ) ∈ RN ×N and L pq =
L̂(Gp q), where Gqq and Gpq are weighted undirected graphs Similarly, C q L qpq̄q = C q L qpT +e q . For the reactive power
over V. A secondary controller characterized by K qq = T +e q + N1 11 q̄q ) = L qq T +e q and L pq p̄p =
branch, L qqq̄q = L qq (T
+
k qq N1 1  , with k qq ∈ RN is also used to achieve voltage L pq T e p . These expressions can be used to simplify the
regulation. dynamical equations discussed in the sequel.
In the setup from the quoted publications, L pq = L qp = For the errors, taking the derivative of model (5), we can
0 because active and reactive power are treated as if write that      
they were decoupled. Here we add these matrices in ėep T F C Q T F C P δ̇δ T 0 w̄ wp
= T F C P T F C Q ν̇ν + 0 T w̄ wq .
order to have more freedom for tunning the controller to ėeq −T
12990 Miguel Parada Contzen et al. / IFAC PapersOnLine 53-2 (2020) 12986–12991

From equation (6) and (4), we have that Table 1. Lines Nominal Parameters.
  t 
i j Rij [Ω] Lij [mH]
δ̇δ = κ L ppp̄p(t) + L pqq̄q (t) + K pp u (τ )dτ
ψ
0 1 2 0.5000 1.1000
1 4 0.9000 1.4000
Which can be replaced in the expression for the deriva-
2 3 0.1000 0.7600
tive of the errors. Using the inverse relationship between 3 4 0.1000 1.5000
the errors and the powers, and additionally noting that
C pK pp = C q K pp = 0 , the part of the derivative of the node 1 node 2 node 3 node 4

errors that depends on δ̇δ can be expressed in terms of the 1

errors only.

Pi0 [p.u.]
For the derivative of the voltage deviations we can derive 0.5

equation (7) to write, using (4), that

1
ν̇ν = L pq T +e p + L qqT +e q + k qq 1 ν . 0
N
Which also depend on the errors and can be replaced in the 0.4

expressions for the derivative of the errors. As ν̄ = N1 1 ν

Qi0 [p.u.]
0.3

and 1 L pq = 1 L qq = 0 , we obtain immediately from the 0.2

previous expression that ν̄˙ = N1 1 k qq ν̄. Note that this does 0.1

not depend on the load or its rate change and that if the 0
time [s]
control gain were zero, then the mean value of the voltages
0 5 10 15

deviations would remain constant at its initial condition. Fig. 3. Load active and reactive powers in per unit, p̄p0 and
Similarly, deriving equation (6) we can obtain an expres- q̄q 0 .
sion for the frequency deviation derivative, υ̇ υ , in terms of 4. NUMERIC EXAMPLE
the elements of vector x . By combining these dynamical
expressions with (4), and the inverse relationship between Consider a microgrid with N = 4 nodes, nominal fre-
the powers and their respective errors, we can finally write quency f = 50[Hz], nominal amplitude V = 220[VRM S ],
that and with line parameters described in Table 1. The nom-
      
ep A 11 A 12 0 A 14 ep T 0   inal rating powers, which are also used as per unit bases,
d e q  A 21 A 22 0 A 24  e q   0 T  w̄ wp are S1 = S2 = 600[V A], S3 = 300[V A], and S4 = 500[V A]
  = A A A A   υ  + B B  w̄ wq ,
dt υ 31 32 33 24 31 32 for the respective nodes. The load, non-passive and in per
ν̄ 0 0 0 A 44 ν̄ 0 0 unit, is changing arbitrarily according to the graphs shown
where in Figure 3.
A 11 = T F (κCC q L pp + C pL pq ) T + , With κ = 0.01, we will consider primary control matrices
A 12 = T F (κCC q L qp + C pL qq ) T + , derived from the Laplacian matrix of an undirected star
A 14 = T F C pk qq , graph G = (V, {(1, 2), (1, 3), (1, 4)}) centered in the first
node. With arbitrary droop gains and edges weights, with
A 21 = T F (−κC C pL pp + C q L pq ) T + ,  
3 −1 −1 −1
A 22 = T F (−κC C pL qp + C q L qq ) T + , −1 1 0 0 
L̂(G) =  ,
A 24 = T F C q k qq , −1 0 1 0 
LppF C p + L qpF C q ) L pq T + ,
A 31 = κ (L −1 0 0 1
we choose
LppF C p + L qpF C q ) L qq T + ,
A 32 = κ (L
L pp = −3.00II − 0.05L̂(G), L qq = −0.03L̂(G)
A 33 = κ (L
LppF C q − L qpF C p ) + 1k pp ,
L qp = −0.10II − 0.05L̂(G), L pq = −0.02L̂(G).
A 34 = κ (L
LppF C p + L qpF C q ) k qq ,
1 
Again arbitrarily, for the secondary gains we define,
A 44 = N 1 k qq , B 31 = κL
Lpp , and B 32 = κL
Lqp .
k pp = −175ss1 , k qq = −340ss1 .
Note that this closed loop model is not linear with respect
With these matrices, we have that the eigenvalues of
to the parameters in matrices L pp , L pq , L qp , and L qq .
matrix A are all real and negative, eig {A A} ∈ [−175, −
Also, there are several entries that are identically zero.
12.3708]. That is, the closed loop microgrid should reach
This gives space to define more complex control strategies,
all four control objectives simultaneously. This can be seen
for example considering secondary crossed feedback as
in Figure 4, where the per unit injected powers are shown,
discussed before.
and Figure 5, where the frequency input and the voltage
The dynamic behavior of vector x is not affected directly amplitude deviations are shown.
by the load, but by its change rate, meaning that the con-
Note that, as the load is not constant, power sharing
trol objectives can be achieved for any constant load level,
and synchronization are not reached instantaneously at
i.e. when w̄ w q = 0 , if matrix A ∈ R(3N −1)×(3N −1) is
w p = w̄
every moment. However, the transient behavior of the grid
Hurwitz. Robustness analysis, for example through H∞ - or
present little differences with the desired situation.
H2 -norms, can also be done to characterize the influence
of the change rate of the loads into any of the control We can characterize the transient behavior of the grid
objectives. through the corresponding H∞ -norms of the transfer func-
 Miguel Parada Contzen et al. / IFAC PapersOnLine 53-2 (2020) 12986–12991 12991

node 1 node 2 node 3 node 4 Grainger, J.J. and Stevenson, W.D. (1994). Power System
0.8 Analysis. McGraw-Hill, 1 edition.
0.6 Guerrero, J.M., Chandorkar, M., Lee, T.L., and Loh, P.C.
(2013). Advanced control architectures for intelligent
Pi [p.u.]

microgrids, part I. IEEE Transactions on Industrial

0.4

0.2 Electronics, 60, 1254–1262.

0 Guo, F., Wen, C., Mao, J., and Song, Y.D. (2015). Dis-
tributed secondary voltage and frequency restoration
0.3
control of droop-controlled inverter-based microgrids.
IEEE Transactions on Industrial Electronics, 62.
Qi [p.u.]

0.2
Guo, F., Wen, C., and Song, Y.D. (2018). Distributed
0.1
Control and Optimization Technologies in Smart Grid
0 Systems. CRC Press.
0 5 time [s] 10 15
Han, H., Hou, X., Yang, J., Wu, J., and Guerrero, J.M.
(2016). Review of power sharing control strategies for
Fig. 4. Generated active and reactive powers in per unit, islanding operation of ac microgrids. IEEE Transactions
p̄p and q̄q . on Smart Grid, 7, 200– 215.
node 1 node 2 node 3 node 4 Lu, L.Y. and Chu, C.C. (2015). Consensus-based sec-
5
0.2 ondary frequency and voltage droop control of vir-
tual synchronous generators for isolated ac micro-grids.
υi [1000 × rad/s]

0
-0.2
IEEE Journal on Emerging and Selected Topics in Cir-
cuits and Systems, 5, 443– 455.
0

Palizban, O. and Kauhaniemi, K. (2015). Hierarchical

-5
control structure in microgrids with distributed gener-
0.5 ation: Island and grid-connected mode. Renewable and
Sustainable Energy Reviews, 44, 797– 813.
νi [1000 × p.u.]

Parada Contzen, M. (2017). Consensus in networks with

arbitrary time invariant linear agents. European Journal
0

of Control, 38, 52– 62.

-0.5
0 5 time [s]
Fig. 5. Frequency input deviation υ (with detail), and
voltage amplitude deviation ν .
tions between the change rate of the load powers, w̄ w =
[w̄ w q ] , to the active power error, the reactive power er-
w p , w̄
ror, and the frequency deviation, respectively, in this case,
Hw ,eep ∞ = 0.0764, Hw ,eeq ∞ = 0.0553, and Hw ,υυ ∞ =
0.0023. As these values are smaller than one, we have that
the chosen control strategy attenuates the effect of the load
changes on the variables of interest but this effect does not
disappear.
5. CONCLUSION
In this paper we dealt with the secondary control of a
single phase microgrid considering four control objectives:
active and reactive power sharing, frequency restoration,
and voltage regulation. The closed loop analysis is per-
formed through a linearized model of the microgrid, where
the inverters play the role of control actuators and are
controlled in such a way that the four control objectives
can be simultaneously reached. The main characteristics
of this control strategy are shown within a simulation
example.
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