Energy Reports 10 (2023) 2693–2709

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Energy Reports
journal homepage: www.elsevier.com/locate/egyr

Research paper

A hierarchical control approach to improve the voltage and frequency

stability for hybrid microgrids-based distributed energy resources
∗
Moussa Saadati Toularoud a , Mohammad Khoshhal Rudposhti b , , Sajad Bagheri a ,
Amir Hossein Salemi a
a
Department of Electrical Engineering, Arak Branch, Islamic Azad University, Arak, Iran
b
Department of Electrical Engineering, Langarud Branch, Islamic Azad University, Langarud, Iran

article info a b s t r a c t

Article history: This study proposes a multi-layer interactive control scheme to improve the performance of microgrids
Received 26 May 2023 (MGs) based on distributed energy resources (DERs). This structure ensures the stability of the four
Received in revised form 4 September 2023 system parameters, including voltage/frequency (V/F) and active/reactive (P/Q) power of the MGs,
Accepted 13 September 2023
respectively, due to the correct operation of the defined control layers. In the proposed method, in
Available online 21 September 2023
the first layer, an internal voltage and current controller loop combined in the power droop controller
Keywords: (PDC), duties to adjust the unit V/F, in addition, the MG able to quickly respond to load oscillations
Microgrids is possible. Further, the secondary distributed V/F control strategies based on distributed finite-time
Distributed energy resources control (DFTC) are implemented to modify and restore the control system. In this study, one of the
Frequency stability novelties of the proposed method is the use of economically distributed modelling (EDM) in the upper
Voltage stability layer above the other layers. The simulation results prove the efficiency of the proposed method
Hierarchical control strategy (hierarchical control) from two points of view, including voltage and frequency control; as
the amplitude of fluctuations of voltage and frequency components has decreased for the units by
0.005 pu to 0.08 pu and 0.005 Hz to 0.018 Hz, respectively.
© 2023 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND
license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

1. Introduction
Microgrids (MGs) are small-scale electricity grids that oper-
ate independently or in conjunction with the power grid. They
typically use distributed energy resources (DERs) such as solar
photovoltaic (PV) panels, wind turbines (WTs), and battery energy
storage (BES) to provide reliable and sustainable power. MGs
are increasingly being employed to enhance energy resilience,
reduce carbon emissions, and improve energy access in remote
and underserved areas (Ma et al., 2023; Kikusato et al., 2023;
Wang et al., 2022). The MGs play an important role in the efficient
utilization of DERs and sustainable grid performance (Safiullah
et al., 2022). Due to the flexibility of controlling the interface
inverters used in the MG structure, the MG control and operation
also become more flexible (de Dieu Nguimfack-Ndongmo et al.,
2022; Chintakindi and Mitra, 2022). Therefore, the nature of the
control of MGs will be a major challenge for experts in this field,
considering the issue of the integration of different devices (Li
∗ Corresponding author at: Department of Electrical Engineering, Langarud
Branch, Islamic Azad University, Langarud, Iran.
E-mail addresses: M.saadatitoularoud@gmail.com (M.S. Toularoud),
Khoshhal@iaul.ac.ir (M.K. Rudposhti), sajad.bagheri@iau.ac.ir (S. Bagheri),
salemiah@yahoo.com (A.H. Salemi).
et al., 2023a). In this regard, the control system of an MG, de-
pending on its output (controllable or uncontrollable), includes
three levels; primary, secondary, and tertiary (Chen et al., 2022;
Chintakindi et al., 2022; Tran et al., 2023). The primary level
of control can be designed based on a voltage source controller
(VSC) or current source controller (CSC). This level of control
system independently and through local measurements ensures
the stability of the MG in different operating conditions. At the
secondary level, ‘V/F’ droop control (VDC/FDC) is designed for
stability. In the sense that events such as changing operating
mode, load change, and even the occurrence of errors can cause
a steady-state error in the basic MG variables. The application
of tertiary level control is for wide MGs with several voltage
controllable sources. Therefore, it is necessary to use a master
control system to create coordination in the MGs. The task of this
system is to control the power management in the MGs (Jain and
Saxena, 2023; Yang et al., 2023). Frequency and voltage control of
MGs is carried out at both the distributed and centralized control
levels. At the distributed control level, each individual DER within
the microgrid is responsible for regulating its own output to
maintain a stable frequency and voltage within the microgrid.
Distributed controllers are typically implemented within each
DER and are responsible for monitoring the local frequency and
voltage levels, and adjusting the output of the DER as necessary

https://doi.org/10.1016/j.egyr.2023.09.079
2352-4847/© 2023 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-
nc-nd/4.0/).
M.S. Toularoud, M.K. Rudposhti, S. Bagheri et al.
to maintain stable grid conditions (Arabpour and Hojabri, 2023).
At the centralized control level, a supervisory control system
is responsible for coordinating the operation of multiple DERs
within the MG to ensure that the MG operates efficiently and
effectively. The centralized control system can also provide ad-
ditional protection against grid disturbances and can manage
the flow of power between the microgrid and the larger utility
grid (Jasim et al., 2023). Distributed control in MGs offers several
advantages, including:
• Flexibility: Each component in the MG can make decisions
based on its own needs, which allows for more flexibility
and adaptability in response to changing conditions.
• Resilience: In the event of a failure in one component of
the MG, the other components can continue to operate
independently.
• Scalability: Distributed control can be more easily scaled to
accommodate larger MGs or more complex energy systems.
However, distributed control also has some limitations, including:
• Complexity: With multiple controllers making decisions in-
dependently, the overall control system can become com-
plex and difficult to manage.
• Coordination: The controllers need to communicate with
each other to ensure that the energy production and con-
sumption are balanced across the MG, which can require
additional coordination and communication protocols (Wan
and Wu, 2022; Li et al., 2023b).
In an MG with centralized control, a single controller manages
the energy production and distribution for the entire microgrid.
This controller makes decisions based on a global view of the
energy production and consumption within the microgrid, tak-
ing into account factors such as energy demand and available
energy sources. The controller may also incorporate data from
external sources, such as weather forecasts or electricity mar-
ket prices (Fleer and Stenzel, 2016; Pérez-Ibacache et al., 2018;
Sen and Kumar, 2018). Centralized control in MGs offers several
advantages, including:
• Efficiency: With a single controller making decisions for the
entire microgrid, energy production, and consumption can
be optimized for maximum efficiency.
• Simplification: A single controller can simplify the overall
control system and reduce the complexity of the MG.
• Integration: Centralized control can more easily integrate
with external energy systems, such as the main power grid
or renewable energy sources.
However, centralized control also has some limitations, including:
• Lack of Flexibility: A single controller may not be able to
respond as quickly to changing conditions or local demand
as individual controllers.
• Single Point of Failure: With a single controller managing
the entire MG, a failure in that controller can cause the
entire system to fail (Roytelman and Ganesan, 2000).
Overall, the choice between local and centralized control in
MGs depends on the specific goals and requirements of the MG.
In some cases, a more distributed and local approach may be pre-
ferred, while in other cases a centralized approach may be more
efficient. To cope with the voltage and frequency instabilities of
MGs, appropriate approaches are presented in the literature (Xu
et al.; Golsorkhi et al., 2018; Yang et al.; Xu et al., 2017; Zhou
et al., 2020; Liu et al., 2018; Mahmud et al., 2019; Shi et al., 2018;
Stanojev et al., 2020; Yu et al., 2019; Tavassoli et al., 2020; Xiao
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Energy Reports 10 (2023) 2693–2709
et al., 2013; Perez et al., 2023; Hou et al., 2019; Fawzy et al., 2021;
Wang et al., 2023; Wu and Yang, 2023; Rashidi et al., 2021; Feilat
et al., 2018).
In Xu et al., focuses on the development of an optimal dis-
tributed control scheme for secondary frequency and voltage
regulation in an island MG. The authors propose a control strat-
egy to address the challenges of maintaining stable frequency
and voltage levels in an MG operating independently from the
main grid. The proposed method aims to optimize the operation
of distributed energy resources to enhance the MG’s stability
and performance. By effectively managing frequency and voltage
levels, the MG can better accommodate variations in load and
generation. This work contributes to the advancement of control
strategies for islanded MGs, which are crucial for reliable and
efficient operation in standalone scenarios.
The control challenges in low-voltage resistive ACMGs have
been addressed in Golsorkhi et al. (2018). The authors propose
a distributed control approach to manage the power flow and
maintain stable operation in such microgrids. The distributed
control strategy enables effective load sharing and voltage reg-
ulation among distributed energy resources, contributing to the
reliability and efficiency of the microgrid. This work is significant
for the development of control methods suitable for low-voltage
microgrids, which often consist of smaller-scale energy sources
and loads.
In the next case, the authors address the challenge of fault
tolerance in modular multilevel converters (MMC) through a
distributed control architecture. The focus is on the detection and
diagnosis of switch open-circuit faults in an MMC and the devel-
opment of a control strategy to enable seamless operation despite
the presence of faults. This work contributes to improving the
reliability and robustness of power electronic converters used in
high-voltage applications. The proposed approach enhances the
fault-tolerant capabilities of the system and ensures continuous
operation even under fault conditions (Yang et al.).
The authors present a decentralized control strategy aimed
at achieving economic operation in autonomous microgrids in
Xu et al. (2017). The study addresses MGs with various types
of sources and loads, including AC, DC, and hybrid AC/DC con-
figurations. The proposed approach optimizes the allocation of
power among different energy sources to minimize operating
costs while ensuring reliable supply. By considering the mix of AC
and DC components, the study contributes to the development
of flexible control strategies applicable to diverse MG architec-
tures. The next case explores the design and implementation of
distributed control and communication strategies in networked
MGs. The authors focus on the challenges associated with co-
ordinating and managing multiple microgrids within a larger
networked system. The study discusses various control and com-
munication methods that enable effective energy management
and sharing among interconnected MGs. The work is valuable for
the advancement of control strategies that facilitate collaboration
and efficient operation in complex MG networks (Zhou et al.,
2020).
Liu et al. (2018), delves into the area of MG control, focus-
ing on addressing unbalance and harmonics while achieving bus
voltage compensation and current sharing. The authors propose
a decentralized control strategy that employs a cost-function-
based approach. By utilizing this method, the MG can effectively
manage voltage imbalances and harmonics in its operation. Ad-
ditionally, the control strategy seeks to balance current sharing
among DERs, contributing to stable and efficient operation. This
work is significant for enhancing the performance and reliabil-
ity of MGs by simultaneously addressing multiple operational
challenges.
A robust nonlinear adaptive feedback linearizing decentralized
controller has been designed in Mahmud et al. (2019). The focus
M.S. Toularoud, M.K. Rudposhti, S. Bagheri et al.
of this research lies in the domain of islanded DCMGs. The authors
propose a robust nonlinear adaptive feedback linearizing decen-
tralized control design for these MGs. The primary objective is to
enhance the stability and performance of DCMGs by developing
a control strategy that effectively adapts to variations and distur-
bances. The proposed approach addresses the challenges of island
operation and aims to achieve robust and stable performance
even in the presence of uncertainties. This work contributes to the
advancement of control methods suitable for islanded DCMGs.
A dynamic demand control for system frequency regulation
has been presented in Shi et al. (2018). In this study, the au-
thors review the concept of dynamic demand control for sys-
tem frequency regulation. They delve into various algorithms
and techniques that enable dynamic demand control to main-
tain system stability in power networks. By comparing different
algorithms, the study provides insights into their effectiveness
and applicability in managing system frequency fluctuations. This
work contributes to the understanding of frequency regulation
strategies and discusses potential directions for future research
and development in this area.
Stanojev et al. (2020) focuses on addressing the challenges of
fast frequency control in low-inertia power systems. The authors
propose an MPC-based strategy for voltage source converters to
ensure rapid frequency response in these systems. The study
aims to enhance the stability and reliability of power networks
by developing a control approach that can effectively manage
frequency deviations. The MPC-based strategy seeks to contribute
to the stability of low-inertia power systems, especially in the
context of increasing renewable energy integration.
A dynamic multi-agent-based management and load frequency
control for multi-DG has been presented in Yu et al. (2019). This
study centers around the management and load frequency control
of an autonomous microgrid system incorporating various energy
sources like PV, fuel cells, wind turbines, and combined heat and
power (CHP). The authors propose a dynamic multi-agent-based
approach to effectively manage the operation of these diverse
energy sources while maintaining proper load frequency. The
strategy aims to ensure a stable and balanced microgrid opera-
tion, leveraging the capabilities of the different energy sources to
achieve efficient load frequency control. The work is significant
for the advancement of microgrid management strategies in
complex renewable energy-integrated systems.
In Tavassoli et al. (2020), Xiao et al. (2013) and Perez et al.
(2023) presents an adaptive virtual inertia (AVI) control sys-
tem for the regular operation of MGs. While this technique has
some benefits, such as improved frequency response and re-
duced need for physical inertia, furthermore has some drawbacks,
including dependence on communication networks, complexity,
limited capacity, lack of standardization, and potential for insta-
bility. A unique predictive control (PC) scheme without applied
proportional–integral–differential (PID) controllers for real re-
newable energy-based ACMGs has been presented in Hou et al.
(2019), Fawzy et al. (2021), Wang et al. (2023) and Wu and
Yang (2023). The presented approach consists of a model pre-
dictive power control (MPPC) and a model predictive voltage
control (MPVC) approach. The V/F fluctuations of the presented
system have been improved to a desirable extent by considering
the proposed method. However, MPC can have higher computa-
tional requirements compared to other control methods, leading
to slower response times. Additionally, it may require accurate
models of the system dynamics, making it sensitive to modeling
errors. Finally, the optimization problem solved by MPC can be
difficult to formulate and solve for large-scale systems.
In Rashidi et al. (2021) and Feilat et al. (2018), optimization
of power system frequency stability using virtual inertia from
inverter-based DERs has been analyzed. This research shows that
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Energy Reports 10 (2023) 2693–2709
due to the MG equipment’s low inertia, without support from
the main grid, the MG control and management in stand-alone
mode is much more complex than in the grid-connected mode.
The MG, with low inertia, increases the problems of maintaining
power balance and maintaining network stability. In the above
study, the state-space model for the virtual power system grid
with virtual inertia has been developed as a feedback control
loop. The comparison of various techniques in terms of control
layer and architecture is presented in Table 1. This study intro-
duces a multi-layer interactive control scheme to enhance MG
performance relying on DERs. The scheme focuses on maintaining
stability in four critical system parameters: V/F and P/Q power of
MGs. The control structure comprises several layers to achieve
this stability. In the initial layer, a PDC combines an internal
voltage and current controller loop to adjust V/F and enable rapid
responses to load fluctuations. The subsequent layer employs
DFTC strategies for secondary distributed V/F control to refine and
restore the system’s control. An innovation in this approach is the
incorporation of EDM in the top layer. This study concentrates on
controlling DER-based MGs, proposing a two-layer control struc-
ture. The first layer, based on VDC and FDC, is designed to adjust
V/F. The second layer employs the DFTC technique to eliminate
steady-state errors from the first layer and ensure the stability of
V/F values under various perturbations and oscillations. The study
also investigates the impact of the EDM layer on optimizing the
distribution of network power (P and Q). The main contributions
of the present paper are summarized below:
• Introduction of a multi-layer interactive control scheme to
enhance microgrid (MG) performance based on DERs.
• Focus on maintaining stability in four crucial system param-
eters: V/F and P/Q of MGs.
• Utilization of a PDC in the first layer to adjust V/F and enable
rapid responses to load fluctuations.
• Implementation of secondary distributed V/F control strate-
gies based on DFTC in the subsequent layer.
• Resilience guarantees, following Lyapunov procedures, are
supplied for frequency restoration, applying a single control
protocol.
• Examination of the effect of the EDM layer on the optimal
distribution of required power (P and Q) within the network.
The rest of paper is organized as follows. Section 2 presents the
proposed method description. Section 3 discusses the simulation
results, and Section 4 concludes this paper.
2. The proposed method description
Fig. 1 shows the overall structure of the case study. The control
structure diagram of the proposed method is presented in Fig. 2.
Distributed FTC is a control strategy that aims to stabilize a
network of interconnected systems in a finite amount of time.
It is often used in multi-agent systems, where a group of agents
needs to cooperate to achieve a common goal (Mehrabi et al.,
2019; Farmer and Rix, 2020; Li et al., 2020; Lin and Zheng, 2016;
Faramondi et al., 2018; Xu, 2017). Here, the following indicates
are employed. Given a vector x = [x1 , . . . , xN ]T , describe sig
(X )γ = [sig(x1 )γ , I , sig(xN )γ ]T and |x|γ = [|x1 |γ , . . . , |xN |γ ]T .
sig(x)γ =∑sgn(x) |x|γ , where∑sgn(·) is the signum function. Char-
N ∑N N
acterize i=1 j=1 (.) = i,j=1 (.). In the following, DFTC in-
cludes voltage restoration (VR) and frequency restoration (FR)
components.
M.S. Toularoud, M.K. Rudposhti, S. Bagheri et al. Energy Reports 10 (2023) 2693–2709

Table 1
The comparison of various techniques in terms of control layer and architecture.

Ref. Type of proposed Main advantage Control layer Control architecture

method

Primary Secondary Tertiary Centralized Distributed

Fleer and Stenzel Battery energy storage Improved impact ✔ × × ✔ ×

(2016) systems providing analysis of different
primary control reserve operation strategies
Pérez-Ibacache Linear state-feedback Enhanced dynamic ✔ × × ✔ ×
et al. (2018) primary control response
Sen and Kumar Comprehensive survey of Review of control ✔ ✔ ✔ ✔ ✔
(2018) MG control strategies
Roytelman and Coordinated local and Coordinated control ✔ × × ✔ ×
Ganesan (2000) centralized control approach
Xu et al. Optimal distributed Improved secondary × ✔ × × ✔
control for secondary control
V-F regulation
Golsorkhi et al. Distributed control of Low-voltage resistive ✔ × × × ✔
(2018) low-voltage resistive AC MGs control
MGs
Yang et al. Seamless fault-tolerant Fault-tolerant operation ✔ × × × ✔
operation of modular with switch open-circuit
multilevel converter fault diagnosis
Xu et al. (2017) Decentralized control Economic operation of ✔ × × × ✔
strategy for economic MGs
operation of MGs
Zhou et al. (2020) Distributed control and Distributed control and ✔ × × × ✔
communication communication
strategies in networked strategies analysis
MGs
Liu et al. (2018) Cost-function-based Unbalance and ✔ × × × ✔
microgrid decentralized harmonics compensation
control
Mahmud et al. Robust nonlinear Robust controller design ✔ × × × ✔
(2019) adaptive feedback
linearizing decentralized
controller
Shi et al. (2018) Dynamic demand control Review and comparison × ✔ × ✔ ✔
for system frequency of algorithms
regulation
Stanojev et al. MPC-based fast Fast frequency control ✔ × × ✔ ×
(2020) frequency control of
voltage source
converters
Yu et al. (2019) Dynamic Management and control ✔ × × ✔ ×
multi-agent-based of multi-energy sources
management and load
frequency control

Tavassoli et al. Study on communication Analyzing × ✔ × ✔ ×

(2020) system effects on communication impact
secondary control
Xiao et al. (2013) Study on Analysis of governance × ✔ ✔ × ✔
internationalization and and control effects
performance of firms in
China
Hou et al. (2019) Improvement of Enhanced frequency ✔ × × ✔ ×
frequency regulation in regulation
VSG-based ACMG
Fawzy et al. Adaptive virtual Improved inertia × ✔ × ✔ ×
(2021) inertia-damping system emulation
based on model
predictive control
Rashidi et al. Multi-microgrid energy Tertiary-level control for × × ✔ ✔ ×
(2021) management through multi-microgrid
tertiary-level control management
Feilat et al. (2018) Study on impact of large Analysis of V-F stability × ✔ × ✔ ×
PV and wind power
plants on grid stability

(continued on next page)

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Table 1 (continued).
Ref. Type of proposed Main advantage Control layer Control architecture
method
Primary Secondary Tertiary Centralized Distributed
Mehrabi et al. Improved adaptive Enhanced voltage and × ✔ × ✔ ×
(2019) wide-area load shedding frequency stability
scheme
Farmer and Rix Optimizing power Improved frequency ✔ × × × ✔
(2020) system frequency stability
stability using virtual
inertia
Li et al. (2020) V-F stability analysis of Stability analysis of virtual ✔ × × ✔ ×
grid-forming virtual synchronous generator
synchronous generator
Proposed method A hierarchical control Ensures multiple MGs’ ✔ ✔ × × ✔
economic operation.
Effective energy
management strategy by
regulating the power
exchange between different
DERs in the MG.
...

Fig. 1. The overall structure of case study.

( ) ∂ (LFi hi )
2.1. VR problem where L2F hi = LFi LFi hi = ∂ xi
F i. Characterize the supplemen-
i
tary control εi as
The DFTC method with a VR constraint is dependent on several
factors such as system dynamics, network topology, etc. In the εi = L2Fi hi + Lgi LFi hi ui (3)
VR problem, µi = Vni and yi = νodi , are input and output,
respectively. which results in a second-order linear system, ÿi = εi . Further,

di = 0 in yi = hi (xi ) + d i ui (1) the voltage synchronization error, ev i = νodi − νref = yi − νref , and
let ηi = ev i and ζi = ėv i . Gridded dual integrator designs for I ∈
where the relation (1) is the MGs nonlinear dynamic sample. To
N are converged as
describe the control inputs, νi , to the outputs, yi , the second-
derivative of yi is computed
η̇i = ζi
{
(4)
ÿi = L2Fi hi + Lgi LFi hi ui (2) ζ̇i = εi
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Fig. 2. Comprehensive diagram of the proposed hierarchical distributed control procedure.

It is assembled as a continually DFT resilience controller for Proof. The global form of (4) can be prepared as gridded dual
the strategies in (4) as integrator designs

η̇ = ζ
⎛ ⎞γ1⎛ ⎞γ2 {
N N (10)
ζ̇ = −c1 sig ((L + G) η)γ1 − c2 sig((L + G) ζ )γ2
∑ ∑
εi = −C1 sig ⎝ lij ηj ⎠ − C2 sig ⎝ lij ηζj ⎠ (5)
j=1 j=1 where two parameters η and ζ are defined as η = [η1 . . . ..ηN ]
and ζ = [ζ1 , . . . ζN ]T .
2γ
where c1 , c2 > 0, 0 < γ1 < 1, γ2 = 1+γ1 , and lij denotes the (i, j)th Let X = (L + G)η and Y = (L + G)ζ with X = [x1 , . . . ..xN ] and
T
1
Y = [y1 , . . . ..yN ] . According to (10), can be understood that
T
entry of matrix (L + G). It is noted that
{
ẋ = Y
{∑N ∑N
j=1 lij ηj = j=1 aij υodi − υodj + gi υodi − υref
( ) ( )
(11)
∑N ∑N (6) Ẏ = −c1 (L + G) sig (X )γ1 − c2 (L + G) sig (Y )γ2 .
j=1 lij ζj = j=1 aij υ̇odi − υ̇odj + gi υ̇odi .
( )
Accordingly, the matrix (L+G) is positive, and designs (4) are
According to (3) and (5), the FT resilience voltage controller as globally FT steady if and only if (11) is globally FT steady. Suppose
the Lyapunov process
εi − L2Fi hi N
ui = 1 c1 ∑
Lgi LFi hi V1 = Y T (L + G)−1 Y + |xi |1+y1 (12)
(∑ )γ1 (∑ )γ2 2 1 + γ1
N N
C1 sig η
j=1 lij j + C2 sig ζ
j=1 lij j + L2F hi
i
i=1

=− (7) Determining (12) yields

Lgi LFi hi
N

sig (xi )γ1 ẋi

∑
V̇1 = Y T (L + G)−1 Ẏ + c1
Lemma 1. Assume there exists a continuous function V(t): [0, ∞)
i=1
→ [0, ∞) as
= Y T (L + G)−1 × (−c1 (L + G) sig (x)γ1 − c2 (L + G) sig (Y )γ2 )
(1) V (t) is positive, (2) There exist simple numerals d > 0 and 0
N
< ρ < 1 as
sig(xi )γ yi = c1 Y T sig (X )γ1 − C2 Y T sig (X )γ2
∑
+ C1
ρ
V̇ (t ) ≤ −dV (t ) (8) i=1
N
∑ ⏐ ⏐γ2
Let T ≤
V (0)1−ρ
. One has + C1 Y T sig (X ) = C2 ⏐yi ⏐ ≤ 0 (13)
d(1−ρ )
i=1

limt →T V (t ) = 0, Visible that design (11) exists globally alternatively steady. Fur-
{
(9) thermore, any k > 0, will be performed
and V (t ) = 0, ∀t ≥ T
V1 K 2−γ2 X , kY = k2 V1 (X , Y )
{ ( )
V (0)1−ρ (14)
V̇1 K 2−γ2 X , kY = kγ2 V1 (X , Y )
( )
where, V(t) gets zero at FT ‘T’ ≤ d(1−ρ )
.

which means that (11) is a homogeneous design.

Proposition 1. Based on a relation (7), the DFT-VR issue will be
correct. h = − max V̇1 (X , Y ) > 0 (15)
(X ,Y )ϵυ

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M.S. Toularoud, M.K. Rudposhti, S. Bagheri et al. Energy Reports 10 (2023) 2693–2709

where the set υ = {(X , Y ) : V1 (X , Y ) = 1} is compact. By a Lemma 2. For a nondirected grid,

procedure equal to Hou et al. (2019) can be understood that N N
γ2
∑ ( )k 1∑ ⏐ ⏐1+K
V̇1 (X , Y ) ≤ −hV1 (X , Y ) 2 (16) aij xi sig xj − xi =− aij ⏐xj − xi ⏐ (27)
2
i,j=1 i,j=1
By Lemma 1, allow Tυ to represent the period carried by the
key starting from the initial issue (X0 , Y0 ) to get the origin. Thus, Overall, the DFTC technique can help solve V/F restoration
problems in MGs by facilitating coordinated action among agents
2 2−γ2
Tυ ≤ V1 (X0 , Y0 ) 2 (17) in the system. By enabling agents to communicate and coordinate
h (2 − γ2 ) with each other in real-time, the mentioned approach can help
Therefore, the DFT-VR issue is solved at Tυ . ensure that all agents reach a consensus on a particular value,
which can be used to regulate the V/F of the MG.
2.2. FR problem
2.3. Control parameters
The FR problem is a crucial condition in the design of DFTC
strategy for multi-agent systems. The DFTC method with an FR VDC is a fundamental component in MG control systems,
constraint is dependent on several factors such as communica- primarily responsible for regulating voltage levels. It operates
tion network topology, tuning parameters, initial conditions, and by continuously monitoring the MG’s voltage and adjusting the
computational resources. For FR problem, ui = ωni and yi = ωi are
output of the DERs accordingly. The core concept behind VDC is
the input and output, and di ̸ = 0 in (1). To involve the feedback
to mimic the behavior of synchronous generators in traditional
linearization procedure, differentiate ωi = ωni − nPi Pi , to obtain
power systems, which exhibit a natural droop response to vari-
the first auxiliary control input µfi
ations in load. In operation, VDC maintains a reference voltage
ω̇i = ω̇ni − nPi Ṗi ≡ µfi (18) level, often at the MG’s nominal voltage. When there is a load
change or disturbance causing a voltage deviation, VDC adjusts
Determine nPi Pi to get the second supplementary control input
the output of the DERs, such as solar panels or battery inverters.
If the voltage exceeds the reference level, the DERs reduce their
nPi Ṗi ≡ upi (19) output, and if the voltage drops below the reference, the DERs in-
crease their generation to restore the voltage. Further, FDC plays a
Thus, the control input ωni will be defined as
∫ ∫ vital role in regulating the frequency of a microgrid. Like VDC, FDC
ωni = (ufi + upi )dt ≡ uFi dt (20) emulates the behavior of synchronous generators. It ensures that
the MG’s frequency remains close to its nominal value, typically
The supplementary control inputs ufi and upi are determined 50 Hz. FDC continuously monitors the frequency and adjusts the
according to the relative calculated data of inverters adjacent to output of DERs accordingly. If the frequency increases due to
the transmission graph as reduced load or excess generation, DERs decrease their output,
⎛ ⎞ and conversely, if the frequency drops due to increased load, DERs
N
∑ )K )K increase their generation to restore the frequency to the desired
aij sig ωj − ωi + gi sig ωref − ωi ⎠
( (
ufi = Cf ⎝ (21) level. In the following, SFC is a higher-level control component
j=1 used to further refine and stabilize the MG’s frequency. It operates
N
∑ after the primary frequency response provided by FDC. SFC pri-
upi = CP aij sig(nPj Pj − nPi Pi )K (22) marily focuses on minimizing the steady-state error in frequency
j=1 regulation.
SFC uses advanced control techniques, such as proportional–
where Cf > 0 and CP > 0 are control gains. 0 < κ < 1. Relations
integral (PI) controllers or more sophisticated algorithms like
(21) and (22) are inspired by Zuo et al. (2016) despite including
DFTC. It continuously analyzes the frequency error and fine-tunes
numerous control purposes. Further, error periods be defined as
the output of DERs to eliminate any long-term deviations from
efi (t ) = ωi (t ) − ωref (23) the nominal frequency, ensuring precise and stable frequency
N control. Fig. 3 shows the distributed SFC. Finally, SVC is akin to
1 ∑ SFC but is dedicated to voltage regulation. It operates at a higher
ePi (t ) = nPi Pi (t ) − nPi Pi (t ) (24)
N control level than VDC, refining voltage control to reduce steady-
i=1
∑N ∑N state errors and maintain voltage levels close to the nominal
For a nondirected grid, N1 i=1 nPi Ṗi (t ) = 0. Hence N
1
i=1 nPi value. SVC employs control strategies like DFTC to monitor volt-
Pi (t ) is time-invariant. Determining the error periods in (23) and age deviations and adjust the output of DERs, such as VSIs, to
(24) yields correct these deviations. This ensures that the microgrid main-
ėfi = ω̇i − ω̇ref = ω̇i = ufi tains a stable and precise voltage profile under various operating
N
conditions, enhancing the overall performance and reliability of
∑ )k )K the MG’s power supply.
aij sig ωj − ωi + gi sig ωref − ωi )
( (
= Cf (
j=1
2.4. The proposed EDM
N
∑ ( )k ( )K
= Cf aij sig efj − efi + gi sig efi (25) The EDM serves as a critical mechanism for effectively man-
j=1 aging the active power generation resources within MGs. In the
N
1 ∑ context of autonomous and decentralized energy systems, such
ėPi = nPi Ṗi − nPi Pi (t ) = nPi Ṗi = uPi as MGs, the primary objective is to ensure a seamless distribution
N of power while minimizing operational costs. The EDM provides
i=1
N N a sophisticated framework for achieving this delicate balance. At
∑ ( )k ∑ ( )k
= CP aij sig nPj Pj − nPi Pi = CP aij sig ePj − ePi (26) its heart, the EDM is an optimization technique that tackles the
j=1 j=1 intricate challenge of matching power generation with consumer
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Table 2
MGs PI controller parameters.
Parameters MG1 MG2 MG3 MG4
Gi (s) proportional gain 6 6 6 6
Gi (s) integral gain 52 52 52 52
Hi (s) proportional gain 0.07 0.07 0.07 0.07
Hi (s) integral gain 1.5 1.5 1.5 1.5

τ w+1 = τ w + µPuw+1 (35)

Regarding the upper and lower boundaries of unit power output,
its active power is bounded by
τ w −Yi
Pi,min , < Pi,min
⎧
⎪
⎪ 2Xi
τ w −Yi τ w −Yi
⎨
W +1
Pref
i
= 2Xi
, Pi,min , 2Xi
< Pi,max (36)
τ w −Yi
⎪
Pi,max , > Pi,max
⎪
⎩
2Xi

With iterative computing (33)–(36), unit active power refer-

Fig. 3. The distributed SFC. ence will be updated until the following convergence require-
ment is achieved:
dw+1 = τ w+1 − τ w+1 = µPuw+1 < ρ (37)
demand within a MG. The core goal is to allocate the available
power generation resources in a manner that not only satisfies where ρ is the EDM precision entry. It is noted that because the
the energy requirements of the connected loads but also does so MG total load imbalance Pu and Lagrange multiplier τ in (33)–(36)
in the most economically efficient manner possible. The model swing on the across-the-board generation and load demand in
takes into account a multitude of factors to arrive at this optimal MG, an MGCC is ordinarily needed to manage all the units’ active
power generation allocation. These factors include the generating power output and load demands. An overview of the proposed
capacities of various sources, the associated costs of producing method in the form of a distributed hierarchical control is shown
power from each source (which encompass aspects like fuel costs, in Fig. 4. The PI controller parameters of MGs are listed in Table 2.
maintenance expenses, and potential environmental penalties),
transmission and distribution losses, as well as any operational 3. Simulation results
constraints on the individual generators. In the following, the
EDM for this study will be formulated as follows: Here, the case study includes four MGs (MG1 , MG2 , MG3 , and
MG4 ). Dynamic parameters of MGs are provided in Table 3. In
n n
∑ ∑ order to compare the output results, some main parameters are
min Ci (Pi ) = min (Xi Pi2 + Yi Pi + Zi ) (28) shown in terms of per-unit. The scenarios considered in this
i=1 i=1
study include the output voltage analysis of MGs, studying the
where three components including Xi , Yi , and Zi are the fuel frequency of desired MGs and finally analyzing the proposed
cost coefficients of uniti . Further, the demand ratio and unit’s method’s effect in increasing the stability of the system in the
generation capability limitation will be formulated as: last scenario with four working modes, respectively. Each of
n the measured plots includes two modes of using the proposed
method and the classic control mode (which is referred to as the
∑
Pi = PL (29)
conventional method). According to the dynamic behavior of the
i=1
MG1 voltage component presented in Fig. 5; the highest recorded
Pi,min ≤ Pi ≤ Pi,max (30) amplitude of the voltage is 1.02 pu. The said domain is clearly rec-
ognizable in the enlarged part of Part A. In the conventional mode,
where PL is the MG total active load demand, and Pi,max and Pi,min
in addition to the fluctuation range, the system voltage also has
are the upper and lower limits of the uniti power output. Here, the
disturbances. Although the voltage of MG1 will increase to some
Lagrange dual analysis approach is presented to crack the above
extent (0.99 pu), the disturbance amplitude will not decrease. In
EDM issue as follows:
Part B, the operating conditions of both considered modes are
W +1
Pref
i
2
= argmin(Xi Prefi
+ Yi Prefi + Zi − τ w Prefi ) (31) clearly evident. In the following, by using the proposed method,
Pref
i apart from a few minor fluctuations, there is no disturbance in the
n voltage throughout the time. Finally, the voltage measurement
τ w+1 = τ w + µ(PL −
∑
W +1
Pref ) (32) value has been recorded using the proposed 1 pu method.
i
i=1
Fig. 6 shows the voltage parameter of the second system
(MG2 ). Considering the nature of the loads and other issues, the
where i = 1, 2, . . . , n, w is the number of iterations, µ > 0 is the operating conditions of the system are more unfavorable than the
perturbation step, τ represents the Lagrange multiplier, Pref W +1
is previous plot (in the conventional method). The mentioned issue
i
the uniti active power reference achieved in the w + 1 iteration. is evident in the enlarged part of Fig. 6. The range of fluctuations
Furthermore, the unit total power unbalance will be defined as and variations of the MG2 voltage component is variable and
follows: unstable between 0.997 and 1.002. In addition to the issue of in-
n stability, the voltage output also has disturbance. In the following,
= Puw+1
∑
W +1
PL − Pref (33) considering and implementing the proposed method (involving
i
i=1 the second layer with the desired algorithm), the operating condi-
W +1 τ w − Yi tions will be much better than the conventional approach (except
Pref = (34) for the first few cycles).
i 2Xi
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Fig. 4. Framework of proposed overall distributed hierarchical control.

Fig. 5. The voltage output of MG1 with and without operating the proposed method.

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Fig. 6. The voltage output of MG2 with and without operating the proposed method.

Fig. 7. The voltage output of MG3 with and without operating the proposed method.

Table 3 status of the system. Furthermore, the system voltage fluctuations

Dynamic parameters of MGs.
range will be reduced and finally, by operating the conventional
Parameters Symbol Unit Value
mode of the mentioned component, will be stabilized with 0.2 pu.
Filter inductance Lf mH 0.18
Further, unlike the classical control method, the proposed method
Filter capacitor Cf µF 1260
Switching frequency fs kHz 15 has a more suitable performance and as it is clear in the two
Rated frequency ω0∗ rad/s 100π enlarged plots, the MG3 voltage parameter is operating in the best
Line impedance ZA  0.02 + j0.04 possible state and without fluctuation. The recorded value of the
Line impedance ZB  0.05 + j0.02
Line impedance ZC  0.03 + j0.03
voltage in this mode has been measured as 1 pu.
Line impedance ZD  0.03 + j0.04 Fig. 8 shows the voltage output of MG4 . The dynamic behavior
of the mentioned system voltage in the conventional control
mode is far better than in the previous plots. As can be seen
in the enlarged part of the mentioned figure, the range of MG4
Fig. 7 shows the voltage component of MG3. Unlike the pre-
vious two plots, in the conventional method, this MG has a voltage fluctuations in the conventional mode is 0.01 pu. Next,
relatively unfavorable operating condition. The mentioned condi- the measured value of the voltage in the last sequence is 0.98 pu
tions are in the worst possible state in the initial cycles, especially recorded. Further, using the proposed approach, the voltage com-
before 0.5 s. The oscillation amplitude in the initial cycles varies ponent has a fluctuation of 0.003 pu, which shows a much more
from 0.6 pu to 1 pu. The magnified part shows the operating stable system than the conventional one. Finally, the measured
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Fig. 8. The voltage output of MG4 with and without operating the proposed method.

Fig. 9. The MG1 operate frequency with and without using the proposed method.

Table 4 of changes after applying the proposed technique is close to

The values of the MGs’ output voltages. 0.004 Hz. Fig. 10 shows the MG2 frequency component operation
Kind of MG Conventional method (pu) With proposed method (pu) dynamics. Here, following how the system frequency flows, there
MG1 0.994–0.996 1 are two objects to consider. First, the loss of the amplitude of
MG2 0.998–1.001 1 this component during operation with the proposed method, and
MG3 0.87–0.97 1
second, the frequency recovery which is well done. Finally, the
MG4 0.977–0.979 0.995
frequency range of MG2 without using the proposed approach can
be clearly recognized in the enlarged part of the mentioned plot.
The changes and fluctuations range for the conventional mode,
value of MG4 voltage is 1 pu recorded. Finally, Table 4. shows the and the proposed method are 0.02 Hz and 0.002 Hz, respectively.
measured voltage for each MG. Fig. 11 shows the operation dynamics of MG3 with two defined
In the next scenario, the case study frequency will be exam- working modes. Based on this frequency plot, the system is
ined in the form of four separate sections under two defined unstable compared to MG2 in conventional mode. Following the
modes. A view of the MG1 frequency is presented in detail in magnified part of said output, the measured frequency value is
Fig. 9. Here, the system frequency fluctuations range is floating in 0.045 Hz. Furthermore, this oscillation will subside and stabilize
the initial cycles, and in 0.5 s, the frequency component becomes at 0.002 Hz with the proposed technique.
more regular due to the FDC setting. Next, the measured value Fig. 12, shows MG4 output frequency. This unit, similar to MG2
of this component is 49.995 Hz to 50.024 Hz. While the range at the beginning of operation in the normal operating mode, due
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Fig. 10. The MG2 operate frequency with and without using the proposed method.

Fig. 11. The MG3 operate frequency with and without using the proposed method.

Table 5 two defined EDM level factors and the direct connection of V-F
The obtained frequency values of MGs. relations with P-Q.
Kind of MG Conventional method (Hz) With proposed method (Hz) Finally, according to Fig. 12, the measured P value for MGs
MG1 49.995–50.024 50-50.004 under study is 0.92 pu, 0.66 pu, 0.45 pu, and 0.56 pu, respectively.
MG2 49.988–50.007 49.998-50.001 Further, Fig. 13 show the Q measured value component. Ampli-
MG3 49.982–50.005 49.999-50.001
MG4 49.995–50.01 49.997-50.003
tude changes (−0.03 pu) reactive power for MG1 is clearly visible
in ’Part B’, which is completely degraded over time. About MG2
and MG4 , the mentioned oscillations in the content of the cycles
of these units are clear (Part C), which with the overtime ‘Q’ will
to the nature of the power and load of the system was initially have better conditions than before (see Fig. 14).
outside the acceptable range, which over time has an evolution- In the following, a scenario with four working modes is con-
ary course and will be within the allowable operating range. sidered to influence the proposed approach in improving the
These frequency oscillations are observed almost irregularly in operating conditions of the system. The considered work modes
cycles and periodic periods. The amplitude of the mentioned include increasing the load demand, islanding the system, re-
oscillations in the last few cycles presented in the magnified part ducing the load demand and leaving one of the MGs from the
of Fig. 12, is 0.02 Hz, which will be reduced to 0.006 Hz by using network. Fig. 15 shows the voltage of the system with the four
the proposed method. The obtained frequency values of each MG mentioned operating cases. As mentioned before, in 0.75 s, the
are presented in Table 5. amount of load demand has increased step by step, at this time,
Figs. 12 and 13 show the measured value of P and Q com- by using the proposed method, a volume of power is injected
ponents with and without using the EDM layer. The optimal into the system and the dynamics of the voltage component are
distribution of each of the provided powers is a function of the improved and compensated.
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M.S. Toularoud, M.K. Rudposhti, S. Bagheri et al.
Fig. 12. The MG4 operate frequency with and without using the proposed method.
Fig. 13. The MGs active power output.
Next, the MG network islanding operation happened and the
effect of this working mode can be clearly seen in 1.5 s. The
next scenario is the exit of some loads as a result of reduced
demand in 2.25 s. In this mode, by absorbing the maximum
power, the system voltage increases and the dangers that this
phenomenon entails are prevented. The mentioned issue is done
by the controller embedded in the second layer of the control
surface. The last scenario for the voltage component of the system
is the withdrawal of one of the MGs from the network, which
causes some disruptions in the voltage operation.
Fig. 16 shows the frequency of the system considering the
mentioned scenarios. In this plot, the highest voltage increase
with the range of 0.1 Hz is related to the decrease in consumption
demand, and then the highest frequency component is related
to the increase in load demand. Finally, Figs. 17 and 18 show
the output of MGs’ active power and reactive power in the four
working modes defined. The power compensation technique (ab-
sorption and injection) can be well recognized by the proposed
method.
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Energy Reports 10 (2023) 2693–2709
Finally, the purpose of presenting the proposed technique is
to examine the dynamics of the operation of the two compo-
nents of voltage and frequency of microgrids with and without
using the conventional control mode along with a hierarchical
control technique (consisting of multi-layers). V-F components
were exploited by two layers including the first layer (PDC) and
the second layer (SVC-SFC) based on the DFTC algorithm. Further-
more, the effect of the EDM layer on the optimal distribution of
the required power (P and Q) of the network was investigated.
Among the units, MG3 with a variable amplitude of 0.045 Hz
had the worst operating conditions in normal mode, which was
achieved by using the proposed method of the best technical
feedback (1150% improvement). Regarding the issue of system
voltage, MG3 with the worst operating conditions (oscillation
range 1.8 pu) was able to improve its working conditions to
the most desirable way (1000%) with support of the proposed
method. Further, for the first scenario, the nominal values of P and
Q are presented in Table 6. Furthermore, the MG cost coefficients
assigned by the EDM layer are presented in Table 7.
M.S. Toularoud, M.K. Rudposhti, S. Bagheri et al. Energy Reports 10 (2023) 2693–2709

Fig. 14. The MGs reactive power output.

Fig. 15. The MGs voltage output with four different mode operation.

Table 6 Table 7
The MGs active and reactive power output. The MG cost coefficients assigned by the EDM layer.
Kind of MG Active power (pu) Reactive power (pu) Kind of MG Xi ($/kW2.h) Yi ($/kW h) Zi ($/h)
MG1 0.92 −0.35 MG1 0.007 0.135 3.54
MG2 0.66 0.215 MG2 0.008 0.157 2.94
MG3 0.45 −0.38 MG3 0.006 0.172 5.39
MG4 0.56 0.221 MG4 0.004 0.125 2.44

4. Conclusion ensures the V/F stability of the MGs. The proposed method for
control components has introduced two control modes including
This study proposes a multi-layer interactive control scheme VDC and FDC in the first layer (PDC) to adjust the MGs V/F.
to improve the performance of MGs based on DERs. This structure In the following, due to some problems created in the previous
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Fig. 16. The MGs frequency output with four different mode operation.

Fig. 17. The MGs active power output with four different mode operation.

control layers, a hybrid technique based on DFTC is presented to CRediT authorship contribution statement
overcome the mentioned problems. In addition, in this study, the
EDM layer has been used for the proper and optimal distribution Moussa Saadati Toularoud: Writing – original draft, Software,
of the required power of the network. The simulation results Resources. Mohammad Khoshhal Rudposhti: Methodology, For-
mal analysis, Software, Supervision. Sajad Bagheri: Conceptual-
prove the efficiency of the proposed method strategy (hierarchi-
ization, Investigation, Data curation, Supervision. Amir Hossein
cal control) from three points of view, including optimization of
Salemi: Methodology, Investigation, Validation, Supervision.
power distribution, frequency and voltage control; as, the ampli-
tude of oscillations of V/F components has decreased for the units
Declaration of competing interest
by 0.005 pu to 0.08 pu and 0.005 Hz to 0.018 Hz, respectively.
Finally, this study is essential for the future of MGs as it develops The authors declare that they have no known competing finan-
advanced control strategies to enhance stability, efficiency, and cial interests or personal relationships that could have appeared
reliability, addressing critical challenges in integrating DERs. to influence the work reported in this paper.
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M.S. Toularoud, M.K. Rudposhti, S. Bagheri et al.
Fig. 18. The MGs reactive power output with four different mode operation.
Data availability
No data was used for the research described in the article.
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