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IFAC PapersOnLine 52-4 (2019) 222–227
Voltage
Voltage Stability of Converter-Interfaced
Voltage Stability
Stability of
of Converter-Interfaced
Converter-Interfaced
Voltage Energy Storage
Stability
Energy Systems 
of Converter-Interfaced
Energy Storage Systems
Storage Systems 
Energy Storage
∗
Systems∗
Álvaro
Álvaro OrtegaOrtega ∗ Federico
Federico Milano Milano ∗
Álvaro Ortega ∗∗ Federico Milano ∗∗
∗ Álvaro Ortega Federico Milano
∗ School of Electrical & Electronic Engineering
∗ School of Electrical & Electronic Engineering
School of Electrical
University & Electronic
College Dublin, Engineering
∗
School University
of Electrical College Dublin, Ireland
& Electronic Ireland
Engineering
(e-mails: University College
alvaro.ortegamanjavacas@ucd.ie;
(e-mails: alvaro.ortegamanjavacas@ucd.ie; Dublin, Ireland
federico.milano@ucd.ie.)
University College Dublin,federico.milano@ucd.ie.)
(e-mails: alvaro.ortegamanjavacas@ucd.ie; Ireland
federico.milano@ucd.ie.)
(e-mails: alvaro.ortegamanjavacas@ucd.ie; federico.milano@ucd.ie.)
Abstract:
Abstract: This This paper
paper discusses
discusses the the contribution
contribution of of converter-interfaced
converter-interfaced energy energy storage
storage devices
devices
Abstract:
to the voltageThisstability
paper discusses
in the contribution
transmission systems. ofToconverter-interfaced
this aim, the paperenergy
presentsstorage staticdevices
and
to the voltage
Abstract: This stability
paper in transmission
discusses the systems.ofTo
contribution this aim, the paper
converter-interfaced presents
energy storage static and
to the voltage
dynamic voltage
dynamic stability
voltage stability in transmission
stability analyses
analyses basedbased on systems. To
on aa modified this
modified version aim,
version of the
of the paper
the well-known presents
well-known WSCC WSCCdevices
static and
9-bus,
9-bus,
to
dynamicthe
3-machine voltage
voltage
test stability
stability
system. in transmission
analyses
Results of based
the systems.
on a
analyses, To
modified
which this
version
have aim, of
been the
the paper presents
well-known
compared with WSCC static
those and
9-bus,
of the
3-machine
dynamic test system.
voltage stability Results
analyses of based
the analyses,
on a which version
modified have been of compared
the well-known withWSCC those of the
9-bus,
3-machine
more
more common
common test system.
Static
Static Results
Synchronous
Synchronous of the analyses,
Compensator
Compensator which
(STATCOM)
(STATCOM) have been compared
devices,
devices, indicate
indicate withthat
that those of
converter-
converter-the
3-machine
more
interfaced common test Static
energy system.
storage Results
Synchronous
systems ofwill
theplay
analyses,
Compensator a which
(STATCOM)
crucial role have
in thebeen compared
devices,
voltage indicate
stability withthat
of those ofwith
converter-
systems the
interfaced
more common energy storage
Static systems will
Synchronous play a crucial
Compensator role in the devices,
(STATCOM) voltage stability
indicate of thatsystems with
converter-
interfaced
high
high energy
penetration
penetration storage
of systems
renewable energywill play
sources.a crucial role in the voltage stability of systems with
interfaced
high penetration energy of of
renewable
storage systems
renewable
energy
energywill sources.
play a crucial role in the voltage stability of systems with
sources.
© 2019,
high IFAC (International
penetration of renewable Federation
energyof sources.
Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Keywords:
Keywords: Voltage Voltage stability,
stability, converter-interfaced
converter-interfaced energy energy storage
storage systemsystem (CI-ESS),
(CI-ESS), static static
Keywords:
synchronous Voltage
compensatorstability, converter-interfaced
(STATCOM), renewable energy
energy storage
sourcesystem
(RES),(CI-ESS), static
Hopf bifurcation.
bifurcation.
synchronous
Keywords: compensator
Voltage stability, (STATCOM),
converter-interfacedrenewable energy
energy source
storage (RES),
system Hopf
(CI-ESS), static
synchronous compensator (STATCOM), renewable energy source (RES), Hopf bifurcation.
synchronous compensator (STATCOM), renewable energy source (RES), Hopf bifurcation.
1. INTRODUCTION
1. areas
areas of of thethe system
system that that maymay provoke
provoke undesired
undesired tripping
tripping
1. INTRODUCTION
INTRODUCTION areas of the system that may provoke
1. INTRODUCTION
of some
of some
areas of
components
components
the system
[Kondragunta
[Kondragunta
that may provokeand undesired
and WSCC
undesired
tripping
WSCC Reliability
Reliability
tripping
1.1 Motivation of some
Subcommittee
Subcommittee components (1994)].
(1994)].[Kondragunta and WSCC Reliability
1.1 Motivation of some components [Kondragunta and WSCC Reliability
1.1 Motivation Subcommittee (1994)].
An effective and
1.1 Motivation
An effective and widely
widely implemented
implemented solution solution to to over- Studies
Studies that
over- Subcommittee that discuss
(1994)]. the
discuss the contribution
contribution of of STATCOMs
STATCOMs
An
comeeffective
voltage and widelyis implemented
instability the installation
installation solutionlocaltosources
of local over- Studies
sources to
to either
either that discussand
long-term
long-term andtheshort-term
contribution
short-term of STATCOMs
voltage
voltage stability
stability of of
come
An voltage
effective instability
and widely is the
implemented of
solution to over- Studies that discuss the contribution of STATCOMs
come
of voltagepower
reactive instability is the installation
distributed over the ofnetwork.
local sourcesThe to
power
powereither long-term
systems
systems with
with and
high
high short-term
shares
shares of
ofvoltage
RESs
RESs stability
abound
abound of
in
in
of
come
of reactive
voltagepower
reactive power
instabilitydistributed
is the
distributed over
installation
over the network.
the ofnetwork.
local The
sources
The powerto either long-term
systems withand high short-term
shares ofvoltage
RESs stability
abound of
in
Voltage-Sourced
Voltage-Sourced Converter
Converter (VSC)
(VSC) included
included in
in Converter-
Converter- the
the literature
literature [Kolluri
[Kolluri (2002);
(2002); Kawabe
Kawabe and Yokoyama
and abound
Yokoyama
of reactive
Voltage-Sourced power distributed
Converter (VSC) over the
included network.
in Converter-The power
the
con- (2013); systems
literature
Cañizares with
[Kolluri
et high
(2002); shares Kawabeof RESs
and Yokoyama in
Interfaced Energy
Interfaced Energy Storage Storage SystemsSystems (CI-ESSs)
(CI-ESSs) can can con- (2013); Cañizares et al.
al. (1999);
(1999);
(2002);Arabi
Arabi and and Kundur
Kundur (1996);
(1996);
Voltage-Sourced
Interfaced
tribute to theEnergy
the Converter
Storage (VSC)
enhancement Systems
of included
the voltage(CI-ESSs)
voltage in Converter-
stability can con- the
margin (2013);literature
Cañizares
Cañizares Cañizares [Kolluri
(2000)].
(2000)]. et al. (1999); Kawabe
Arabi and Yokoyama
and Kundur (1996);
tribute
Interfaced to Energy enhancement
Storage of the
Systems stability
(CI-ESSs) canmargin
con- (2013); Cañizares et al. (1999); Arabi and Kundur (1996);
tribute
of the to the enhancement
system in a similar of the
way as voltage
Flexible stability
AC margin Cañizares (2000)].
Transmis-
of
of the
tribute system
to
theSystems the
system (FACTS) in a similar
enhancement
in a similar way
of theas Flexible
voltage
wayasasSTATCOMs. AC
stability
Flexible AC The Transmis-
margin
Transmis- Cañizares (2000)].
sion
sion such paper 1.3 1.3 Contributions
Contributions
of theSystems
sion system
Systems
elaborates on
(FACTS)
in astatement.
(FACTS)
this similar such
suchwayasasasSTATCOMs.
Flexible AC The
STATCOMs. paper
Transmis-
The paper 1.3 Contributions
elaborates
sion Systems on this
(FACTS)
elaborates on this statement. statement.such as STATCOMs. The paper To
1.3 the
To the best
best of
Contributionsof the
the authors’
authors’ knowledge,
knowledge, aa study study that
that gathers
gathers
elaborates on this statement. To
and the best of the
discusses all authors’
relevant knowledge,
aspects of a the
study that gathers
corresponding
1.2 Literature Review and
To discusses
the best ofofthe all relevant
authors’ aspects of the corresponding
1.2
1.2 Literature
Literature Review Review
and discusses
contribution
contribution of all relevant
CI-ESSs
CI-ESSs in knowledge,
in aaaspects ofa the
single document
single documentstudy thatnot
has
has
gathers
corresponding been
not been
Voltage instability is mostly a consequence of the weakness and discusses
contribution
presented yet.of all
This relevant
CI-ESSs
paper in a
aims aspects
single
to fill of the
document
this gap,corresponding
has
and not been
provides
1.2 Literature
Voltage instability Review
is mostly a consequence of the weakness presented yet. This paper aims to fill this gap, and provides
Voltage
of the instability
network is mostly
and/or the a shortage
consequence of of the weakness
reactive power contribution
presented
static and yet.ofThis
CI-ESSs
dynamic paper inaims
analyses a single
to
of document
fill
the this gap,
voltage has
and not
stability been
provides of
of the
Voltage network
instability and/or
is mostly the a shortage
consequence of reactive
of the power
weakness static
presented andyet. dynamic
This analyses
paper aims of fill
to thethis voltage
gap, stability
and provides of
of the network
sources, rather and/or
than a the shortage
specific of reactive
contingency. This static and dynamic analyses
power transmission systems with inclusion of CI-ESSs and high
allows of the voltage stability of
sources,
of the rather
network than
and/or a specific
the contingency.
shortage of This
reactive allows
power transmission
static and systems
dynamic with
analyses inclusion
of the of CI-ESSs
voltage and
stability high
of
sources, rather
using static-analysis than
static-analysis techniques,a specific
techniques, or contingency.
or dynamic This
dynamic simulations allows
simulations RES transmission
RES penetration.
penetration. systems with inclusion of CI-ESSs and high
using
sources, rather than a specific contingency. This allows transmission systems with inclusion of CI-ESSs and high
using
that span
that
static-analysis
span several minutes
several
techniques,
minutes thatorcan
and that
and
dynamic
can simulate cascading RES penetration.
simulatesimulations
cascading The
The paper also
also compares
compares the the impact
impact of of CI-ESSs
CI-ESSs on on the
usingspan
that
events.
events.
static-analysis
several
These
These studies
techniques,
minutes
studies are
are
and thator
referred
referred to
to
dynamic
canas
as
simulate
long-term
long-term voltage RES
simulations
cascading
voltage The
penetration.
paper
paper also stability
compares thethatimpact of CI-ESSsdevices.
on the
the
that
events. span several
These minutes
studies are and that
referred can
to as simulate
long-term cascading
voltage system
system voltage
voltage stability with
with that of
of STATCOM
STATCOM devices.
stability [IEEE/CIGRE Joint Task Force on Stability The paper also compares the impact of CI-ESSs on the
stability
events. and
stability
Terms
[IEEE/CIGRE
These studies are
[IEEE/CIGRE
Definitions
Joint
referred
Joint
(2004)].
Task
Taskto asForce on
long-term
Force voltage system
on Stability
Stability Studies
Studies voltage
show
show that stability
that with that
saturation
saturation of of STATCOM
of certain
certain quantitiesdevices.
quantities of
of the
the
Terms system
Studies voltage
showlead stability
thatto with
saturation that
ofof of
certain STATCOM
quantities devices.
ofsome
the
stabilityand
Terms and Definitions
Definitions (2004)].
[IEEE/CIGRE Joint Task Force on Stability CI-ESS
(2004)]. CI-ESS can
can lead to some
some kinds
kinds of instabilities
instabilities or,
or, in
in some
Less commonly, another type of voltage instability may Studies
CI-ESS
other showcompromise
can
cases, thattosaturation
lead some kinds
the ofofcertain
overall response quantities
instabilities of or,
the in ofsome
system the
Terms
Less and
commonly, Definitionsanother (2004)].
type of voltage instability may other cases, compromise the overall response of or, theinsystem
Less commonly,
also occur
occur in in the few another type
few seconds after of voltage
after aa large instability
large disturbance may CI-ESS
other
[Xin et can
cases,
al. lead
(2016); to
compromise some
Ortega
disturbance [Xin et al. (2016); Ortega and Milano (2015)]. kinds
theand of
overall
Milanoinstabilities
response
(2015)].of the some
system
also
Less occur
also commonly, in the the few seconds
another typeif of
seconds voltage
after a largeinstability
disturbance may other[Xin etcases, compromise
al. (2016); Ortegathe and overall
Milano response
(2015)].of the system
such
such as
as a short
a short circuit.
circuit. Even
Even if no
no voltage
voltage collapse
collapse occurs
occurs
also
such occur in the
as a short circuit.
as aa consequence
consequence few
of the seconds
the disturbance, after
Even if no voltage a large disturbance
collapsevoltage
poor dynamic occurs 1.4 [Xin et al.
Organization(2016); Ortega and Milano (2015)].
as
such
as as a short
a consequence
performance can
of
of thetodisturbance,
circuit.
lead Even if no
disturbance,
voltage
poor
poor dynamic
voltage
oscillations collapse
dynamic
in the occurs 1.4
voltage
voltage
weaker
Organization
1.4 Organization
performance
as a consequence
performance can
can of lead to voltage
thetodisturbance,
lead oscillations
voltage oscillationspoor dynamicin the weaker The paper
paper is
weaker The Organization
in the voltage 1.4 is organised
organised as as follows.
follows. Section
Section 22 briefly
briefly de- de-

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Stabilitykinds
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and stability analysis
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(2004)].the
The opinions, findings, conclusions and recommendations expressed
Ireland, under grant No. SFI/15/IA/3074.
Section
CI-ESS, 3 provides
as well asthe models
their of the
controllers, STATCOM
considered and
in the
this
in this
The work are
opinions, those of
findings, the authors
conclusions and and do not necessarily
recommendations reflect
expressed CI-ESS,
Section 3 as well
provides as their
the models controllers,
of the considered
STATCOM in
and this
the
in
The
the
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this work
opinions,
views of
are those
findings,
the
of the authors
conclusions
European theUnion and
or
and do not necessarily
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Science Foundation
reflect
expressed
Ireland.
CI-ESS,
paper. A
paper. as
A case well
case study as
study basedtheir
based on controllers,
on thethe well-known considered
well-known WSCC in
WSCC 9-bus, this
9-bus,
thethis work
views of are
thethose of
European authors
Union orand do not
Science necessarily
Foundation reflect
Ireland. CI-ESS,
paper. A asbenchmark
case well
study as based
their on controllers,
the well-known considered
WSCC in9-bus,
this
in this work are those of the authors and do not necessarily reflect 3-machine
3-machine benchmark system
system is presented in Section 4.
The
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the
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The views
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views
of the Commission
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Commission
offorthe European
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and
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or Science
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are
are not
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Ireland. paper.
3-machine
Finally, ASection
case study
benchmark
5 based
draws on theis
system is
conclusions,
presented WSCC
well-known
presented
and
in Section
in 9-bus,
Section
outlines future
4.
4.
responsible
The European any use
Commission that may
and be
Science of the
Foundation
responsible for any use that may be made of the information that information
Ireland are that
not Finally, Section 5 draws conclusions, and outlines future
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this work
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contains.any use thatand mayScience
be made Foundation Ireland arethat
of the information not 3-machine
Finally,
work benchmark
Section
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conclusions, in Section
and outlines future4.
this work contains.
responsible for any use that may be made of the information that work directions.
Finally, Section 5 draws conclusions, and outlines future
this work contains. work directions.
this work contains.
2405-8963 © 2019, IFAC (International Federation of Automatic Control) Hosting work directions.
by Elsevier Ltd. All rights reserved.
Copyright
Copyright © 2019
2019 IFAC 245
Peer review© under IFAC 245 Control.
responsibility of International Federation of Automatic
Copyright © 2019 IFAC
10.1016/j.ifacol.2019.08.187 245
Copyright © 2019 IFAC 245
2019 IFAC CSGRES
Jeju, Korea, June 10-12, 2019 Álvaro Ortega et al. / IFAC PapersOnLine 52-4 (2019) 222–227 223

2. VOLTAGE STABILITY ANALYSIS OF connection of a STATCOM device and a CI-ESS to the

TRANSMISSION SYSTEMS main grid is the same, and is based on the VSC, whose
scheme coupled to the VSC inner current-control loop is
A common approach to study the long-term voltage sta- shown in Fig. 2 [Yazdani and Iravani (2010); Chaudhuri
bility of a system is by means of static analysis by ob- et al. (2014)].
serving the active power vs. voltage characteristics (often Inner Current-Control Loop Converter
called pv curves, or informally, nose curves due to their
characteristic shape) [Western Power Reserve Work Group vac,d vac,d
(RRWG) (1998)]. pv curves are generated by plotting the ref
iac,d
− + md vt,d iac,d
+ + − 1
power flow solutions of the network for different loading KI (s) +
+ Rac +sLac
−
levels, which is used to parametrically increase all load 2 vdc Lac
ωacLaciac,q
powers with respect to the system base-case conditions. vdc 2 ωac
Another long-term, small-signal voltage stability approach ωac Laciac,d Lac
implies the use of dynamic models of power system de- ref +
iac,q + + mq + −
1 iac,q
vices and controllers. This method, used for example in KI (s)
+ vt,q Rac +sLac
modal analysis, implies the study of the eigenvalues of the −
vac,q
−
vac,q
Jacobian matrix of the system, or a reduced version of
such a matrix that considers only the equations of the bus
active and reactive power injections [Gao et al. (1992); Fig. 2. Block diagram of the VSC inner current-control
Chakravorty and Patra (2016)]. and converter in the dq frame.
The fast response of STATCOMs and CI-ESSs has been The reference dq currents, iref ref
ac,d and iac,q , are imposed by
proven to greatly improve the dynamic voltage perfor- the decoupled outer voltage-control loop depicted in Fig. 3.
mance and, consequently, the short-term voltage stability
of the grid [Kolluri (2002); Kawabe and Yokoyama (2013)]. PI control
The capability of CI-ESSs to effectively flatten voltage os-
cillations due to disturbances such as wind perturbations, LPF1 ref,max
iac,q
Kp,q
and reduce the voltage drops due to line outages and short vdc Kmdc vmdc + ref
iac,q
circuits, is studied through time domain simulations. 1 + sTmdc −
+ Ki,q xq +
ref
vdc s ref,min
iac,q
3. VOLTAGE CONTROL OF CONVERTER-
INTERFACED REACTIVE POWER SOURCES
Lead compensator ref,max
LPF2 iac,d
This section presents the scheme of the voltage control of ref
vac Kmac vmac xd iac,d
CI-ESSs and STATCOM devices, as well as of the main Kp,d
1 + sT1,d
device responsible of providing such a control, namely the 1 + sTmac −
+ Kd,d + sT2,d
Voltage Sourced Converter (VSC). vacref ref,min
iac,d
The general configuration in the dq-reference frame of the
two converter-interfaced devices discussed in this paper Fig. 3. Outer DC- and AC-voltage controllers of the VSC.
is presented in Fig. 1 [Ortega and Milano (2016)]. The
4. CASE STUDY

PCC vac
LPF2 vmac
Figure 4 shows a modified version of the well-known
Grid − WSCC 9-bus, 3-machine test system originally presented
+ in [Sauer and Pai (1998)].
y ref
vac 9
iac,abc
md
+ VSC VSC Control
− mq
y ref 3
− + ref
vdc vmdc vdc
LPF1 S 8
− + W
6
idc
u
Storage Control Storage Device
G G
2
uref 1
7
Fig. 1. Overall scheme of a converter-interfaced reactive 5 4
power source connected to the AC grid. Light gray:
STATCOM. Dark gray: CI-ESS. Fig. 4. Modified WSCC 9-bus, 3-machine system.

246
2019 IFAC CSGRES
224 Korea, June 10-12, 2019
Jeju, Álvaro Ortega et al. / IFAC PapersOnLine 52-4 (2019) 222–227
The WSCC 9-bus system is often utilized for transient
and frequency stability analysis. While focusing on voltage
stability, this network is considered in this case study,
as the main transient effect of the BES is its ability to
exchange active power with the grid. As any other network,
however, the WSCC 9-bus system shows a maximum load-
ing condition and, consequently, can face voltage collapse.
This network is thus as good as any other system to carry
out voltage stability analysis.
Since the original WSCC system is fairly symmetrical,
some modifications to the base-case data are introduced
with the aim of creating a weak area, i.e., the bus where
the wind turbine is installed and neighbouring buses. The
modifications are as follows.
• The power base of the system has been reduced by 3
times, i.e., sn = 33.3 MVA.
• The√voltage of all transmission lines has been reduced
by 3 times.
• The synchronous machine at bus 3 has been replaced
by a wind power plant of the same capacity. The wind
power plant is modelled as an aggregation of 18 fifth-
order doubly-fed induction generators with optimal
cubic MPPT approximation, first-order primary volt-
age regulation and static turbine governor.
• In time domain simulations, the wind follows a
stochastic, exponentially autocorrelated Weibull-dis-
tributed process modelled as a set of stochastic differ-
ential equations [Zárate Miñano and Milano (2016)].
• Consistently with time scales and conventional as-
sumptions, loads are modelled as constant PQ for
the continuation power flow analysis and as constant
impedances for time domain simulations.
• The voltage at the synchronous machine buses is
reduced by 2% with respect to the base case.
• The system includes a secondary frequency controller
(AGC) with gain Ko = 2.
• When considered, the CI-ESS and the STATCOM
device are connected to bus 8 through a 133/21 kV
transformer.
• The CI-ESS is a Battery Energy Storage (BES) mod-
elled using the well-known Sheperd’s model [Shepherd
(1965); Ortega and Milano (2016)].
• The active power rating of the BES is 3.2 MW.
• The CI-ESS active power control is designed to reg-
ulate the frequency at the point of common coupling
(PCC) with the grid, i.e., the frequency at bus 8. The
frequency is estimated by means of a phase-locked
loop (PLL) device [Cole (2010)].
Two main scenarios are considered. First, Subsection 4.1
discusses the long-term voltage stability of the WSCC
system using both static and dynamic models of the
power system devices and controllers. Then, the short-
term voltage stability of the dynamic model of the WSCC
system is studied through time domain simulations in
Subsection 4.2.
All simulations included in the paper are obtained using
the Python-based software tool Dome [Milano (2013)]. The
Dome version utilised is based on Ubuntu Linux 18.04,
Python 3.6.7, cvxopt 1.2.2, klu 1.3.8, and magma 2.2.0.
247
1 1
vbus 5 [pu(kV)]
vbus 6 [pu(kV)]
0.8 0.8
0.6 0.6
0.4 No STATCOM 0.4 No STATCOM
With STATCOM With STATCOM
0.2 0.2
1 1.5 2 2.5 3 3.5 4 1 1.5 2 2.5 3 3.5 4
psys/pbc psys/pbc
(a) Load at bus 5 (b) Load at bus 6
1
vbus 8 [pu(kV)]
0.8
0.6
0.4 No STATCOM
With STATCOM
0.2
1 1.5 2 2.5 3 3.5 4
psys/pbc
(c) Load at bus 8
Fig. 5. pv curves at the load buses of the modified WSCC
9-bus system with and without a STATCOM. The x-
axis represents the ratio between the loading level of
the system, psys , and the base-case condition, pbc .
4.1 Long-Term Voltage Stability
The pv curves of the three loads of the modified WSCC
system of Fig. 4 with and without a 20 MVAr STATCOM
at bus 8 are shown in Fig. 5. Reactive power limits of the
generators are of ±42 and ±55 MVAr for the synchronous
machines at buses 1 and 2, respectively, and of ±10 MVAr
for the wind power plant at bus 3.
In steady state, the active power output of a CI-ESS is
null, as generation and demand are balanced. Therefore,
the static models of a STATCOM device and a CI-ESS
coincide. In particular, the STATCOM is modelled as
a constant active power, with pac = 0, and constant
voltage if the reactive power is within the limits, and as
a constant active and reactive power with pac = 0 and
qac = ±20 MVAr, otherwise.
Figure 5 shows that the STATCOM allows increasing the
loading level of the system up to 3.7 times the base-case
conditions, as opposed to maximum ratio of 3.47 of the
case without STATCOM, i.e., a 6.56% relative increase.
The STATCOM also maintains the voltage of the load at
the PCC (i.e., bus 8) almost at a constant value up to near
the point of collapse.
The impact of the STATCOM on the voltage stability
is more relevant in the event of the outage of one of
the transmission lines, as represented in Fig. 6, where
the pv curves are computed considering that the line
connecting buses 4 and 5 has been disconnected. After the
line outage, the maximum ratio psys /pbc decreases to 2.64
and 2.86 without and with the STATCOM, respectively,
i.e., a 8.24% relative increase. The outage of the line
implies approximately a 24% reduction with respect to the
fully connected system. Similar conclusions can be drawn
considering voltage-dependent load models.
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1 1 5 5
vbus 5 [pu(kV)]

vbus 6 [pu(kV)]
0.8 0.8
0.6 0.6

Im

Im
0 0
0.4 No STATCOM 0.4 No STATCOM
With STATCOM With STATCOM
0.2 0.2 −5 −5
1 1.5 2 2.5 3 1 1.5 2 2.5 3 −0.2 −0.1 0 −0.2 −0.1 0
psys/pbc psys/pbc Re Re
(a) Load at bus 5 (b) Load at bus 6 (a) WSCC system with (b) WSCC system with
BES. psys /pbc = 1.673 BES. psys /pbc = 2.5
1
vbus 8 [pu(kV)]

0.8 5

0.6

Im
0.4 No STATCOM 0
With STATCOM
0.2
1 1.5 2 2.5 3
psys/pbc −5
−0.2 −0.1 0
(c) Load at bus 8 Re
(c) WSCC system with
Fig. 6. pv curves at the three load buses of the modified STATCOM. psys /pbc = 2.5
WSCC system with and without a STATCOM. The
line between buses 4 and 5 is disconnected. Fig. 8. Eigenvalue loci of the rightmost eigenvalues of the
WSCC system with a BES and a STATCOM. Dash-
5 5 dot lines indicate 5% damping.

a BES or a STATCOM device is connected to bus 8. In

this case, the reactive power rate of both devices is set to
Im

Im

0 0
−5
−0.2 −0.1
Re
(a) WSCC system without (b) WSCC system without
BES. psys /pbc = 1.0 BES. psys /pbc = 1.673
Fig. 7. Eigenvalue loci of the rightmost eigenvalues of the
WSCC system. Dash-dot lines indicate 5% damping.
A second long-term, small-signal voltage stability analysis
is presented below which considers dynamic models of the
power system devices and controllers of the WSCC system.
For this study, the increasing loading level of the system
is compensated by the two synchronous machines of the
system, as it is assumed that no more active and reactive
power can be extracted from the wind power plant.
Figure 7 shows the rightmost eigenvalues of the WSCC
system for two loading levels: (i) the base-case condition,
and (ii) 1.673 times pbc . It can be seen that, for psys /pbc ≥
1.673, a complex pair of eigenvalues, which is related to
the states er,q and ve of the synchronous machine at
bus 1, crosses the imaginary axis, thus becoming unstable
modes. The Hopf bifurcation Seydel (2010) occurring when
psys /pbc = 1.673 prevents the operation of the system at
higher loading levels which, from the static analysis above,
could be up to 3.47.
The installation of additional sources of reactive power
such as STATCOM and BES devices allows increasing the
loading level of the system beyond the critical value of
1.673 times the base-case condition, as these devices shift
to the left the pair of eigenvalues that cause the Hopf
bifurcation. This is shown in Fig. 8 for the scenarios where
20 MVAr.
In Fig. 8(a), the inclusion of a BES system shifts the
−5
0 −0.2 −0.1 0 eigenvalues that caused the Hopf bifurcation in the system
Re to a value of −0.396 ± j0.924. The 6 rightmost eigenvalues
are in this case within the 5% damping thresholds, being
the eigenvalue #7, which is related to the rotor speeds of
the two synchronous machines, the first one that shows
poorly damped behaviour (−0.288 ± j10.59). This result
holds even for larger loading levels, as shown in Fig. 8(b)
for psys /pbc = 2.5. In this case, the aforementioned poorly
damped eigenvalues are −0.249 ± j10.76. The real part of
such eigenvalues is still about an order of magnitude larger
than the dominant modes of the system.
Finally, from the voltage stability point of view, no rel-
evant differences can be observed between installing a
BES or a STATCOM device, as observed from comparing
Figs. 8(b) and 8(c). This is an expected result due to
the similar configuration of the reactive power support
of both devices. This result also indicates that the active
power support of the BES does not compromise the voltage
stability of the overall system for relatively large loading
levels.
4.2 Short-Term Voltage Stability
This section studies, through time domain simulations,
the short-term dynamic response of the modified WSCC
system with inclusion of CI-ESSs. Two scenarios are pre-
sented to analyse both small- and large-disturbance volt-
age stabilities. The reactive power rate of the CI-ESS and
the STATCOM device used in the comparison is 3.2 MVAr.
This value is chosen with the aim of analysing the impact

248
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Jeju, Álvaro Ortega et al. / IFAC PapersOnLine 52-4 (2019) 222–227

of hitting the current limits included in the schemes shown

1.062 WSCC system
in Fig. 3. WSCC system + BES
1.06

vbus 8 [pu(kV)]
WSCC system + STATCOM
Small disturbances are modelled as stochastic wind pertur- 1.058
bations that follow a Weibull distribution with exponential 1.056
autocorrelation. The response of the WSCC system fol- 1.054
lowing such perturbations is shown in Fig. 9. Figure 9(a) 1.052
depicts the voltage at bus 8, i.e., the PCC with the CI-ESS 1.05
or the STATCOM device. Wind perturbations create sus-
tained voltage oscillations which, despite having relatively 0 20 40 60 80 100 120 140
Time [s]
small magnitude, can deteriorate certain components of
the load connected at the bus, and/or compromise their (a) Voltage at the PCC
operation.
1.066
WSCC system
The average value of the voltage varies substantially with 1.064 WSCC system + BES
respect to the operating condition during the simulation.

vbus 6 [pu(kV)]
WSCC system + STATCOM
The inclusion of a CI-ESS or a STATCOM in the system 1.062
allows reducing to a great extent the voltage oscillations, 1.06
and keeps the average voltage close to its reference value.
While both the CI-ESS and the STATCOM device show 1.058
similar performance, the ability of the CI-ESS to also 1.056
provide active power control leads to a more efficient 0 20 40 60 80 100 120 140
voltage regulation with respect to the STATCOM, as it Time [s]
requires less reactive power support and proved better (b) Voltage at the load bus 6
voltage response (see Fig. 9(c)).
Finally, despite the local nature of the voltage control BES
from both devices, their effect can be observed also at 0.01 STATCOM
qvsc [pu(MVAr)]

the system level, as shown in Fig. 9(b), which includes the 0

trajectories of the voltage at the load bus 6. Such a voltage
shows a better profile when a CI-ESS or a STATCOM is
included in bus 8.
The last scenario presented in this paper studies large-
disturbance voltage stability. With this aim, the outage
of the line connecting buses 4 and 5 is simulated at t =
1 s, and simulation results are shown in Fig. 10. The
wind turbine is assumed to include a low-voltage ride-
through protection that prevents its disconnections after
the disturbance. Installing a BES allows reducing the
voltage sag by about 30%. Moreover, after the voltage sag,
large-amplitude voltage oscillations lasting about 10 s can
be observed in the case without additional reactive power
support. Such oscillations are remarkably flattened with
both the BES and the STATCOM devices.
The steady-state value of the voltage at the PCC is
also kept at its reference value, as opposed to the base
case which shows a slightly lower value in steady state.
Similarly to the small-disturbance scenario, the effect of
installing a local reactive power source are observed in the
overall system, as shown in Fig. 10(b). Finally, Fig. 10(c)
shows that the saturation of the current of the outer-
voltage control of the VSC, while limiting its regulation
capability, does not deteriorate the voltage response of the
overall system.
5. CONCLUSIONS
This paper presents a detailed analysis of the impact of
CI-ESSs on the voltage stability of transmission systems
with large penetration of RESs. The performance of CI-
ESSs is duly compared with that of more conventional
STATCOM devices. Several relevant aspects of voltage
stability analysis are studied and discussed, including long-
term, steady-state analysis, as well as short-term dynamic
−0.01
−0.02
−0.03
0 20 40 60 80 100 120 140
Time [s]
(c) Reactive power output of the VSC
Fig. 9. Response of the WSCC system following stochastic
wind variations.
simulations, based on a modified model of the well-known
WSCC 9-bus system.
Simulation results indicate that the inclusion of fast-
responding reactive power support improve every aspect
of the voltage stability studied as it: (i) increases the
maximum loading level of the system; (ii) improves the
small-signal stability for large loading conditions; (iii)
reduces voltage oscillations due to perturbations such as
those caused by the wind; (iv) maintains the voltage at
the bus of connection at its reference value for a variety
of disturbances, and (v) reduces the voltage sag resulting
from large disturbances such as line outages and faults.
Other less intuitive results have also been observed in this
paper: (i) CI-ESSs provide more efficient voltage regula-
tion than STATCOM devices thanks to their capability to
provide simultaneously active and reactive power support;
(ii) the dynamics of the energy storage device and its active
power control do not deteriorate the small-signal voltage
stability of the system even for large loading levels; (iii)
current saturations of the power converter do not appear to
compromise the short-term voltage stability of the overall
system, at least in the considered scenarios; (iv) the impact
of the local voltage support provided by CI-ESSs can be
observed at a system level.

249
2019 IFAC CSGRES
Jeju, Korea, June 10-12, 2019 Álvaro Ortega et al. / IFAC PapersOnLine 52-4 (2019) 222–227 227

Chaudhuri, N.R., Chaudhuri, B., Majumder, R., and Yaz-

1.08
dani, A. (2014). Multi-terminal Direct-current Grids:
1.06 Modeling, Analysis, and Control. John Wiley & Sons.
vbus 8 [pu(kV)]

1.04 Cole, S. (2010). Steady-State and Dynamic Modelling

1.02 of VSC HVDC Systems for Power System Simulation.
1 WSCC system Ph.D. thesis, Katholieke Universiteit Leuven.
0.98 WSCC system + BES Gao, B., Morison, G.K., and Kundur, P. (1992). Voltage
WSCC system + STATCOM stability evaluation using modal analysis. IEEE Trans-
0.96
0 2.5 5 7.5 10 12.5 15 17.5 20 actions on Power Systems, 7(4), 1529–1542.
Time [s] IEEE/CIGRE Joint Task Force on Stability Terms and
(a) Voltage at the PCC Definitions (2004). Definition and classification of power
system stability. IEEE Trans. on Power Systems, 19(2),
1.08
1387–1401.
Kawabe, K. and Yokoyama, A. (2013). Study on short-
1.06 term voltage stability improvement using batteries on
vbus 6 [pu(kV)]

extra-high voltage network. In Proceedings of the IEEE

1.04 Grenoble Conference, 1–3.
WSCC system
Kolluri, S. (2002). Application of distributed supercon-
1.02
WSCC system + BES ducting magnetic energy storage system (D-SMES) in
1 WSCC system + STATCOM the entergy system to improve voltage stability. In
0 2.5 5 7.5 10 12.5 15 17.5 20 Proceedings of the IEEE PES Winter Meeting, volume 2,
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(1994). Supporting document for reliability criteria
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qvsc [pu(MVAr)]

0.02
0.01
0 General Meeting.
−0.01
−0.02
−0.03
0 2.5 5 7.5 10 12.5
Time [s]
(c) Reactive power output of the VSC
Fig. 10. Response of the WSCC system following a line
outage.
Future work will focus on the study of the stability of CI-
ESSs included in microgrids. Low X/R ratios of microgrids
feeder lines imply strong couplings between voltage and
frequency. The capability of CI-ESSs to simultaneously
regulate the frequency and voltage at the PCC in a very
short time frame makes these devices excellent candidates
to cope with such couplings.
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