Engineering Science and Technology, an International Journal 23 (2020) 1084–1099

Contents lists available at ScienceDirect

Engineering Science and Technology,

an International Journal
journal homepage: www.elsevier.com/locate/jestch

Full Length Article

Modeling and frequency control of community micro-grids under

stochastic solar and wind sources
Dhananjay Kumar a, H.D. Mathur a, S. Bhanot a, R.C. Bansal b,⇑
a
Department of Electrical and Electronics Engineering, Birla Institute of Technology & Science, Pilani, Rajasthan, India
b
Department of Electrical Engineering, University of Sharjah, Sharjah, United Arab Emirates

a r t i c l e i n f o a b s t r a c t

Article history: The Community Micro-Grid (CMG) is a coordinated local grid area served by one or more distribution
Received 30 September 2019 substations supported by local renewable and other distributed energy resources (DER). In an islanded
Revised 13 January 2020 mode, the CMG stability reduces due to low inertia of the equivalent system and stochastic nature of
Accepted 17 February 2020
renewable energy sources (RESs). To study the frequency stability of the islanded CMG system, this paper
Available online 2 March 2020
explores the mathematical modeling aspects of different sources in the CMG and the robust control
design for the community microgrid model. The robust design using a fixed structure H1 synthesis
Keywords:
method has been presented to compensate for the effect of modeling uncertainty. The uncertainty in
Community micro-grid
Small signal model
the CMG model results in parametric perturbation which degrades its performance and stability. This
Renewable Energy sources paper explores the existing mathematical models of CMG’s and different control techniques applied for
Frequency control frequency regulation. Robust controller design for CMG is proposed that can handle the stochastic input
Controller hardware in loop (C-HIL) disturbances like a sudden change in power coming from solar and wind sources and also the model
uncertainty that results in the parametric perturbations. The complete model is simulated using
MATLAB Simulink platform and results of frequency deviation obtained by robust and PID controller
are compared. The controller hardware in loop (C-HIL) validation of the robust control method for
CMG has been done using a real-time controller board (DS1104). This CHIL system also implements
the CMG plant-controller model and analyzes the frequency deviation against load and renewable power
fluctuations. The oscillations in frequency deviation are analyzed for sudden rise or fall in the renewable
power coming from the solar and wind sources. A reduction of 30% is achieved in frequency overshoot
and settling time using a robust controller than the PID controller. The controller developed and imple-
mented using H1 synthesis has robust stability and performance for the perturbed CMG model and also
shows a better time response, unlike the PID controller.
Ó 2020 Karabuk University. Publishing services by Elsevier B.V. This is an open access article under the CC
BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

1. 1. Introduction natural disasters by helping to the damage control services [1–4].

The time has arrived when the various communities of cities
and towns should be capable of having their own isolated grid
based upon locally generated energy sources with enough capacity
of working with or without grid connection. This will help to
power the communities when the central grid fails for any reason
and to take care of power supply to critical and non-critical loads in
an efficient manner. This type of grid facility is known as Commu-
nity Micro-Grid (CMG) and acts as a lifeline for power needs during
⇑ Corresponding author.
E-mail addresses: djaydelhi@gmail.com (D. Kumar), mathurhd@pilani.bits-
pilani.ac.in (H.D. Mathur), surekha0057@gmail.com (S. Bhanot), rcbansal@ieee.org
(R.C. Bansal).
Peer review under responsibility of Karabuk University.
The advantages of CMGs include: (a) It can supply power in a crisis
(b) It helps to maintain a clean environment (c) It can enhance the
financial status of the community (c) It helps the central grid to
operate more strongly.
Unlike the central power grids, the CMG power system differs in
structure, size, and functionality. According to [5] CMGs differ from
central grid in terms of (a) Smaller system size (b) Higher penetra-
tion of RES (c) Higher uncertainty in the system (d) Lower system
inertia The CMGs are physically and functionally different from the
central grid and so its study and analysis should be done by taking
care of these differences. Community microgrids are physically
very small in comparison to the central grid and its rating may vary
from hundreds of kilowatts to hundreds of Mega Watts. The uncer-
tainty and variability issue related to stochastic solar and wind
power generation is the main focus of this study.

https://doi.org/10.1016/j.jestch.2020.02.005
2215-0986/Ó 2020 Karabuk University. Publishing services by Elsevier B.V.
This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099
The small-signal model of CMG is sufficient for studying the fre-
quency stability against the load and generation power distur-
bances. To study the dynamic response of CMG against the
change in load or source power various mathematical models of
MG have been reported in the literature [6–8,12–20]. A hybrid
power system model has been proposed in [6] to absorb the fluctu-
ation in system frequency caused by the oscillation in the power of
wind turbines. The use of three separate PI controllers in this work
is not justified since the poor performance/stability of either of the
controller may degrade the performance/stability of the whole sys-
tem. In [7] a fuzzy PI controller design is presented for MG having
the first-order transfer function model of all the sources but the
main issue with this model is that it can hardly handle the pertur-
bation due to uncertainty in the system.
The application of evolutionary computational techniques like
Bacterial Foraging Optimization (BFO) for controller tuning has
been presented in [8] but they only optimize controller parameters
considering the nominal model of the system without including
the perturbation in the actual model. A cost and risk level
minimization considering the uncertainty in thermal and wind
generation is presented in [9]. A review of different stochastic
optimization approaches to deal with the uncertainty in RESs and
load demand is presented in [10,11].
The artificial intelligent (AI) techniques for automatic genera-
tion control of microgrid has been proposed in [12] comparing
the BFO, genetic algorithm (GA) and particle swarm optimization
(PSO). Modeling of electric vehicle (EV) and its participation in
CMG frequency control has been presented in [13] with inertial
emulation. The role of energy storage is quite significant in MG
but has to suffer from drawbacks like additional cost and limited
life cycle. In [14] an energy management technique without using
storage has been proposed for an MG based upon photovoltaic
(PV), diesel and fuel cell generation. Introduction of EVs as an alter-
native storage source and its effective control with General Type-II
Fuzzy Logic Sets (GT2FLS) and Modified Harmony Search algorithm
for frequency regulation in MG has been presented in [15]. The
work in [16] presents the modeling of the MG and optimization
of the controller for frequency control using a firefly algorithm
(FA) based PID controller. The design of two robust controllers
based upon ‘H1’ and ‘l’ synthesis has been reported in [17], but
the experimental validation is not given. The real-time implemen-
tation of robust controller synthesis for frequency regulation is
presented in [18]. A small-signal islanded MG model and its
time-domain simulations have been studied in [19]. A reinforce-
ment learning-based PID optimization has been presented in [20]
for load frequency control. To address the dynamic variability in
renewable energy sources and load demand a real-time economic
dispatch approach has been proposed in [21]. The work in [22] pre-
sents an optimal scheduling problem considering the impact of
uncertainty associated with wind, solar PV and load demand. A
power oscillation analysis of inductor-capacitor-inductor (LCL)
filtered single-stage PV generators in a weak grid scenario is pre-
sented in [23] with real-time hardware in loop (HIL) validation.
In [24] the effect of grid impedance on low and high-frequency
stability of solar PV generator is explained.
The single order transfer function models of various sources in
CMG power systems have been taken for modeling. These mathe-
matical models neglect some of the modeling dynamics and it is
only an approximate model. To study the actual dynamics of these
models the uncertainty consideration is a must. Due to uncer-
tainty, the plant model becomes more sensitive to disturbances
and it may result in perturbation in the model parameters. This
perturbation may lead to the non-linear behavior of the CMG sys-
tem by degrading the stability and performance of the system.
Hence, the nominal model of the CMG system may fail to respond
to uncertain disturbances since the traditional controllers like PID
1085
and fuzzy logic have been developed without considering the
uncertainty.
In this paper, a robust small-signal model of the CMG system
has been developed considering the perturbation in modeling
parameters and intermittency in solar, wind and load power. To
study the frequency stability the developed robust controller is
tested and compared with conventional controller for stochastic
disturbances such as solar and wind power variations and also
the complete system is implemented with a real-time hardware-
in-loop (HIL) setup. Section 2 discusses the structure and modeling
of CMG with local RESs and auxiliary sources. Section 3 presents
the concept of frequency regulation phenomenon by tuning a PID
controller with the reaction curve method. Section 4 presents the
robust controller design for the CMG model using H1 synthesis
taking ±50% perturbation in inertia coefficient (M) and load damp-
ing constant (D) in the power system model of CMG and test for
robust stability and performance. Section 5 describes the simula-
tion results of the load frequency response obtained by the robust
controller and compared it with the PID controller. The hardware-
in-loop (HIL) implementation of a complete CMG system has been
also done and the oscillations in frequency for varying solar and
wind power have been recorded for analysis. Section 6 concludes
the work presented in the paper.
2. The community microgrid
The Community Microgrid (CMG) is a coordinated local grid
area served by one or more distribution substations and supported
by high penetrations of local renewable and other distributed
energy resources (DER) such as energy storage and demand
response.
2.1. Structure of community microgrid
For the purpose of the study, the structure of CMG considered
here is a standalone grid having RESs like wind and PV source, stor-
age sources like battery and flywheel and auxiliary sources like
diesel engine generator (DEG), fuel cell (FC) and a micro-turbine
(MT). The output of RESs is uncontrolled since it is weather depen-
dent and highly stochastic in nature so there is a need for such con-
trolled sources. These controlled sources i.e. MT, DEG, FC play an
important role to stabilize the system when RESs’ power is down
to continuously supply the load demand. These controlled sources
need some definite time to respond and feed the CMG, hence there
is a need for such a source that can support the grid until the con-
trolled sources are on. To fulfill this requirement, the storage sys-
tem is applied which is charging during the normal case (power
supply is equal to or more than demand). As soon as there is more
demand than supply then storage sources immediately get acti-
vated for a shorter period and provide a huge amount of power
to balance the demand and supply.
The general schematic of the CMG is shown in Fig. 1 which
shows that distributed resources are integrated to ac bus through
power converters. Power inverters are used for those sources
who produce dc power such as solar PV and FC while a bidirec-
tional power converter is utilized for electrical storage units such
as battery energy storage systems (BESS) and flywheel energy stor-
age system (FESS). The bidirectional power converter works as a
rectifier while charging the storage and as an inverter while
discharging.
Fig. 1 shows a generalized schematic of CMG with AC bus, load
and power converters to control the power flow dynamics inside
the MG [25]. The total power P T generated by DERs to supply for
load demand is the sum of the output power of WTG, PV, MT,
DEG, FC, and power from electrical storage units (BESS and FESS).
1086 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099
Fig. 1. Generalized schematic of a Community Micro-Grid in Islanded mode.
Eq. (1) shows the expression for total power generated inside the
CMG.
PT ¼ PWTG þ PPV þ PDEG þ PMT þ PFC  PBESS  PFESS
The instantaneous variation in load side power is compared to
the total generated power and the difference is minimized by
increasing or decreasing the power share from FC, DEG, MT and
storage sources. Eq. (2) shows the expression for the small change
in total power DPT which is a sum total of the change in power
from renewable sources and artificial (auxiliary) sources of power.
The artificial sources are directly associated with the frequency
regulation phenomenon in MG.
DPT ¼ DP WTG þ DPPV þ DPDEG þ DPMT þ DP FC  DP BESS  DPFESS
2.2. Mathematical model of renewable sources
This section presents a brief review of the mathematical model
adopted for renewable sources in CMG by various authors. To
design, the controller for frequency regulation authors have
assumed a small-signal transfer function model with time lag for
renewable sources in CMG. The main sources of renewable energy
in the CMG are wind turbine generators (WTGs) and solar photo-
voltaic (PV) plants. For modeling the solar PV power, according
to [19] the output power (in Watts) of PV system given by the
Eq. (3) which states that power is linearly proportional to solar
radiation U(watt per square meter) assuming ambient tempera-
ture (T a ), surface area (S) and efficiency (gPV ) as a constant.
PPV ¼ gPV SUf1  ð0:005ðT a þ 25ÞÞg
As reported in [19] the mathematical model of wind turbine
generator is expressed as a first-order lagging system with a suit-
able gain and time constant (T WTG ). A model of wind speed is given
in [19] which depends upon base wind speed, gust wind speed,
ramp wind speed, and noise wind speed. The wind is a stochastic
phenomenon and depends upon several geographical conditions.
The power output of the wind turbine depends upon the
real-time wind speed and the technology adopted for wind turbine
generators. Variable speed machines are used to convert the
mechanical power of the wind into electrical power. For frequency
control study, the model of the solar PV plant and wind turbine
generator is modeled with a first-order transfer function with lag
having a time constant T PV and T WTG [6–8,12–19]. Some authors
have also taken the second-order transfer function model of the
PV system [20].
ð1Þ
2.3. Model of auxiliary sources in CMG
To support the CMG during different scenarios like peak load
periods, low/no renewable generation, emergency weather condi-
tions there must be some artificial sources like Diesel Engine Gen-
erator (DEGs), Micro-Turbine Generators (MTGs) and Fuel Cell
Generators (FCGs). The combined rating of these sources must be
equal to the system base so that it can fulfill the total power
ð2Þ demand even during no generation from renewable energy
sources. The storage sources are used to compensate for the
variability associated with wind and solar power generation by
actuating the auxiliary sources. The storage and auxiliary sources
take over completely when renewable sources are not producing
due to any reason (like natural calamity, equipment failure, etc.).
Various authors have reported the dynamic model of DEG as the
combined form of diesel engine and governor [17,20]. According to
[17] it is the first-order system with a time constant and gain
parameters. But in [20] the DEG model has been represented as
the combination of the transfer function model of governor and
engine. According to [26–31], the DEG model has mainly three sec-
tions i.e. a controller, an actuator and an engine with a dead time
T dead (lie in the range of 10 ms to 10 s, the typical value is
500 ms). The schematic of the DEG adopted for the study is shown
in Fig. 2.
The controller design has two variants i.e. first order and
ð3Þ
second-order model and it generates actuating signals based upon
speed error input. The actuator governs the fuel input to the engine
which further burns the fuel to generate mechanical torque. This
torque rotates the flywheel of inertia constant (H) and damping
coefficient (K) to produce mechanical power. Assuming unity tor-
que constant, the electrical power is derived as the product of elec-
tric generator efficiency (ggen ) and mechanical power developed by
the diesel engine. Fig. 3(a) and (b) shows the step response of DEG
speed and power by using a PID controller. In the small-signal
model of CMG structure, the DEG is modeled as the first-order sys-
tem with a time constant (T DEG ) which is sufficient for studying the
dynamics of frequency regulation. For studying the small-signal
dynamics behavior of CMG structure, the DEG is modeled as the
 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099 1087

Fig. 2. The schematic of a closed loop model of Diesel Engine Generator system.

Fig. 3. DEG speed and power response with respect to applied reference (a) using PIDN controller (b) Second order compensator.

Table 1
first-order system with a time constant (T DEG ). In the schematic
Controller parameters for diesel engine generator.
shown in Fig. 2, the speed governor section actuated by a controller
that minimizes the error between the reference and the desired Parameter Value Parameter Value
speed of diesel engines. Kp 0.745 a 1
There are two types of controllers presented here to control the Ki 0.0296 b 1
speed of DEG based on the reference speed. The first one is a PID Kd 1.41 c 0.02
N 0.36427 d 0.02
controller with specified gains of K p , K i , K d and a filter with coeffi-
T dead 1 e 1
cient N, while the other controller is built according to [31] and is
given by a compensator with second-order transfer function whose
parameters are represented in Table 1. The expression for the con- G1 ðsÞ ¼ K p þ K i =s þ K d :N=ð1 þ N=sÞ ð4Þ
trollers can be expressed by Eqs. (4) and (5). In Fig. 3 the closed
loop response of the DEG can be visualizd that shows the speed

G2 ðsÞ ¼ as þ b= cs2 þ ds þ e ð5Þ
versus power dynamics following the reference power. Fig. 3(a)
shows the response obtained with PIDN controller and Fig. 3(b) The block diagram shown in Fig. 4 represents the schematic of
shows the response obtained with second order compensator. a microturbine generator (MTG). The working principle of MTG is
1088 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099
Fig. 4. The schematic of a closed loop model of Micro Turbine Generator system.
based on the thermodynamic cycle known as the Brayton cycle
[32]. Microturbines are small-sized turbines that burn the liquid
or gaseous fuel to produce a high-pressure gas stream that fur-
ther drives the electrical generator. MTGs features like quick start
make it perfect for grid support, especially during on-peak power
demands. The power rating of general MTGs lies in the range of
30 to 400 kW while the conventional gas turbine may range from
500 kW to 300 MW [32]. The electrical efficiency of MTG is lower
as compared to the similar-sized reciprocating engines but it is
preferred due to some favorable features like simpler design, less
rotating parts, more reliability, simpler in installation, reduced
noise and vibration, lower maintenance, lower emission, continu-
ous combustion and relatively lower capital cost [33,34]. The
range of output power, voltage, and frequency for micro-turbine
generators lie between 40 and 500 kW, 120–600 V, and 1.4–
4 kHz, respectively [35]. For studying the dynamic behavior of
the MTG system in response to small disturbances here small-
signal model has been taken which is a first-order system with
lag. For simulation purpose, the MTG model in CMG is repre-
sented by a first-order system with a time constant (T MT ) and
the dead time (T dead ).
The fuel cells are popular for electric power generation due to
the need for (i) clean environment (ii) power generators which
can be easily transported (iii) depleting fossil fuel reserves and
(iv) possibility of easy integration to renewable energy sources
such as wind and PV and islanded CMGs. For remote communities,
it is one of the strong sources of the auxiliary power source. It is an
electrochemical device that produces electric power after convert-
ing the chemical energy of a fuel (Hydrogen) and oxidizer (Oxygen)
into electric energy. For a clear understanding of FCG working and
behavior, readers can refer to [36–46]. In [37] the linear model of
FCG has been derived from the nonlinear model to design the con-
troller. It presents a linear model with cell voltage and power in
relation to the stack current density and anode inlet flow. The
small-signal model of the fuel cell is a first-order system with lag
and it is represented by a transfer function with suitable gain
and time constant [4,7,16,17,39,40]. According to [40,43] the FCG
model is comprised of three different sections i.e. fuel blocks, an
inverter for converting dc to ac voltage and an interconnection
device (IC) which integrates a high order characteristic in the FC
model. The detailed model of a fuel cell system is given in
[41,42]. For studying the FCG as a power source in CMG, a first-
order transfer function model with a time constant (T FC Þ is taken
in the CMG model.
2.4. Model of storage sources in CMG
For stability of the power system of CMG, the battery energy
storage systems (BESS) quickly responds to a frequency deviation.
According to [6–8,12–20] the mathematical model of BESS system
is given by a first-order lag system with a time constant (T BESS ). The
power output of BESS varies by feeding the frequency deviation of
CMG into it as an input. In [47] a real-time BESS frequency control
module based on active disturbance rejection controller (ADRC)
has been presented to reject the disturbance caused by load and
wind power fluctuation. In [48] also the model of battery storage
is represented by gain and time constant and applied for primary
frequency control inside a microgrid. A detailed survey of BESS
and modeling techniques is given in [49]. The physical phenomena
that occur inside the battery and the influence of the BESS in the
power systems are presented in [50], which mainly aims to model
the BESS for power systems stability studies. In [51] the power sys-
tem applications of battery energy storage to engineering projects
have been presented with designed and implemented power con-
version and control systems. The electrical model of BESS is beyond
the scope of this study so this work considers the small-signal
model of BESS. Hence, in this work, the BESS model is a first-
order system with lag and time constant (T BESS ).
Flywheel Energy Storage Source (FESS): FESS can store in the
form of mechanical energy and deliver in the form of electrical
energy for a short period without recharging. This mechanism of
energy storage is suitable for a medium-scale power system like
micro/mini-grids. For stability analysis in the power system of
CMG, the flywheel systems are modeled such that they respond
to a frequency deviation. In [52] the control and simulation of a fly-
wheel energy storage for a wind-diesel power system have been
given. The electrical model of FESS and its control can be studied
from [53,54]. The FESS generally has the storage time in the range
between 5 and 30 seconds [55]. According to [6–8,12–20] the
mathematical of FESS system is given by a first-order lag system
with a time constant (T FESS ).The electrical model of FESS is beyond
the scope of this study so this work considers the small-signal
dynamic model of FESS.
2.5. State-space model of CMG
For dynamic analysis, the state-space mathematical model of
CMG is denoted by the equations (6)-(9) that represents the linear
state-space model of the CMG system.
 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099 1089

x_ ¼ Ax þ B1 w þ B2 u Table 2
Controller parameters for diesel engine generator.

y ¼ cx ð6Þ Parameter Value Parameter Value

D (p.u/Hz) 0.012 TDEG (s) 2
where, M (p.u-sec) 0.2 TFC (s) 4
TBESS (s) 0.1 TFESS (s) 0.1
xT ¼ ½DPWTG DPPV DPDEG DPFC DPMT DPBESS DPFESS Df  ð7Þ TPV (s) 0.36427 TWTG (s) 1.5
TAE (s) 1 KP, KI 1.5, 2.5

wT ¼ ½DPwind DU DP LOAD  ð8Þ

4. The equivalent transfer function of the CMG plant and
y ¼ Df ð9Þ small-signal model

where u denotes the signal control signal and D denotes the incre-
mental change.
In the structure developed for CMG model in Fig. 5, the distur-
bance signals (w) are the change in wind power to WTG, change in
solar irradiance to solar PV and change in load demand from the
consumer of CMG system and they are expressed as DPwind , DU
and DP LOAD respectively.
3. Frequency control in CMG
The CMG is mainly dependent on RESs like solar and wind
resulting in an islanded ac power grid with low system inertia.
Due to low inertia, it is more sensitive to disturbances and para-
metric uncertainty due to which its stability is compromised.
The active and reactive power of CMG is continuously tracked
to ensure the stability of the power system related to frequency
and voltage respectively. Here, the active power control or fre-
quency regulation in the CMG is studied in detail. In previous sec-
tions the different renewable energy sources, auxiliary sources and
storage sources have been discussed in detail. The actual model of
distributed sources may be of higher-order with the dynamic fre-
quency response. In this study low-order, dynamic models are con-
sidered for small signal stability analysis. For studying the dynamic
behavior of the CMG power system for small signal variation, the
mathematical model of CMG is developed. Table 2 shows the list
of parameters considered for all the sources in the developed
CMG model [17].
Based upon the mathematical model of each source, the transfer
function of the complete CMG system is derived that gives the rela-
tion between the small change in frequency deviation (Df ) for the
small change in net power (DPÞ. The net power is the difference
between the change in generated power DP T and change in load
power DPLOAD . The CMG plant small-signal model is shown in
Fig. 5 which mainly consists of three inputs i.e. change in the wind,
solar power output and the change in load power. These three
inputs are acting as a disturbance input to the CMG plant model.
The two storage blocks of battery and flywheel are in parallel
and can be taken together and also they are in the feedback path
of the CMG plant model. The derivation of the transfer function
is obtained by combining the different blocks of Fig. 6. Fig. 7 shows
the equivalent block diagram of the closed-loop system with two
feedback loops. The inner loop contains a block G in the forwarding
path and f in the feedback path. The outer loop consists of three
parallel blocks with unity feedback. The equivalent transfer func-
tion of the three blocks of controlled sources and the transfer func-
tion of the inner loop is in series. The series equivalent transfer
function is having unity feedback. Fig. 7 (top) shows the reduced
block diagram and Fig. 7 (bottom) shows the overall transfer func-
tion of the CMG system.
4.1. Tuning of controller
The first step is to tune the controller for the CMG plant
obtained in Eq. (10). For this purpose, Zeigler Nichols (ZN) method

Fig. 5. Small signal model of the CMG structure for frequency response study.
1090 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099

Fig. 6. Block diagram representation of the CMG model for load-frequency analysis.

Fig. 7. For CMG model The Plant with controller block diagram (top) Overall
transfer function of CMG model for load frequency analysis (bottom).

is applied. As per the first method of ZN which is also known as the

‘Reaction Curve’ method, if the step response of the plant is S-
shaped then this method can be applied for tuning the controller.
The process reaction curve plots have been shown in Fig. 8.
Fig. 8(a) shows the plot for finding the process gain ‘K’, the time
constant ‘T’ and dead time ‘L’. Fig. 8(b) shows the process reaction
curve of the plant and Fig. 8(c) shows the open-loop and the
closed-loop response of the CMG plant model. Table 3 shows the
parameters obtained using the reaction curve tuning method and
the tuning rule for this method has been presented in Table 4.
The transfer function of controller ‘‘K” which is shown in Fig. 7
(top) is given by (10).

0:3535s2 þ 3:376s þ 8:062

K ðsÞ ¼ ð10Þ Fig. 8. Plots for tuning the CMG plant by Process reaction curve method (a) process
0:4188 reaction curve (b) Plot for finding the process gain, time constant and dead time (c)
Response Plot of open loop and close loop CMG plant model subjected to the step
reference.
5. Robust control implementation to CMG

Table 3
This section explains the steps involved for robust controller Tuning parameters obtained by reaction curve method.
design and implementation to CMG plant. The robustness analysis
has been done by H1 synthesis to develop the robust controller. Process Gain (K) Time Constant (T) Time Delay (L)

The first task is to figure out uncertainty and then to model it for 1.48842 2.09389 0.0666178
different parameters of CMG by mathematical formulation. Based
upon the uncertainty, the mathematical design is derived for the
synthesis of optimal H1 controller. Finally, the tests have been per- Table 4
formed for the derived controller for stability and performance Tuning rule for reaction curve method.
both in the nominal situation and in the presence of perturbation.
Controller Type Kp Ki Kd
For modeling, the uncertainty and design of closed-loop linear frac-
tional transformation model with weighting function in detail one P T=KL – –
PI 0:9  ðT=KLÞ 3L –
can refer to [14]. Fig. 9 represents the standardized closed-loop LFT
PID 1:2  ðT=KLÞ 2L 0:5L
(linear fractional transformation) structure for the H1 synthesis.
 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099
Fig. 9. Standard LFT structure for H1 synthesis.
6. H‘ optimization for robust controller synthesis
Robust controller synthesis can be viewed as a problem of
optimizing a controller to impart robustness in the design. The
optimization is executed over hardy space (H-space) and its infi-
nite norm of the linear fractional transformation (LFT) model is
minimized. The Eq. (11) is a general expression of the optimization
problem over hardy space.
kF L ðG; KÞk1 < 1
Here, kF L ðG; KÞk1 represents the nominal system in a closed-loop
and its transfer function from disturbance input to controlled out-
put is expressed in Eq. (12) as a transfer function matrix. The main
objective here is to derive a controller that is stable, as well as its
H1 norm of perturbed plant transfer function given in Eq. (13),
reduces to an arbitrary number less than unity.
kW e ð1 þ GKÞ1 W p Kð1 þ GKÞ1 k1 < 1
Fig. 10. For nominal system the plot of (a) Sensitivity-S and (b) complementary sensitivity-KS.
1091
kW e ð1 þ GPÞ1 W p Kð1 þ GPÞ1 k1 < 1 ð13Þ
6.1. H1 stability and performance
Nominal model: The derived model in the nominal condition is
tested for nominal stability (NS) and it is found to be satisfactory
since the closed-loop system transfer function from disturbance
input to desired output i.e. T wz is stable for the designed controller
K 1 . For the nominal model, the estimation of the nominal perfor-
mance (NP) is done by finding the infinite norm of sensitivity func-
tion S ¼ ð1 þ GKÞ1 and complementary sensitivity KS. According
to the condition of nominal performance, the S and KS values are
not crossing the upper bounds in the plots shown in Fig. 10. It is
shown in S-plot of Fig. 10(a) that the infinite norm of (13) is less
than unity and also the KS plot remains below an upper bound in
Fig. 10(b). To realize the inequality in equations (12) and (13),
the hinfstruct command has been executed using the robust control
toolbox in MATLAB.
obust model: The condition for robust stability of CMG model is
satisfied since the closed-loop system T wz is found to be internally
ð11Þ
stable for every single conceivable plant P ¼ ð1 þ DðsÞÞGðsÞ in which
the block DðsÞ is the perturbation due to uncertainty. For testing the
robust performance (RP), the performance criterion which is given
by equation (13) must be satisfied for specified perturbation (P).
Fig. 11 shows that the inequality for H1-norm as expressed in
(13) is less than unity. In this work, ±50% deviation due to uncer-
tainty in D and M parameters are analyzed. Fig. 11(a) and (b) show
the S and KS plot for inequality represented by (13) including
ð12Þ dynamic perturbation (P). Fig. 11(a) demonstrates that the condi-
1092 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099

Fig. 11. For perturbed system the plot of (a) Sensitivity-S and (b) complementary sensitivity-KS.

Fig. 12. KS function plot for ±80% perturbation in parameters of power system model.

tion of inequality kW e ð1 þ GPÞ1 k1 < 1 for P ¼ ð1 þ DðsÞÞGðsÞ is ful- kKð1 þ GPÞ1 k1 is well below upper bound i.e. wu 1 . The RS and
filled. It can be observed from Fig. 11(b) that the inequality RP conditions are satisfied for the controller K taking a 1-norm,
kW p Kð1 þ GPÞ1 k1 holds well and also along with this the which is represented in Eq. (13).
 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099 1093

6.2. Robustness limit
The deviations in M and D is further increased gradually above
±50% to test the limit of perturbation that the system (plant and
controller) can handle. Fig. 12 shows the bode plot of KS function
for ± 80% perturbation and it is just touching the upper bound
which shows that the designed controller is on the verge of insta-
bility. Fig. 13 explains the state when the system parameter is sub-
jected to a perturbation above ± 80% and since the KS plots are
crossing the upper bound the system becomes unstable.
7. Results and discussion
This section presents the four different analysis to validate the
effectiveness of the proposed H1 controller upon the conventional
PID controller. The time-domain simulation results are presented
first to show the superiority of the developed robust controller
for the CMG system stability subjected to perturbation in model
parameters. Once the simulation results show that the robust
controller has a better time response than the PID controller then
its experimental validation is done by implementing controller
hardware-in-loop (C-HIL) using a dSPACE controller board. In the
last to see the effect of solar power and wind power variation on
the CMG frequency keeping the load demand at a constant value
the external solar and wind power signal is fed to CMG system
built on hardware. The study of frequency deviation by changing
the solar and wind power has been recorded.
Case 1: Time-domain simulation results for frequency deviation
against load power deviation DPL by PID and robust H1 controller
The frequency deviation in CMG against the load variation is
recorded for the robust controller and compared with the conven-
tional PID controller which is tuned with the reaction curve
method. Fig. 14 represents the frequency deviation in the CMG sys-
tem for the applied load power shown in Fig. 15 using two different
control techniques, i.e. PID and structured H1. The enlarged view
of simulated frequency deviation corresponding to load change
between 30th and 40th seconds is plotted in Fig. 16. From simula-
tion results, one can see the improved time response of the H1

Fig. 13. KS function plot for perturbation more than ±80% in parameters of power system model.

Fig. 14. Frequency deviation corresponding to step load changes in community microgrid obtained by simulation.
1094 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099

Fig. 15. Load power input of a multiple step load deviation to CMG simulated plant.

Fig. 16. Enlarged view of simulated frequency deviation corresponding to load change between 30th and 40th second.

Fig. 17. The power output of battery energy storage source for both the control method of CMG.

controller. The power output from battery energy storage source
(BESS) is shown in Fig. 17.
Case 2: Robustness test for performance and stability of closed-loop
CMG response obtained through PID and H1 controller
The closed-loop CMG system developed with PID and is tested
for robust stability and performance by taking uncertainty in the
model parameters. A 30% uncertainty is assumed and the
response of both the controllers against the step load disturbances
are plotted together in Fig. 18. The uncertain model is made by ran-
domly selecting the model parameters within the specified range
of perturbation. Randomly selected parameters form different
uncertain perturbed models and the closed-loop response of all
 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099 1095

these models are tested with PID and H1 controller. The enlarged Case 3: Controller Hardware in loop (C-HIL) results of frequency
plot is shown in Fig. 19 and here it is clearly observed that the deviation against load power deviation DPL
developed H1 controller is more robust against the parametric The dSPACE controller board DS1104 is a real-time processor
perturbation. based on PowerPC technology and its set of I/O interfaces makes

Fig. 18. Load-frquency response of perturbed CMG model with PID and H1 controller.

Fig. 19. Enlarged view of simulated frequency deviation for perturbed CMG model to load change at 25th second.

Fig. 20. Schematic for hardware implementation of proposed controller.

1096 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099

Fig. 21. Hardware setup for frequency control against the load and source
disturbance.

the controller board an ideal solution for developing controllers in

various fields, such as drives, robotics, and aerospace. The whole
CMG plant and controller are built on the controller board using
the MATLAB 2015b interface and the controller response to the Fig. 22. Step load disturbance signal applied to CMG model C-HIL setup.
input disturbances is recorded using control desk software. These
disturbances are the change in power from stochastic sources
which are denoted asDPWTG , DPPV and DP L . To apply the disturbance
signal from an external environment, a multiple-step signal is fed
from a dc power supply (0–5 Volts) through ADC (analog to digital
converter) pin of DS1104. For a clear understanding of the flow of
data and control signals, the schematic of the hardware arrange-
ment is shown in Fig. 20. To observe the input and output param-
eters, a DSO (Digital Storage Oscilloscope) is connected through the
DAC (digital to analog converter) pin of DS1104. The peak over-
shoot of frequency deviation depends upon the rate of rising/fall
of disturbance signals. The hardware setup for experimental verifi-
cation is shown in Fig. 21. Real-time hardware results showing the
frequency deviation of the CMG plant using H1 based robust con-
troller against the step load deviations shown in Fig. 22 are
recorded. This load variation is applied as an external disturbance
input to the CMG system from a DC power supply. Fig. 23 shows
the C-HIL results of frequency deviations in response to the applied
load variation to CMG. Table 5 shows the record of the variations in
the settling time observed for frequency deviation Df .
Case4: Controller-Hardware-in-loop (C-HIL) results for fre-
quency deviation in CMG against wind and solar power variation
i.e. DP wind and DPPV Fig. 23. Hardware results for CMG frequency deviation corresponding to load
In this case, a constant load is applied to the CMG, while wind disturbance applied in Fig. 22.
and solar disturbance input to CMG is varied. In the C-HIL setup,
the variation in wind and solar power is fed through a variable
DC power supply. The power variation of wind and solar are taken
in different combinations of rising and fall at different instants. The Table 5
disturbance input signal to CMG i.e. wind and solar power is shown Load frequency deviation response for case 3.
in Fig. 24 and the corresponding frequency deviation is plotted in Load Disturbance (p.u.) Frequency deviation (Hz) Df
Fig. 25. The data recorded is summarized in Table 6 which shows
DP LOAD Peak Overshoot (M p ) Settling Time (T s ) (seconds)
the wind/PV power variation, peak overshoot M p and settling time
0.0260 0.0100 1.40
ts of frequency deviationDf . The time instant at which the initial
0.0520 0.0125 1.65
and final value for wind and PV power variation has been taken 0.0460 0.0185 1.50
are denoted by ti and tf . 0.0280 0.0035 1.20
The C-HIL of CMG is tested for different dynamic scenarios as 0.0270 0.0072 1.70
0.0356 0.0720 1.35
shown in Figs. 23 and 24. The different scenarios are: when (1)
0.0289 0.0081 1.55
the wind power is rising and solar power is constant (2) solar
power is rising and wind power is falling (3) wind power is falling
and solar power is constant (4) wind power is rising and solar
power is falling (5) wind and solar power are rising. Every event
has its own effect on the frequency of the CMG system. For differ- When the power from one source is rising and another source is
ent cases the magnitude and behavior of disturbance in the fre- falling the frequency deviation is showing oscillatory behavior
quency of CMG are different. For scenarios when either wind or until the variation in power comes to the steady-state. It has been
solar power is changing keeping others at constant then the fre- observed that under constant load the frequency deviation follows
quency deviation is smooth and shows no oscillatory behavior. the power rise or fall in renewable energy sources.
 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099 1097

Fig. 24. Real time hardware results showing the variation in renewable energy sources such as rise and fall in wind and solar power at different time instant.

Fig. 25. Hardware result showing the frequency deviation corresponding to wind and solar power rise and fall at different time instant.

Table 6
Frequency deviation response for case 4.

DP WIND (p.u.) DP PV (p.u.) Df (Hz)

At ti At tf At t f  ti At t i At tf At tf  t i MP ts

0.008 0.439 0.447 0.009 0.008 0.001 0.0096 4.175

0.439 0.007 0.446 0.009 0.400 0.409 0.0027 5.290
0.01 0.439 0.449 0.4 0.007 0.407 0.0027 3.975
0.439 0.007 0.446 0.007 0.007 0 0.004 4.095
0.008 0.440 0.448 0.075 0.400 0.475 0.0035 5.800
0.440 0.007 0.447 0.400 0.007 0.407 0.007 4.750

8. Conclusion formulated considering unstructured uncertainty and it can be

A robust small-signal model for the CMG has been developed,
simulated and validated experimentally to analyze the frequency
behavior against uncertainty and sudden variation in the power
of RESs and load power. A robust control system is designed for
CMG which is more immune to uncertain disturbances as well
as parametric variation. The mathematical model of CMG has been
used to study the dynamic behavior of a perturbed community
microgrid. The controller is designed and tested for robust
stability and performance using sensitivity function and comple-
mentary sensitivity function for ±50% perturbation in plant
parameters. In the time domain simulation, a reduction of 30% is
achieved in frequency overshoot and settling time using a robust
controller than the PID controller. The controller developed and
1098 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099
implemented using H1 synthesis has robust stability and perfor-
mance for the perturbed CMG model and also shows a better time
response, unlike the PID controller. The secondary frequency reg-
ulation in CMG in the presence of uncertainty in plant parameters
and source disturbances has been validated with C-HIL. The hard-
ware results obtained support the simulation results and hence
the developed model of CMG plant and the robust controller can
be used for accurate analysis of load-frequency dynamics in
community microgrid. In the C-HIL test, the peak overshoot of fre-
quency deviation also depends upon the rate of rising or fall of
disturbances such as DP wind and DP PV . When the power of either
wind or solar is rising/falling then the difference in the rate of ris-
ing/ fall introduces oscillations in the frequency of CMG. proposed
controller. The future work may include the power-hardware-in-
loop implementation for the developed robust CMG control sys-
tem by integrating power converters and amplifiers to the C-HIL
system.
Declaration of Competing Interest
The authors declare that they have no known competing finan-
cial interests or personal relationships that could have appeared
to influence the work reported in this paper.
References
[1] L. Che, X. Zhang, M. Shahidehpour, A. Alabdulwahab, A. Abusorrah, Optimal
Interconnection planning of community microgrids with renewable energy
Sources, IEEE Trans. Smart Grid 8 (3) (2017) 1054–1063.
[2] Che L Haslam, M. Shahidehpour, A. Alabdulwahab, Y. Al-Turki, Hierarchical
coordination of a community microgrid with ac and dc microgrids, IEEE Trans.
Smart Grid 6 (6) (2015) 3042–3051.
[3] A. Kumar, A.R. Singh, Y. Deng, X. He, P. Kumar, R.C. Bansal, A novel
methodological framework for the design of sustainable rural microgrid for
developing nations, IEEE Access 6 (2018) 24925–24951.
[4] T. Senjyu, T. Nakaji, K. Uezato, T. Funabashi, A hybrid power system using
Alternative energy facilities in isolated island, IEEE Trans. Energy Convers. 20
(2) (2005) 406–414.
[5] Caizares CA. Task force on microgrid stability analysis and modeling, draft
report. Tech. Rep.; IEEE Power & Energy Society; March 2018.
[6] X. Li, Y.J. Song, S.B. Han, Frequency control in micro-grid power system
combined with electrolyzer system and fuzzy pi controller, J. Power Sources
180 (1) (2008) 468–475.
[7] G. Mallesham, S. Mishra, A. Jha, Ziegler-nichols based controller parameters
tuning for load frequency control in a microgrid, in: International Conference
on Energy Automation and Signal (ICEAS), Bhubaneshwar, IEEE, 2011, pp. 1–8.
28-30 December.
[8] S. Mishra, G. Mallesham, A. Jha, Design of controller and communication for
frequency regulation of a smart microgrid, IET Renew. Power Gener. 6 (4)
(2012) 248–258.
[9] S.S. Reddy, A.R. Abhyankar, P.R. Bijwe, Market clearing for a wind-thermal
power system incorporating wind generation and load forecast uncertainties,
IEEE Power Energy Soc. Gener. Meet. 22 (2012 Jul) 1–8.
[10] S.S. Reddy, V. Sandeep, C.M. Jung, Review of stochastic optimization methods
for smart grid, Front. Energy 11 (2) (2017) 197–209.
[11] S.S. Reddy, Optimization of renewable energy resources in hybrid energy
systems, Journal of Green Engineering. 7 (1) (2017) 43–60.
[12] G. Mallesham, S. Mishra, A.N. Jha, Automatic generation control of microgrid
using artificial intelligence techniques, IEEE Power Energy Soc. Gen. Meet.
(2012) 1–8.
[13] P.R. Almeida, F.J. Soares, J.P. Lopes, Electric vehicles contribution for frequency
control with inertial emulation, Electr. Power Syst. Res. 127 (2015) 141–150.
[14] P.C. Sekhar, S. Mishra, Storage free smart energy management for frequency
control in a Diesel-PV-fuel cell-based hybrid ac microgrid, IEEE Trans. Neural
Networks Learn. Syst. 27 (8) (2016) 1657–1671.
[15] M.H. Khooban, T. Niknam, F. Blaabjerg, P. Davari, T. Dragicevic, A robust
adaptive load frequency control for micro-grids, ISA Trans. 65 (2016) 220–229.
[16] A.M. Abdel-hamed, A.E.E.K.M. Ellissy, A.S. El-Wakeel, A.Y. Abdelaziz, Optimized
control scheme for frequency/power regulation of microgrid for fault tolerant
operation, Electr. Power Compon. Syst. 44 (13) (2016) 1429–1440.
[17] H. Bevrani, M.R. Feizi, S. Ataee, Robust frequency control in an islanded
microgrid: H1 and l-synthesis approaches, IEEE Trans. Smart Grid 7 (2) (2016)
706–717.
[18] Kumar D, Nandan B, Mathur H, Bhanot S. Robust controller synthesis for
frequency regulation in islanded microgrid. In: Asia-Pacific Power and Energy
Engineering Conference (APPEEC), Bangalore. IEEE PES; 8-10 November 2017,
p. 1-6.
[19] D. Lee, L. Wang, Small-signal stability analysis of an autonomous hybrid
renewable energy power generation/energy storage system part i: Time-
domain simulations, IEEE Trans. Energy Convers. 23 (1) (2008) 311–320.
[20] M. Esmaeili, H. Shayeghi, H.M. Nejad, A. Younesi, Reinforcement learning
based PID controller design for LFC in a microgrid, COMPEL – Int. J. Comput.
Math. Electric. Electron. Eng. 36 (4) (2017) 1287–1297.
[21] S.S. Reddy, P.R. Bijwe, Real-time economic dispatch considering renewable
energy resources, Renewable Energy 1 (83) (2015) 1215–1226.
[22] S.S. Reddy, Optimal scheduling of thermal-wind-solar power system with
storage, Renewable Energy 1 (101) (2017) 1357–1368.
[23] Y. Xia, M. Yu, X. Wang, W. Wei, Describing function method based power
oscillation analysis of LCL-filtered single-stage PV generators connected to
weak grid, IEEE Trans. Power Electron. 34 (9) (2019) 8724–8738.
[24] Y. Xia, Y. Peng, P. Yang, Y. Li, W. Wei, Different Influence of Grid Impedance on
Low- and High-Frequency Stability of PV Generators, IEEE Trans. Ind. Electron.
66 (11) (Nov. 2019) 8498–8508.
[25] Coalition C. Elements of community microgrid 2018; URL: http://clean-
coalition.org/community-microgrids/.
[26] P.M. Anderson, A. Bose, Stability simulation of wind turbine systems, IEEE
Tran. Power Apparatus Systems PAS-102 (12) (1983) 3791–3795.
[27] S. Roy, O.P. Malik, G.S. Hope, An adaptive control scheme for speed control of
diesel driven power-plants, IEEE Trans. Energy Convers. 6 (4) (1991) 605–611.
[28] Conte F. Conte, S. Massucco, F. Silvestro, F. Baccino and P. Serra, ‘‘Equivalent
modelling of reciprocating engines generators for microgrid frequency
response analysis,” 2017 IEEE Manchester PowerTech, Manchester, 2017, pp.
1-6.
[29] L. Luo, L. Gao, H. Fu, The control and modeling of diesel generator set in electric
propulsion ship, IJ Inform. Technol. Computer Sci. 2 (2011) 31–37.
[30] K.L. Cheong, P.Y. Li, J. Xia, Control oriented modeling and system identification
of a diesel generator set (genset), IEEE Am. Control Conf. (ACC) (2010) 950–
955.
[31] K. Yeager, J. Willis, Modeling of emergency diesel generators in an 800
megawatt nuclear power plant, IEEE Trans. Energy Convers. 8 (3) (1993) 433–
441.
[32] R. Isermann, Engine Modeling and Control: Modeling and Electronic
Management of Internal Combustion Engines, Springer, Berlin Heidelberg,
2014.
[33] Goldstein L, Hedman B, Knowles D, Freedman SI, Woods R, Schweizer T. Gas-
red distributed energy resource technology characterizations. National
Renewable Energy Laboratory, Report No NREL/TP-620-34783; 2003.
[34] G.J. Kish, P.W. Lehn, A micro-turbine model for system studies incorporating
validated thermodynamic data, IEEE Power Energy Soc. Gen. Meet. (2011) 1–6.
[35] S. Guda, C. Wang, M. Nehrir, Modeling of microturbine power generation
systems, Electr. Power Compon. Syst. 34 (9) (2006) 1027–1041.
[36] I. Zamora, J.I. San Martin, A.J. Mazón, J.J. San Martín, V. Aperribay, Emergent
technologies in electrical microgeneration, Int. J. Emerg. Electr. Power Syst. 26
(2005 Oct) 3(2).
[37] T. Bjazic, Z. Ban, M.P. Franjic, Linear model of PEM fuel cell power system for
controller design purposes, Proceedings of the 30th Jubilee International
Convention MIPRO, Opatija, 2007.
[38] J.M. Corrêa, F.A. Farret, L.N. Canha, M.G. Simoes, An electrochemical-based
fuel-cell model suitable for electrical engineering automation approach, IEEE
Trans. Ind. Electron. 51 (5) (2004 Oct 4) 1103–1112.
[39] J.T. Pukrushpan, A.G. Stefanopoulou, H. Peng, Control of Fuel Cell Power
Systems: Principles, Modeling, Analysis And Feedback Design, Springer Science
& Business Media, 2004.
[40] P. Pathapati, X. Xue, J. Tang, A new dynamic model for predicting transient
phenomena in a PEM fuel cell system, Renewable Energy 30 (1) (2005) 1–22.
[41] Y. Li, S. Choi, S. Rajakaruna, An analysis of the control and operation of a solid
oxide fuel-cell power plant in an isolated system, IEEE Trans. Energy Convers.
20 (2) (2005) 381–387.
[42] A.J. Veronica, N.S. Kumar, Development of hybrid microgrid model for
frequency stabilization, Wind Eng. 41 (5) (2017) 343–352.
[43] H. Bevrani, F. Habibi, P. Babahajyani, M. Watanabe, Y. Mitani, Intelligent
frequency control in an ac microgrid: Online PSO-based fuzzy tuning
approach, IEEE Trans. Smart Grid 3 (4) (2012) 1935–1944.
[44] S. Obara, Analysis of a fuel cell micro-grid with a small-scale wind turbine
generator, Int. J. Hydrogen Energy 32 (3) (2007) 323–336.
[45] J.P. Lopes, C. Moreira, A. Madureira, Dening control strategies for analyzing
microgrids islanded operation, IEEE Power Tech. (2005) 1–7.
[46] K. Vidyanandan, N. Senroy, Frequency regulation in microgrid using wind fuel
cell diesel generator, IEEE Power Energy Soc. Gen. Meet. (2012) 1–8.
[47] C. Peng, Z. Zhang, J. Wu, A wind power and load prediction based frequency
control approach for wind-diesel-battery hybrid power system, Math.
Problems Eng. (2015).
[48] J. Li, Q. Yang, P. Yao, Q. Sun, Z. Zhang, M. Zhang, et al., A novel use of the hybrid
energy storage system for primary frequency control in a microgrid, Energy
Proc. 103 (2016) 82–87.
[49] A.R. Sparacino, G.F. Reed, R.J. Kerestes, B.M. Grainger, Z.T. Smith, Survey of
battery energy storage systems and modeling techniques, IEEE Power Energy
Soc. Gen. Meet. (2012) 1–8.
[50] Silva C, Student M. A model of a battery energy storage system for power
systems stability studies. 2015.
[51] X. Xu, M. Bishop, D.G. Oikarinen, C. Hao, Application and modeling of battery
energy storage in power systems, CSEE J. Power Energy Syst 2 (3) (2016) 82–
90.
 D. Kumar et al. / Engineering Science and Technology, an International Journal 23 (2020) 1084–1099 1099

[52] R. Sebastián, R. Peña-Alzola, Control and simulation of a flywheel energy
storage for a wind diesel power system, Int. J. Electr. Power Energy Syst. 1 (64)
(2015 Jan) 1049–1056.
[53] J. Feng, W. Gongbao, F. Lijun, Y. Yaqiao, W. Ruitian, X. Zhen, Controller design
of flywheel energy storage systems in microgrid, in: In: IEEE, 17th
International Conference on Electrical Machines and Systems (ICEMS), 2014,
pp. 2821–2826.
[54] X. Zhang, J. Yang, A dc-link voltage fast control strategy for high-speed PMSM/
G in flywheel energy storage system, IEEE Trans. Ind. Appl. 54 (2) (2018) 1671–
1679.
[55] M.A. Ramli, A. Hiendro, S. Twaha, Economic analysis of PV/Diesel hybrid
system with flywheel energy storage, Renewable Energy 78 (2015) 398–
404.