Load Frequency Control of Multi Area Power
System Using Meta-heuristic/Artificial Intelligence
Techniques
2022 International Conference on Intelligent Controller and Computing for Smart Power (ICICCSP) | 978-1-6654-7258-6/22/$31.00 ©2022 IEEE | DOI: 10.1109/ICICCSP53532.2022.9862473
Junaid Hussain Lanker
Department of Electrical Engineering Department of Electrical Engineering
National Institute of Technology National Institute of Technology
Srinagar, India Srinagar, India
lankerjunaid@gmail.com rbhushan@nitsri.net
Abstract—This paper presents multi area load frequency
control (LFC) using artificial intelligence techniques in a power
system comprising of non-reheat thermal power units for a three
area interconnected power system. In this proposed scheme,
fuzzy logic, Artificial Neural Network and Genetic Algorithm
technique has been used to tune the classical PID controller
for each area. Step load disturbance has been applied to assess
its consequence on the dynamic performance of power system.
The results are compared and appreciable change i.e minimum
overshoot/undershoot, less settling time and a better response is
achieved. For simulation of the controllers MATLAB simulation
software is used.
Index Terms—Load frequency control (LFC), Fuzzy Logic
Control (FLC), Genetic Algorithm (GA), Artificial Neural Net-
work (ANN), Area control error (ACE), Integral time absolute
error (ITAE).
I. I NTRODUCTION
With the increase in system configuration (like transmission
lines, Generators, Load demand etc.) the present power system
has become very complex. One of the main concern is control
of frequency in order to maintain active power flow through the
network [1]. Significant drop in frequency may result in high
magnetizing currents in inductive loads like motors and trans-
formers which is detrimental to their proper working.The main
cause of the blackouts has been identified as large frequency
variations caused by inadequate coordination and information
flow across the control areas. Large frequency variations can
also cause vibrational stress on turbine blades, lowering the
operation of power plant auxiliaries, and overloading the tie
lines. This can cause frequency relays to trip in cascade,
resulting in electrical grid to become unstable. The scheduled
power interchange in a multi area interconnected power system
requires to be maintained by controlling the generation within
each area [2], [3]. In an interconnected power system, load
frequency control has a significant role in controlling the real
power, frequency and the tie line power [4], [5]. Conventional
controllers namely Proportional (P), Integral (I), Proportional-
Integral (PI) and Proportional-Integral-Derivative (PID) are
978-1-6654-7258-6/22/$31.00 ©2022 IEEE
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Ravi Bhushan Neeraj Gupta
Department of Electrical Engineering
National Institute of Technology
Srinagar, India
neerajgupta@nitsri.net
slow and don’t improve the system response significantly [6]–
[8]. The purpose of the work as presented in this paper is
to employ different artificial-intelligence (AI) techniques viz.
Fuzzy logic, Artificial-Neural-Network (ANN) and Genetic-
Algorithm (GA) for multi-area power system. The result-
ing performance of AI based controllers is compared with
the traditional controllers for three area power system with
non-reheat thermal power units. The results show significant
change viz. reduction in overshoot/undershoot, less settling
time and enhanced frequency deviation performance.
II. M ATHEMATICAL MODEL OF THE SYSTEM
The basic components along with transfer function of the
power system simulated are as follows:
A. Speed Governor System Model
The principle function of the governor is controlling the
speed/load. The aim of this function of governor is to feed back
the change in speed (error sensing) to regulate the gate valve
position. For satisfactory operation of multiple units connected
in parallel, a droop characteristic is provided to the speed
governor system so that equal load sharing is ensured between
the generating units [1]–[3]. Steady state droop is typically set
at around 5%.
Fig. 1. Speed Governor System Model.
The mathematical equation of Speed Governor System is:
  
1 Ksg
∆YE (s) = ∆PC (s) − ∆F (s) (1)
R 1 + sTsg
 B. Turbine Transfer Function Model
The turbine provides the mechanical power to the generator
and acts as a prime mover. The mechanical power output
changes in response to the variations in steam valve position
and it broadly depends upon the characteristics of the type of
turbine used [2].

Fig. 5. Three Area Interconnected Network

Fig. 2. Turbine Transfer Function Model.

Bias1 Scope1

The mathematical equation of Turbine System is: Speed regulation1 Step Load1

 
Kt
∆Pt (s) = ∆YE (s) (2)
1 + sTt In1 Out1
Governor1 Turbine1 Power system1
Derivative Controller1
C. Generator Load Model
The correlation between frequency and load variations is
1
depicted by the generator load model. Any change in load s

gets reflected as a variation in electrical torque of the generator

Bias2 Scope2
and it results in the variation in rotor speed due to mismatch Speed regulation2 Step Load2

between the electrical and mechanical torques. Generally

power system is comprised of composite loads i.e frequency In1 Out1

dependent (motor loads) and frequency independent loads Derivative. Controller2

Governor2 Turbine2 Power system2

(resistive loads) [1].

1
s

Scope3
Bias3
Speed regulation3
Step Load3

Fig. 3. Generator Load Model. In1 Out1

Governor3 Turbine3 Power system3
.Derivative. Controller3

The mathematical equation of Generator load System is:

 
Kps
∆F (s) = [∆PG (s) − ∆PD (s)] (3) 1
s
1 + sTps
The basic block diagram of a single area isolated power
Fig. 6. Three Area Interconnected Power System Model
system, which includes a turbine, generator, governor, and load
along with feedback loop [3] is shown as:
III. G OVERNING M ATHEMATICAL E QUATIONS OF THE
P OWER SYSTEM
Frequency deviations corresponding to each control area
are:

h i
Kps1
∆F1 (s) = [∆PG1 (s) − ∆PD1 (s) − ∆Ptie1 (s)] 1+sTps1 (4)

Fig. 4. Load frequency control model (Single area)

h i
Kps2
∆F2 (s) = [∆PG2 (s) − ∆PD2 (s) − ∆Ptie2 (s)] (5)
D. Load Frequency Control Model of Three Area System 1+sTps2

A Three area load frequency model can be obtained by

combining the single area networks by interconnecting the tie ps3 K
∆F3 (s) = [∆PG3 (s) − ∆PD3 (s) − ∆Ptie3 (s)][ 1+sT ] (6)
lines. The basic purpose is to keep each area’s frequency and ps3

the scheduled tie-line power within the acceptable limits.

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 The tie line power deviation between the control areas is
given by:
2πT12 2πT13
∆Ptie1 (s) = s [∆F1 (s) − ∆F2 (s)] + s [∆F1 (s) − ∆F3 (s)] (7)
2πT21 2πT23
∆Ptie2 (s) = s [∆F2 (s) − ∆F1 (s)] + s [∆F2 (s) − ∆F3 (s)] (8)
2πT31 2πT32
∆Ptie3 (s) = s [∆F3 (s) − ∆F1 (s)] + s [∆F3 (s) − ∆F2 (s)] (9)
Fig. 7. Conventional architecture of a fuzzy logic controller.
The linear combination of frequency change and tie-line power
change in a multi-area power system is defined as Area Control
Error. When used with an integral-control loop, the ACE functions to define the input variables into fuzzy variables
reflects the variation in area frequency and drives the steady- [14].
state frequency error to zero. ACE equations for three area • Fuzzy Inference System: It is composed of fuzzy rule
power system with tie-line bias control are: base which takes fuzzy variables as inputs and generate
possible fuzzy outputs, given as input to defuzzifier.
ACE1 (s) = ∆Ptie1 (s) + b1 ∆F1 (s) (10) • Defuzzification: The physical plant and the control rule
base are connected through the defuzzification compo-
ACE2 (s) = ∆Ptie2 (s) + b2 ∆F2 (s) (11) nent. It performs the function of reverse processing of
ACE3 (s) = ∆Ptie3 (s) + b3 ∆F3 (s) (12) fuzzification to map the control outputs and return the
crisp values that the plant may accept.
IV. C ONTROLLERS
A. Proportion-Integral-Derivative (PID)
The proportional-integral-derivative (PID) controller is the
classic control algorithm in control engineering. To get the
desired response the proportional, integral, and derivative
elements of a PID controller are tuned accordingly. Any
Fig. 8. Fuzzy logic controller simulink model.
discrepancy between the intended value and the process
variable is classified as the error term. The proportionate gain
(Kp) is determined by the ratio between output response and C. Artificial Neural Network (ANN)
error signal. The integral component produces an output by
An artificial neural network (ANN) a computing system
summing the error term over certain interval. The result of
analyses and processes data in the same manner that the human
using integral control is to reduce the Steady-State error to
brain does. However ANN is mostly required to perform one
zero. The derivative control modifies the steady-state error of
specific task at a one time. The ANN is made up of input
a system only if it fluctuates with time. When the steady-state
layer of source neuron, a hidden layer and an output layer.
error of a system does not vary with respect to time, the time
The propagation of input signals proceeds layer by layer in
derivative of this error is zero and it does not provide any
a forward manner. The most common type of learning is
input to the process. In case steady-state error increases with
error correction learning (ECL) in which the error which is
time, a torque is produced that is in proportion to the rate
the disparity between the two outputs is calculated when the
at which the error changes which subsequently reduces the
output of an ANN is compared to the desired output or target
magnitude of that error. The time domain output form of PID
output value. Using the back propagation technique, the ECL
controller is provided by:
algorithm intends to reduce the error signal with each training
Zt session. The process continues until the desired threshold is
de(t) achieved.
u(t) = Kp e(t) + Ki e(t)dt + Kd (13)
dt The input to the ANN is taken from the input terminal of
0
PID controller and the weighted sum of the inputs is computed
B. Fuzzy Logic Controller which is then passed to the activation function [13], [15] to
Fuzzy Logic Control is a method that works with the help get the desired output and is represented in the form:
of logic based on human reasoning [11]. The concept of p
X
fuzziness was founded by Prof. L.A. Zadeh in 1965. The Uk = wkj xj (14)
generalized architecture of a fuzzy logic controller (FLC) j=1
includes the three basic modules viz. the input terminal called
Yk = f (uk − θk ) (15)
as Fuzzification unit, the fuzzy rule base, and the output
terminal which is Defuzzification unit as shown in fig.7. where xj = Input Signal, Uk = Linear combiner Output, wkj
• Fuzzification: Converts crisp values to fuzzy values us- = Synaptic Weights, θk = Threshold, f = Activation function,
ing knowledge base. Knowledge base uses membership Yk = Output signal of the neuron

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 Fig. 9. Architecture of radial basis function neural network.
Fig. 10. Typical Artificial Neural Network.
D. Genetic Algorithm
Genetic algorithm is a powerful search tool for determin-
ing the explicit or nearly perfect resolution to optimization
issues. A form of evolutionary computation known as the
genetic algorithm uses mechanisms including initialization of
population, fitness function, selection, mutation, and crossover
that are based on the ideas of biological sciences. Genetic
Algorithm technique begins with selecting a population which
refers to a set of solutions at an instant of searching process
and on an individual which refers to a single solution. Thus
going from multiple solutions to a single optimal solution can
be seen as going from a population to an individual. Each
individual is characterized by a Set of chromosomes (which
are binary coded or real coded in GA) and then Selection,
Crossover, Mutation and Inversion is done to get the optimal
solution [7], [12].
• Step-1: Formation of Chromosome – Coding and Decod-
ing: The real system parameters are encoded into a binary
string of the problem parameters in GA. Each string sym-
bolises a chromosome, with each chromosome describing
one possible solution to the problem. A population of
randomly generated elements is created after formation
of encoded structure of chromosome [14].
• Step-2: Genetic Operation-Crossover: Crossover or re-
combination operates on selected elements to build the
new elements by combining the existing ones. The two
elements swap their structures and result in creation of
a new element containing the characteristics of their
parents. During the crossover there is exchange of genetic
information with the production of new element [9]. The
process may follow Single-Point, Multi-Point or Random-
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Fig. 11. Flow chart for Genetic Algorithm.
Point crossover.
• Step-3: Genetic Operation-Mutation: Mutation prevents
the premature stopping of the algorithm in a local so-
lution. Mutation works by changing a random bit value
from 0 to 1 in a selected string having a low probability.
During the process of reproduction and crossover, there
may be loss of some potentially useful genetic material,
mutation provides a guarantee to recover the good genetic
material.
• Step-4: Termination of the GA: Genetic Algorithm is
a probabilistic approach method, so it is difficult to
specify any formal convergence criteria. The process
terminates once the population has converged i.e., it
does not produce any new element which is significantly
different from the earlier generation. If the solution is
not satisfactory the GA is restarted and a fresh search is
initiated [10], [16].
For best performance, the most ubiquitous fitness function is
the integral time absolute error (ITAE) [7] and in mathematical
form, the error is expressed as:
Zt
IT AE = |f | × t × dt (16)
0
Fig. 12. Genetic Algorithm tuned PID controller.
 V. RESULTS AND DISCUSSION 10 -3
2
NN tuned PID controller
In order to analyze the dynamic behavior of a three area 0

Change in frequency (pu)

power system, a step load disturbance of 0.01pu has been
-2
applied to the power system presented in this paper. Simu-
lations were conducted to examine the effect on frequency -4

deviation in the three control areas using different controllers -6

viz. “PID, Fuzzy logic, Artificial Neural Network and Genetic
-8
Algorithm based PID controller”. The simulations were done
using MATLAB/Simulink software. -10
0 2.5 5 7.5 10 12.5 15
The Figure 13 represents the system response without any Time (Seconds)

controller with undershoot of 0.0215 and settling time of 6.87

Secs. Figure 14 and 15 illustrates the frequency deviation of Fig. 16. System response to ANN tuned PID controller.
each area after application of PID, Fuzzy and ANN tuned PID
controllers. Significant improvement is observed in parameters
viz oscillations, overshoot and settling time.

0
Without Controller
10 -4
2
Change in frequency (pu)

-0.005
GA tuned PID controller
0

Change in frequency (pu)

-0.01
-2
-0.015
-4

-0.02
-6

-0.025 -8
0 2.5 5 7.5 10 12.5 15
Time (Seconds)
-10
0 2.5 5 7.5 10 12.5 15
Time (Seconds)
Fig. 13. System response without any controller.

Fig. 17. System response to GA tuned PID controller.

-3
10
2
PID Controller
Change in frequency (pu)

-2

-4 10 -4 Best: 5.37681e-06 Mean: 5.39992e-06

4
-6 Best fitness
Mean fitness

-8 3
Fitness value

-10
0 2.5 5 7.5 10 12.5 15 2
Time (Seconds)

1
Fig. 14. System response to PID controller.

0
0 10 20 30 40 50 60
Generation
-3
10
5
Fuzzy Logic Controller Fig. 18. Convergence plot of genetic algorithm.
0
Change in frequency (pu)

-5

-10
The results in Figure17 shows that GA tuned PID controller
-15
in interconnected power system gives a better dynamic per-
formance with reduced frequency deviation, steady state error
-20
0 2.5 5 7.5 10 12.5 15 and oscillations with settling time of 0.54 Secs. The relevant
Time (Seconds) convergence trend is depicted in Figure 18. It is evident that the
fitness value is convergent towards the optimal while moving
Fig. 15. System response to Fuzzy Logic controller. from one generation to next.

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TABLE II
S YSTEM PARAMETERS

Parameter Symbol Value

Speed governor gain Ksg1 , Ksg2 , Ksg3 1
Steam turbine gain Kt1 , Kt2 , Kt3 1
Power system gain Kps1 , Kps2 , Kps3 120 Hz/MW(pu)
Governor time constant Tsg1 , Tsg2 , Tsg3 0.08 Secs
Turbine time constant Tt1 , Tt2 , Tt3 0.28 Secs
Power system time constant Tps1 , Tps2 , Tps3 18 Secs
Speed regulation R1, R2, R3 2.4 Hz/MW(pu)
Frequency bias B1, B2, B3 0.425 MW(pu)/Hz
Gain constants (Kij = 2πTij ) K12, K13, K21, 0.38, 0.50, 0.38,
Tij is synchronizing coeff. K23, K31, K32 0.50, 0.50, 0.38
Step load disturbance ∆Pd 0.01(pu)

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