Dynamic Virtual Power

Plant Control
POSYTYF Internal Webinar, WP 4

Verena Häberle & Florian Dörfler

Acknowledgements

Verena Häberle Michael W. Fisher Eduardo Prieto-Araujo Joakim Björk

Further: Ali Tayyebi, Xiuqiang He, Gabriela Hug, Karl Henrik Johansson, & POSYTYF partners

1/34
Outline

1. Introduction & Motivation

2. DVPP Design as Coordinated Model Matching

3. Decentralized Control Design Method

4. Extensions & Ongoing Research

5. Conclusions

2/34
Outline

1. Introduction & Motivation

2. DVPP Design as Coordinated Model Matching

3. Decentralized Control Design Method

4. Extensions & Ongoing Research

5. Conclusions

3/34
Challenges in future power systems

• conventional power systems • future power systems

– dispatchable generation – variable generation
– significant inertial response – reduced inertia levels
– fast frequency & voltage control – ancillary services for frequency & voltage
provided by bulk synchronous generation provided by distributed energy resources (DERs)

• some of the manifold challenges

– grid fragility: intermittency & uncertainty of
renewables & reduced inertia levels
– device fragility: converter-interfaced DERs
limited in energy, power, fault currents, . . .
– ancillary services on ever faster time scales
& shouldered by distributed sources

4/34
 Dynamic Virtual Power Plant (DVPP) 6
SG 3
(thermal-based) 6

DVPP: coordinate a heterogeneous ensemble of DERs 4 4

to collectively provide dynamic ancillary services

⇡
• sufficiently heterogenous collection of devices 1 1
– reliable provide services consistently across all super- super-
power & energy levels and all time scales BESS capacitor DVPP 1 BESS capacito
– none of the devices itself is able to do so hydro hydro

• dynamic & robustly ancillary services

motivating examples
– fast response (grid fragility), e.g., inertia
• frequency containment provided by non-minimum
– specified as desired dynamic I/O response phase hydro & on-site batteries (for fast response)
– robustly implementable on fragile devices
• wind providing fast frequency response & voltage
• coordination aspect support augmented with storage to recharge turbine

– decentralized control implementation • hybrid power plants, e.g., PV + battery + supercap

– real-time adaptation to variable DVPP • load/generation aggregators . . .
generation & ambient grid conditions
5/34
 DVPP
Abstraction: coordinated model matching
• setup (simplified): DVPP consisting of
– DERs connected at a common bus
– PMU frequency measurement at point of
common coupling broadcasted to all DERs broadcast + aggregate
input signal + output signal
DER 1

comm
(active power

….
(PMU frequency
• DVPP aggregate specification (ancillary service): signal at PCC) injection at PCC)

– grid-following fast frequency

response (virtual inertia & damping)


power = H s + D · frequency

(later: forming + distributed + voltage . . . )

DER n
• task: coordinated model matching

⇡
– design decentralized DER controls so that the
aggregate behavior matches specification
P

i
poweri = H s + D · PMU-frequency
– while taking device-level constraints into account
– & online adapting to variable DVPP generation desired aggregate behavior 6/34
 Nordic case study
with J. Björk (Svenska kraftnät) • FCR-D service → desired behavior • discussed solution: augment hydro
& K.H. Johansson (KTH) with batteries for fast response
power 3100 · (6.5s + 1)
= → works but not very economic
frequency (2s + 1)(17s + 1)

• well-known issue: actuation of hydro • better DVPP solution: coordinate

via governor is non-minimumphase hydro & wind to cover all time scales
→ initial power surge opposes control
→ highly unsatisfactory response

remainder of the talk: how to do it ?

aggregated 5-bus Nordic model 7/34
Outline

1. Introduction & Motivation

2. DVPP Design as Coordinated Model Matching

3. Decentralized Control Design Method

4. Extensions & Ongoing Research

5. Conclusions

8/34
 SG 3
6 (thermal-based)
Problem setup & variations
4 4

transmission
system ⇡
transmission
area 2 1 1
system
area 1
super- sup
BESS capacitor DVPP 1 BESS capac
POC 2
POC 1
hydro hydro
transmission
system
R/X < 0.1 area 3
• DVPP consists of controllable & non-controllable
devices (whose I/O behavior cannot be altered)

• topology: all DVPP devices at common bus bar

obviously . . . one can conceive quite complex problem
setups with a DVPP spanning transmission/distribution,
multiple areas, forming/following controls, all sorts of
devices → need to make choices: start simple for now
(later also spatially distributed setup)
• grid-following signal causality: power injection
controlled as function of voltage measurement
(later also grid-forming setup)

9/34
 DVPP: collection of heterogenous RES
DVPP control setup set of non-controllable devices N

T1 (s) h i
h i ∆p1

• global broadcast signal ∆f

∆q1
non-controllable device 1
∆||v||
+ +
Tr−1 (s) h i
∆pr-1
• global aggregated power output h
∆f
i
non-controllable device r-1
∆qr-1 h
∆pagg
i
∆||v|| ∆qagg
h i h i +
∆pagg P ∆pi
= i∈N ∪C
set of controllable devices C +

∆qagg ∆qi Tr (s)

plant r + +
• fixed local closed-loop behaviors of
h i
∆pr
∆qr

non-controllable devices Ti (s), i ∈ N control

(e.g., closed-loop hydro/governor model) controllable device r

Tn (s)
• devices with controllable closed-loop behaviors
Ti (s), i ∈ C (e.g., battery sources) plant n h
∆pn
i
∆qn

• overall/global/aggregate DVPP behavior control

h i h i controllable device n
∆pagg (s) P ∆f (s)
= T (s)
i∈N ∪C i
∆qagg (s) ∆||v||(s)

10/34
 DVPP: collection of heterogenous RES

Coordinated model matching set of non-controllable devices N

T1 (s) h i
∆p1
• overall/global/aggregate DVPP behavior non-controllable device 1
∆q1

h i h i
∆pagg (s) P ∆f (s) + +
= T (s)
i∈N ∪C i
Tr−1 (s)
∆qagg (s) ∆||v||(s) h
∆pr-1
∆qr-1
i

non-controllable device r-1

h i h i
∆f ∆pagg
∆||v|| ∆qagg
+

• desired DVPP specification: decoupled f-p set of controllable devices C +

& v-q control (later: consider couplings) Tr (s)

 h plant r h i + +
h i fp i ∆pr
∆pdes (s) Tdes (s) 0 ∆f (s) ∆qr
= vq
∆qdes (s) 0 Tdes (s) ∆||v||(s) control
| {z }
=:Tdes (s) controllable device r

Tn (s)

P ! plant n h
∆pn
i
→ aggregation condition: Ti (s) = Tdes (s) ∆qn

i∈N ∪C
control

controllable device n

DVPP control problem ≈

h i h i
∆f ∆pdes
∆||v|| ∆qdes
Tdes (s)
Find local controllers such that the DVPP aggregation
condition & local device-level specifications are satisfied. desired aggregate behavior
11/34
Outline

1. Introduction & Motivation

2. DVPP Design as Coordinated Model Matching

3. Decentralized Control Design Method

4. Extensions & Ongoing Research

5. Conclusions

12/34
 Running case studies

Original 9 bus system setup Case study I: hydro Case study II: synchronous
supplementation generator replacement
2 7 8 9 3 8 9 3 8 9 3 wind

PV
STATCOM
SG 2 SG 3 SG 3 & battery
(thermal-based) 5 6 (thermal-based) 6 (thermal-based) 6
DVPP 3
4 4
4

1 1
1
super- super-
SG 1 BESS capacitor DVPP 1 BESS capacitor DVPP 1
(hydro)
hydro hydro

DVPP 1 for freq. control DVPP 3 for freq. & volt. control
h i h i
∆p(s) = Tdes (s)∆f ∆p(s) ∆f
= Tdes (s)
−D ∆q(s) ∆||v||
Tdes (s) := τ s+1 ,  −Dp −Hs 
τp s+1 0
Tdes (s) := −Dq
0 τq s+1

13/34
Divide & conquer strategy → aggregation condition:
P !
Ti (s) = Tdes (s)
i∈N ∪C
with M. W. Fisher (University of Waterloo), E. Prieto-Araujo (UPC)

1) Disaggregation & pooling 2) Local matching control

t=0 Tdes (s)

Ti (s)

desired behavior plant i

of device i
...

matching
...
control
Disaggregate Tdes (s) into local desired behaviors
for each device.
!
t=τ Tdes (s) =
desired behvavior
desired behavior
of device i
of device i

... For each device i, design local matching

Disaggregation can be adaptive (later). control to match desired behavior.
14/34
Disaggregation & pooling

• disaggregation of DVPP specification via dynamic participation matrices (DPMs)

 
! mfp
i (s) 0
Ti (s) = Mi (s) · Tdes (s) Mi (s) =
0 mvq
i (s)

→ diagonal elements mfp vq

i , mi are dynamic participation factors (DPFs) for the f-p & v-q channel
(selection of DPFs on next slide!)
• resulting DVPP aggregation condition
P ! P
i∈N ∪C
Ti (s) = i∈N ∪C
Mi (s) · Tdes (s) = Tdes (s),

• participation condition of DPMs

P !
i∈N ∪C
Mi (s) = I2

• participation condition of DPFs

! !
mfp mvq
P P
i∈N ∪C i (s) = 1, i∈N ∪C i (s) = 1,

15/34
DPF selection
(same principle for f-p and v-q channel; omit superscripts in the following)
• fixed DPFs of non-controllable devices N with fixed Ti (s)
mi (s) := (Tdes (s))−1 Ti (s)
• define DPFs of the controllable deivces C as transfer functions, each characterized by
– a time constant τi for the roll-off frequency
– a DC gain mi (0) = µi to account for power capacity limitations
→ divide the controllable devices into three categories, i.e., we envision

low-pass filter participation high-pass filter participation band-pass filter participation

for devices that can provide for devices able to provide for devices able to cover the
regulation on longer time scales regulation on very short time intermediate regime
including steady-state contri- scales
butions
(τi −τj )s
mi (s) = τ µs+1
i
mi (s) = τi s
τi s+1
mi (s) = (τi s+1)(τj s+1)
i
amplitude

amplitude

amplitude
frequency frequency frequency

16/34
Running case studies - DPF selection for f-p channel
Case study I: hydro supplementation Case study II: sync. generator replacement

4
9 3 wind

PV
DVPP 1 1 STATCOM
& battery

super-
BESS capacitor DVPP 3
hydro

101
101

100
0
10

10-1

10-1
-2
10

10-3 10-2
10-2 100 102 10-2 100 102

17/34
Local matching control
Control objective: for each controllable device, find local matching controllers such that the local closed-loop
behavior matches the local desired specification
!
Ti (s) = Mi (s) · Tdes (s)

• setup for matching control design of device i • the state-feedback controller K is obtained by
minimizing the matching error ε(s) = N (s)w(s)
Ti (s)
in the H∞ -norm as
h i h i
∆f ∆pi
w= y=
∆||v|| plant i ∆qi
ẋ = Ax + Bu + B̂w
u y = Cx + Du + D̂w
minimize ||N (s)||∞
K
matching control
controller
• include ellipsoidal constraints for transient device
R ε + limitations, e.g., converter current constraints
K
− N (s)
local desired behavior Mi (s) · Tdes (s) w ε
ż = Az + Bu + B̂w
ẋr = Ar xr + B̂ r w
y r = C r xr + D̂r w ε = Cz + Du + D̂w

• consider theRaugmented system with state

z = [x xr ε]′
18/34
Case study I - simulation results

8 9 3

SG 3
0 6 (thermal-based)

-0.2
load step at bus 6
1
20 load step at bus 6
-0.4 BESS super-
DVPP 1
5 25 50 75 100 125 150 capacitor

hydro
10

40 • poor frequency response of

0
stand-alone hydro unit
20
5 25 50 75 100 125 150 • significant improvement by DVPP 1
0 load step at bus 6 • good matching of desired active
5 25 50 75 100 125 150 power injections (dashed lines)

19/34
Online adaptation accounting for fluctuating power capacity limits

• adaptive (i.e., time-varying) DC gains of LPF DPFs, i.e., mi (0) = µi (t)

→ adaptive dynamic participation factors (ADPF)
• update DC gains proportionately to the power capacity limit of the devices
• requires centralized (broadcast) communication or distributed peer-to-peer communication

device j device i

plant plant

control ··· control

device i

pmax (t) µj (t)

j µj (t) µi (t)
plant
qjmax (t) pmax
j (t)
pmax
i (t)
µi (t) qjmax (t)
control ··· qimax (t)
···
pmax
i (t) DVPP
qimax (t) operator plant

···
control

··· device j

• LPV H∞ control to account for parameter-varying local reference models Mi (s) · Tdes (s)

20/34
Online adaptation accounting for fluctuating power capacity limits

Running case study II - ADPFs of f-p channel before & during cloud

before cloud (nominal) during cloud

101 101

10
0 100

10-1 10-1

10-2 10-2
10-2 100 102 10-2 100 102

21/34
Case study II - simulation results
load increase at bus 3 decrease in PV capacity

deviation (Hz)
frequency 8 9 3 wind
0
PV
-0.05
STATCOM
& battery
6
-0.1
DVPP 3
4
4
deviation (MW)
active power

2
0
1
-2
super-
-4 BESS capacitor DVPP 1
hydro
0.05
deviation (pu)
voltage

0
• adequate replacement of frequency &
-0.05
voltage control of prior SG 3
8 • good matching of desired active & reactive
deviation (Mvar)

6
reactive power

4
power injections (dashed lines)
2 • unchanged overall DVPP behavior during
0
step decrease in PV capacity
-2
5 25 5 25
22/34
Outline

1. Introduction & Motivation

2. DVPP Design as Coordinated Model Matching

3. Decentralized Control Design Method

4. Extensions & Ongoing Research

5. Conclusions

23/34
Grid-forming DVPP control
with E. Prieto-Araujo (UPC), Ali Tayyebi (Hitachi Energy)
DVPP
PCC
device 1
PCC
device 2
transmission ≈ transmission
Tdes (s)
grid grid

device n

h i h i h i h i
∆fpcc ∆ppcc ∆ppcc ∆fpcc
∆||v||pcc ∆qpcc ∆qpcc ∆||v||pcc
foll (s)
Tdes form (s)
Tdes

grid-following signal causality grid-forming signal causality

 h  h
h i fp i h pf i i
∆ppcc (s) ! Tdes (s) 0 ∆fpcc (s) ∆fpcc (s) ! Tdes (s) 0 ∆ppcc (s)
= vq = qv
∆qpcc (s) 0 Tdes (s) ∆||v||pcc (s) ∆||v||pcc (s) 0 Tdes (s) ∆qpcc (s)
| {z } | {z }
foll (s)
=:Tdes form (s)
=:Tdes

→ power injection controlled as function of → frequency & voltage imposition controlled as

frequency & voltage measurement function of power measurement
24/34
 Grid-forming DVPP frequency control architecture
     
∆pd,1 −∆p1 local DVPP dynamics ∆f1
• feedback interconnection: local DVPP ∆pd = ...  −∆p =  ...  ∆f = ... 
T1pf (s)
dynamics & dynamics of DVPP interconnection ∆pd,n −∆pn ∆fn
network (e.g., via LV/MV transformers) +
− ..
• local controllable closed-loop behaviors T pf (s) . Tnpf (s)
i
(→ extendable to non-controllable behaviors)
• linearized power flow of DVPP interconnection  
∆pe,1
network (Ldvpp : Laplacian matrix) ... 
linearized
∆pe = power flow
Ldvpp
∆pe (s) = s
∆f (s) ∆pe,n
Ldvpp
s
• coherent response [Jiang et. al (2021)]

−1 ≈
1n 1⊤
Pn
∆f (s) = i=1
Tipf (s)−1 n ∆pd (s) ∆ppcc ∆fpcc
pf
Tdes (s)

• synchronized frequency dynamics at PCC

Pn
−1 ∆pd,1 ∆pd,3
∆fpcc = i=1
Tipf (s)−1 ∆ppcc , ∆ppcc ≈
P
∆pd,i
device 1
device 1 device 3

→ aggregation condition: device 2

Kron reduction
Pn
−1 !
i=1
Tipf (s)−1 pf
= Tdes (s) device 3 device 2
PCC ∆pd,2

25/34
 Grid-forming DVPP voltage control architecture

• no coherent dynamic behavior of local voltage

magnitudes → no analogy between frequency & local DVPP dynamics
voltage control setup! T1vq (s)
• common input signal ∆||v||pcc −∆q1

+
• aggregate reactive power output ∆||v||pcc ..
.
+ −∆qagg
Pn
∆qagg = i=1
∆qi Tnvq (s) +
−∆qn
• local controllable closed-loop behaviors T vq (s)
i
(→ extendable to non-controllable behaviors) ≈
• aggregate DVPP behavior ∆||v||pcc ∆qpcc
qv
(s)−1
Pn
∆qagg (s) = − i=1 Tivq (s)∆||v||pcc (s)
Tdes

• approximate ∆qpcc ≈ −∆qagg

(or compensate reactive losses)
h i h pf
ih i
→ aggregation condition: ∆fpcc (s) !
=
Tdes (s) 0 ∆ppcc (s)
qv
Pn ! ∆||v||pcc (s) 0 Tdes (s) ∆qpcc (s)
i=1
Tivq (s) = Tdes
qv
(s)−1 | {z }
=:T form (s)
des
qv
Note: Tdes needs to be invertible.
26/34
Adaptive divide & conquer strategy for grid-forming DVPP

• disaggregation of T form via ADPFs

. ..
e
des

pf
Tdes (s)−1 =
Pn
Pn
i=1
mfp pf
i (s)Tdes (s)

for
−1 = !

!
Pn
i=1
Tipf (s)−1 ,

be
qv
Pn
Tdes (s)−1 = i=1
mvq qv
i (s)Tdes (s)
−1 =
i=1
Tivq (s),

• participation condition
Pn

a
i=1
s mfp
i (s) = 1
!
&
Pn
i=1
mvq
i (s) = 1
!

e
• online adaptation of LPF DC gains mk (0) = µk (t), k ∈ {fp, vq}
i i
• local model matching condition

am !
Tipf (s) = mfp
i (s)
−1 pf
Tdes (s),

s
→ compute local LPV H∞ matching controllers!
!
Tivq (s) = mvq qv
i (s)Tdes (s)
−1
.

27/34
Numerical case study
load increase at bus 2 decrease in wind generation
deviation (Hz) 2 7 8 9 3

0
frequency

SG 2 SG 3
5 6
-0.05
wind
-0.1 PV
4

STATCOM
10
deviation (MW)
active power

DVPP 1
5
SG 1

10 -4 || || || ||
2 • specify decoupled p-f & q-v control
deviation (pu)
voltage

0  
-2
1
0
h i h i
∆fpcc (s) ∆ppcc Hp s+Dp
-4 = Tdes (s) , Tdes :=
∆vpcc (s) ∆qpcc 0 Dq
3
deviation (Mvar)

• good matching of desired frequency &

reactive power

2
1 voltage behavior (dashed lines)
0 • unchanged overall DVPP behavior during
-1
0 5 10 15 20 25 0 5 10 15 20 25
decrease in wind generation
time (s) time (s)
28/34
 Next level: hybrid DVPPs - aggregating grid-forming & grid-following devices
local DVPP dynamics
Frequency control setup 
∆pd,1
 
−∆p1

∆f1
 
grid-forming devices Form
∆pd = ...  −∆p =  ...  ∆f = ... 
• include grid-following de- ∆pd,n −∆pn ..
. ∆fn

vices via fictitious frequen- +

− −∆pi Tipf (s) ∆fi
cy dependent load, where grid-following devices Foll
..
Dj = 0, such that .
..
.
1 −∆pj 1 ∆fj
∆fj = − fp ∆pj +
−
Dj
Dj +Tj (s)
Tjfp (s)
1
=− fp ∆pj ..
.
Tj (s)  
∆pe,1
∆pe = ...  linearized power flow
∆pe,n
Ldvpp
• local controllable closed- s

loop behaviors Tipf , Tjfp ≈

(→ extendable to non-con- ∆ppcc ∆fpcc
pf
trollable behaviors) Tdes (s)

coherent closed-loop dynamics [Jiang et al. (2021)] → aggregation condition:

P −1 P −1
1n 1
P ⊤
P ! pf
∆f= T pf (s)−1 + T fp (s) n ∆pd (s) T pf (s)−1 + T fp (s) = Tdes (s)
i∈Form i j∈Foll j i∈Form i j∈Foll j

(voltage control setup similar to before) 29/34

 Preview: spatially distributed DVPP
with X. He (ETH), Ali Tayyebi (Hitachi Energy), E. Prieto-Araujo (UPC)

Transmission system DVPP (TS-DVPP) Distribution system DVPP (DS-DVPP)

transmission
system
area 2
transmission
system transmission POC
area 1 system

distribution
system R/X ≈ 1
POC 2 ≈
POC 1
DVPP
transmission
system
R/X < 0.1 area 3 Tdes (s)
transmission POC
system
≈ transmission
system distribution
area 2 system R/X ≈ 1
transmission
system
area 1
DVPP

POC 2
Assumptions
Tdes (s)
POC 1 • only constant power loads within DVPP area
transmission
system • all devices in the DVPP area with dynamic ancil-
R/X < 0.1 area 3
lary services provision are part of the DVPP

30/34
Preview: spatially distributed DVPP
with X. He (ETH), Ali Tayyebi (Hitachi Energy), E. Prieto-Araujo (UPC)

Transmission system DVPP (TS-DVPP) Distribution system DVPP (DS-DVPP)

DVPP

∆p′poc ∆fpoc,i
transmission
system Tdes (s)
transmission POC
area 2 system
transmission
system
distribution
area 1
DVPP system R/X ≈ 1

→ rotational powers to decouple power flow equations

P
i
∆ppoc,i ∆fpoc,i POC 2
Tdes (s)
POC 1 h ′i h ih i
p X/Z −R/Z p
transmission = , Z 2 = X 2 + R2
R/X < 0.1 system q′ R/Z X/Z q
area 3

• lossless p (or p’) transmission → p-f (or modified p’-f) control setup for DVPP at one bus still valid!
• limitations: lossy q (or q’) transmission → DVPP control would require full network information during
real-time operation & centralized coordination
Solution: consider global p-f (or p’-f) DVPP control at the POCs & use independent local q-v (or q’-v) controllers.

31/34
Outline

1. Introduction & Motivation

2. DVPP Design as Coordinated Model Matching

3. Decentralized Control Design Method

4. Extensions & Ongoing Research

5. Conclusions

32/34
Conclusions
DVPP control
• control a group of heterogeneous RES to provide dynamic ancillary services
• heterogeneity: different device characteristics complement each other
• reduce the need of conventional generation for dynamic ancillary services provision

Adaptive divide & conquer strategy

• fully decentralized control strategy
1. disaggregation & pooling
2. local model matching
• incorporation of DVPP internal constraints
• online-adaptation towards fluctuating device capacities
Alternative DVPP control design approach based on centralized optimization problem [M.W.Fisher et. al (2022)]

Extensions & ongoing research

• grid-forming DVPP control, hybrid DVPP control
• spatially distributed DVPP devices in transmission & distribution grid
33/34
References

Björk, J., Johansson, K. H., & Dörfler, F. (2021). Dynamic virtual power plant design for fast frequency reserves:
Coordinating hydro and wind. Submitted (arXiv preprint arXiv:2107.03087).
Häberle, V., Fisher, M. W., Araujo, E. P., & Dörfler, F. (2021). Control Design of Dynamic Virtual Power Plants: An
Adaptive Divide-and-Conquer Approach. IEEE Transactions on Power Systems.
Häberle, V., Tayyebi, A., Araujo, E.P., & Dörfler, F.(2022). Grid-Forming Control Design of Dynamic Virtual Power
Plants. Extended Abstract IFAC Workshop on Networked Systems. Submitted (arXiv preprint arXiv:2202.02057).
Jiang, Y., Bernstein, A., Vorobev, P., & Mallada, E. (2021). Grid-forming frequency shaping control for low-inertia
power systems. American Control Conference (ACC).
Fisher, M.W., Hug, G., & Dörfler, F. (2022). System Level Synthesis Beyond Finite Impulse Response Using
Approximation by Simple Poles. To be submitted.

34/34
Verena Häberle
PhD Student
verenhae@ethz.ch

Florian Dörfler
Associate Professor
dorfler@ethz.ch

——————————————————-

ETH Zürich
Automatic Control Laboratory (IfA)
Physikstrasse 3
8092 Zurich, Switzerland