Study of Dynamic Responses of an Interconnected

Two-Area all Thermal Power System with Governor

and Boiler Nonlinearities using BBO
Dipayan Guha
Ph.D Scholar, EE Department
NIT-Durgapur, Durgapur
West Bengal, India
guha.dipayan@yahoo.com

Provas Kumar Roy

Professor and Head, EE Department
Dr. B.C.Roy Engineering College
Durgapur, West Bengal, India
roy_provas@yahoo.com

Nomenclature
ACE = Area Control Error
AGC = Automatic generation control
Bi = Frequency bias constant
Di = PDi / fi = Load frequency constant
f = Nominal System frequency
Hi = Inertia constant
i = Subscript referring to area (i = 1, 2)
Kpi = 1/Di = Gain of power system
Pri = Rated Power (a12 = Pr1 / Pr2)
Ri = Speed regulation parameter
T12 = Synchronizing Coefficient
Tg = Steam governor time constant
Kr = Steam turbine reheat constant
Tr = Steam turbine reheat time constant
Tt = Steam turbine time constant
Tpi = 2Hi /f*Di =Time constant of power system
Ptie = Incremental change in tie-line power
fi = Incremental frequency deviation
PGi = Incremental generation change
XEi = Incremental change in governor valve position
PDi = Incremental load change
Abstract This paper aims to investigate the application of
biogeography based optimization (BBO) technique to load
frequency control (LFC) problem for improving power system
dynamics with governor dead band and boiler dynamics type of
nonlinearities. Two-area all thermal types interconnected power
system network is considered for design and analysis purpose.
The thermal areas are equipped with single and double reheat
turbine, simultaneously. The designed problem is considered as
an optimization problem and BBO algorithm is applied to search
optimal gains of classical PID-controller which is used in AGC
problem. The behavior of the test system is also investigated with
the analysis towards the different cost functions such as integral
square error (ISE) and integral time absolute error (ITAE).
Small load perturbation (SLP) is considered in area-1 for
studying the dynamic behaviors of the designed power system
unit. To validate the effectiveness and superiority of proposed
controller, the performances are compared with the results
obtained by differential evaluation (DE) and particle swarm
optimization (PSO) techniques. Simulation study exhibits
significant effect of the designed controller on the dynamics of
concerned power system network.
Index Terms Automatic generation control, Area control
error, Dead-band, Boiler dynamics, Integral square error,
Integral time absolute error, Biogeography based optimization

978-1-4799-4445-3/15/$ 31.00 2015 IEEE

Subrata Banerjee
Professor, EE Department
NIT-Durgapur, Durgapur
West Bengal, India
bansub2004@yahoo.com
I. INTRODUCTION

The successful operation of power system network is highly

depends on the ability to provide reliable and uninterrupted
power supply to the customers. Ideally, loads must be fed at
constant voltage and frequency for all the times. An AC
interconnected modern power system unit is subjected to large
load with frequent changes, which severely disturbed nominal
operation of the system frequency and dynamic power flow to
a great extend and becomes oscillatory. Under this situation,
primary control scheme through governor control mechanism
is no longer able to give better dynamic performances due to
its slow responses. To stabilize these oscillations, AGC is
employed in each area which automatically balances generated
power and load demand so that quality of power delivered is
maintained at basic level [1]. Primary objectives of AGCs are
[2] as follows:
(a) to maintain system frequency at desired level
(b) to maintain power net interchanges between control areas
at the scheduled values
(c) to maintain power allocation among the units within each
control area at desired value
The first two points are grouped together to form LFC and
third objective comes under Economic Load Dispatch (ELD)
problem.
A number of decentralized controllers were designed in
the area of AGC to improve dynamic performances in past.
Higher order dynamic controller or state feedback controllers
were also designed to eliminate system oscillations. But to
design these types of controllers, all states of the power system
units must be feed to the controller which is not an easy job
and hence this is somewhat impractical in industrial
applications.
More recently, artificial neural network (ANN), fuzzy set
approaches are proposed in the design of AGC [3-8]. Training
of ANN is not an easy task. It involves many factors such as
availability of sufficient and adequate training data set,
suitable learning algorithm, number of neurons in ANN,
number of layers in ANN etc. This eventually increases
complexity of these algorithms in practical applications. With
the increase of size and complexity of modern power system
networks, system oscillations are increased and sustained for
long period of times. Advanced control method such as
variable structure control [9], observer based control [10], self
tuning FPIC controller [11], sliding mode controller [12, 13]
etc. was proposed in the field of AGC. Recent philosophies of
AGC are given in [14]. However, these advanced techniques

requires expert users in their design and implementation,

requires depth knowledge about their internal structure etc.
Heuristic optimization techniques such as genetic
algorithm (GA), particle swarm optimization (PSO) etc. are
efficient approaches which have been popularly accepted by
the engineering community and can be used to solve real time
nonlinear and complex optimization problems. Since 1960 GA
based on principle of natural solution has been playing a
significant role in the optimization problems. PSO was
introduced by James Kennedy and Eberhart (1950), which is
based on swarming behavior of birds, fish and other creatures.
But all these classical optimization techniques suffer from
local optimization problems, takes large time to converge etc.
Biogeography based optimization (BBO) is a novel metaheuristic optimization techniques introduced by Simon (2008)
which is based on the science of biogeography. Biogeography
is the study of the distribution of animals and plants over time
and space. This aims is to elucidate the response of the
changing distribution of all species in different environment.
The key feature of BBO is that the migration of solution
features between individuals is motivated by the mathematical
theory of species migration in biogeography. Hence, this paper
proposing new BBO based optimal and robust PID controller
to study the transient responses of an interconnected two area
thermal-thermal power system with system nonlinearities.
This paper also includes two-stage reheat turbine for
investigating the effect of same on system dynamics. 1% SLP
is considered in area-1 for studying frequency and tie-line
power deviations.
II. MODELING OF TEST SYSTEM
This section describes modeling of Load frequency controller
for an interconnected two-area thermal-thermal power system.
Each area of power system network is made up with three
major devices such as (i) speed governor, (ii) steam turbine
and (iii) generator with load (power system). Each area has
three inputs and two outputs. The inputs are Pref (controlled
input, u), PD (change of load), Ptie (error in tie-line power)
and the outputs are f (generator frequency) and ACE.
ACE is considered as controlled output of AGC and defined as
a quantity reflecting the deficiency or excess of power within
a control area [15]. Mathematically it is defined as in equation
(1), where B is the frequency bias parameter.
(1)
ACE = Bi fi + Ptie , i , j
Governor, power system and steam turbine units are
represented by their own Transfer Function (T.F) form and
defined in equation (2) to (4), respectively.
1 , T = Time constant of speed governor
(2)
sg
Gsg =
1 + sTsg

GPS =

K PS
1 + sTPS

(3)

KPS and TPS are gain and time constant of power system unit
respectively.
1 1 + sK r Tr
(4)
Gt =
1 + sTt 1 + sTr

Gt =

1 + s{K r1 (Tr1 + Tr 2 ) + K r 2Tr 2 } + s 2Tr1Tr 2

(1 + sTr1 )(1 + sTr 2 )(1 + sTt )

(5)

Equation (4) and (5) represents the T.F of single-stage and

double stage reheat turbine [16], respectively.
The system under investigation is consists of two-area (equal
size) interconnected reheat type thermal power system as
shown in Fig. 1(a). The thermal plants are studied with singlestage and two-stage reheat turbine. 1% SLP in area-1 is
considered for investigating the deviation of frequency and
tie-line power. The system parameters are taken from [17] and
listed in Appendix-1. The following cases are identified for
the present studies:
Case-I: System is studied without any physical constraints
using PID-controller.
Case-II: Governor non-linearity is added to the same system in
order to obtain frequency and tie-line power deviations.
Case-III: Boiler dynamics is incorporated with case-II for
studying robustness of designed optimal classical controllers.
III. THE PROPOSED APPROACH
The PID controller is the most popular classical controller
used in practice. The popularity of PID controller in industry
has increased due to its applicability, functional simplicity and
reliability in the performances [18]. In view of the above, an
optimal PID controlled structure is proposed in this paper.
Optimization is done using biogeography based optimization
algorithm. A set of performance indices are considered as a
design tool to tune controller parameters such as Integral
Square Error (ISE), Integral Time Absolute Error (ITAE),
Integral Absolute Error (IAE) and Integral Time Square Error
(ITSE). This paper considered ISE and ITAE as performance
indicator to minimize the objective function and define as in
equation (6) and (7).
JISE =

[(B f ) + (P ) ].T

JITAE =

i =1
N

( f
i =1

tie

+ Ptie ).t.T

(6)
(7)

IV. GOVERNOR DEAD BAND (GDB)

GDB is defined as the total magnitude of a sustained speed
changes within which there is no resulting change in the valve
position. It introduces sufficient effects on the dynamics of
LFC problem. Backlash type of non-linearity is considered to
represent GDB effect and describing function approach gives
its T.F model. Details calculation of GDB is available in [19].
V. BOILER SYSTEM DYNAMICS
Boiler is a device meant for producing steam under pressure.
Fig. 1(b) shows the block diagram of a drum type boiler.
Drum type boiler is otherwise known as recirculation boiler
which relies on natural or forced circulation of drum liquid to
absorb energy from hot furnace walls. This includes the long
term dynamics of fuel and steam flow on boiler drum pressure.
Coal fired well tuned type boiler is consider for investigation.
In conventional steam units, changes in generation are
initiated by turbine control valves and the boiler control
respond with necessary immediate control action upon sensing
changes in steam flow and deviations in pressure [19].

Fig. 1(a): Block diagram of two-area all thermal power system network with governor dead band and boiler dynamics

optimization problem with a set of solutions, a good solution

is analogous to habitat with habitat suitability index (HSI).
This corresponds to a geographical area which is well suited
for biological species in biology. The variables in habitat are
characterized probabilistically called suitability index
variables (SIV), equivalent to gene in GAs. High value of
SIV means an island with large number of species, and poor
value of SIV means small species available in island. High
SIV solution more likely to share features with other solution
and low SIV accept features form other solutions.
Flowchart of BBO algorithm:
Start

Initialize random
set of habitats

Compute and
for each habitat
based on HIS (old)

Fig. 1(b): Drum type Boiler dynamics

The change in generation is control via controlling of turbine

valves and boiler control responds with necessary control
action such as changes of steam flow, changes in throttle
pressure, combustion rate and hence boiler output. The T.F
form of pressure control unit and fuel system is given in
equation (8) and (9), respectively.
(8)
Pressure control unit = K IB (1 + sT IB )(1 + sT RB )
s (1 + 0 .1T RB s )
T
Fuel system = e

Ds

Migration
Recomputed HSI
value (new)

if
new > old

(9)

1 + TF s
K2
0.095

K3
0.92

CB
200

TD
40

TIB
90

KIB
0.02

TF
25

Mutation

No

yes

Table-I: Coal fired well tuned drum type boiler [19]

K1
0.85

Compute HSI value

corresponds to
individual habitat

TRB
69

VI. BIOGEOGRAPHY BASED OPTIMIZATION

BBO is a new biogeography inspired algorithm for global
optimization, which is basically the study of the geographical
distribution of biological organism. Suppose that we have an

Stop

In general BBO involves two operators: mutation and

migration. Migration is a probabilistic operator that improves
habitat (Hi). Emigration rate () is used to share information
between habitats. Mutation is a probabilistic operator that
randomly modifies a habitat SIV based on the habitats a priori

species count probability. The purpose of mutation tends to

increase diversity among the populations [20]. In BBO,
individual features have its own emigration rate () and
immigration rate (), these are calculated as [21]:
and

k = I (1 k )

(11)

The algorithm for migration is as follows:

Select Hi with probability based on i
if Hi is selected
Select Hj with probability based on j
if Hj is selected
Randomly select an SIV from Hj
Replace a random SIV in Hi with one from Hj
end if
end if

0.15
Fitness value

(10)

0.145

0.14
0.135

0.13

0.125
0

20

40
60
Number of Generation

80

100

Fig. 1(C): Convergence curves of BBO algorithm with ITAE criterion

The algorithm for mutation is as follows:

for j = 1 to N
use i and i to compute the probability Pi
Select an SIV in Hi with probability based on mutation rate
if Hi is selected
Replace Hi with randomly generated SIV
end if
end for
VII. RESULTS AND DISCUSSION
The objective of simulation study was to test the degree of
applicability of BBO algorithm in AGC system. Simulations
were performed using Matlab R2009a software run in core i3
processor. In order to optimize gains of PID controllers 100
iteration, 40 population size, mutation probability of 0.005 and
6 control variables in each population is considered. The upper
and lower limits of controller gains are considered as 0 and 2,
respectively. A small load perturbation is considered in area-1
for studying transient performances of PID controller based
AGC system. In order to get a realistic analysis, both the areas
are studied with governor and boiler nonlinearities. The
optimum values of controller gains under different conditions
are given in Table-II. The degree of convergence of BBO
algorithm can view from fig.1 (c) and 1(d) under two objective
functions. Transient performances of area-1, area-2 and tieline power are shown from Fig.2 to Fig. 10. Fig. 11 and TableIV gives the comparative analysis of transient performances
between proposed BBO based PID-controller with designed
controller presented in [22]. Settling time, peak overshoots of
frequency error in area-1, area-2 and tie-line power are given
in Table-III. It is observed from Fig. 11 and Table-IV that
minimum settling time and overshoot are obtained for f1, f2
and Ptie when optimal controlled AGC for the test system is
tuned by BBO algorithm using ITAE criterion.

5.6

x 10

-5

5.4
5.2
5
Fitness value

k
n

0.155

4.8
4.6
4.4
4.2
4
3.8
0

20
40
60
80
100
Number of Generation
Fig. 1(d): Convergence curve of BBO algorithm using ISE criterion

x 10

-3

0
frequency deviation (Hz)

k = E

0.16

-5

single-stage turbine
two-stage turbine

-10

-15

-20
0

5
10
15
20
25
30
time in sec
Fig.2: Frequency error without any constraint using ITAE criterion

Table-II: Optimal values of controller gains under different modes of operation

Controller
gains
ISE
ITAE
Controller
gains
ISE
ITAE
Controller
gains
ISE
ITAE

Ki1
1.9993
1.9998
Ki1
1.99
1.9946
Ki1
1.977
1.999

Single stage turbine

Without any physical constraints
Ki2
Kp1
Kp2
Kd1
1.9981
1.9995
1.9992
1.9985
1.9998
1.9957
1.9986
0.3081
With governor dead band non-linearity
Ki2
Kp1
Kp2
Kd1
1.9983
1.9979
1.9997
1.99
1.9985
1.999
1.999
0.4867
With DB and boiler dynamics
Ki2
Kp1
Kp2
Kd1
0.0410
1.99
0.4237
1.9850
1.9964
1.7452
0.2348
0.2974

Kd2
1.9992
0.3097
Kd2
1.9998
0.4863
Kd2
0.0034
1.5106

Double stage turbine

Objective Controller
Without any physical constraints
Ki1
Ki2
Kp1
Kp2
Kd1
Kd2
function (J)
gains
6.569x10 5
ISE
1.9981 1.9993 1.9976 1.9963 1.99
2
0.1442
ITAE 1.9995 1.9936 0.8677 0.8618 0.3533 0.3520
Objective Controller
With governor dead band non-linearity
function (J)
gains
Ki1
Ki2
Kp1
Kp2
Kd1
Kd2
1.084x10 4
ISE
1.9986 1.9987 1.9989
2
1.5838 1.5797
0.1922
ITAE 1.9975
1.99 1.0139 1.0171 0.4613 0.4620
Objective Controller
With DB and boiler dynamics
Ki1
Ki2
Kp1
Kp2
Kd1
Kd2
function (J)
gains
0.2070
ISE
1.9992 1.9982 1.9866 1.9911 1.6161 0.7071
0.1971
ITAE 1.9929 0.6328 0.8041 0.1788 0.5308 0.0961

Objective
function (J)
2.172x105
0.1771
Objective
function (J)
3.764x105
0.2420
Objective
function (J)
1.7383x105
0.0961

x 10

-3

0.005

frequency error (Hz)

0
-2

two-stage turbine
single-stage turbine

-4
-6

deviation of frequency (Hz)

0
Area-1
Area-2

-0.005

-0.01

-0.015

-8
-0.02

-10
-12
0

-0.025
0

5
10
15
20
25
30
time in sec
Fig.6: Frequency error with two-stage and DB using ITAE criterion

15
20
25
30
time in sec
Fig.3: Frequency error without any constraint using ISE criterion

x 10

10

-6

single-stage turbine
two-stage turbine

1
0.5
0
-0.5
-1
-1.5

-2.5
0

15
20
25
30
time in sec
Fig.4: Tie-line power error without any constraint using ISE criterion

x 10

10

single-stage
two-stage
-2

-3

-4

-6
0

-3

5
10
15
20
25
30
time in sec
Fig.7: Tie-line power error with DB using ITAE criterion

x 10

-3

-2
single-stage turbine
two-stage turbine

-4
-6
-8

deviation of frequency (Hz)

0
Frequency deviation (Hz)

-1

-5

-2

-6

Tie-line power error (p.u)

tie-line power deviation (p.u)

1.5

x 10

-2
-4

Area-1
Area-2

-6
-8
-10
-12

-10
-14

-12
-14
0

-16
0

10

15
20
25
30
time in sec
Fig.5: Frequency error with DB only using ISE criterion

5
10
15
20
25
30
time in sec
Fig.8: Frequency error with two-stage, DB and Boiler Dynamics
using ITAE criterion

Table-III: Transient performance specifications of two-area all thermal systems (OS = Overshoot, ST = Settling time)
Single-stage reheat type steam turbine
Double stage reheat type steam turbine
Deviation of frequency
Without any physical constraints
Deviation of frequency
Without any physical constraints
and tie-line power
and tie-line power
f1
f2
Ptie
f1
f2
Ptie
Performance indices
OS
ST
OS
ST
OS
ST
Performance indices
OS
ST
OS
ST
OS
ISE
0.0016 8.59 0.0013 13.69 2.19x10-4 16.76
ISE
1.149x104 9.21 1.149x104 9.21 1.128x107
ITAE
0.0015 7.84 9.57x10-4 9.73
1.79x10-4 14.23
ITAE
1.148x104 4.895 1.148x104 4.887 9.002x106
Deviation of frequency
With DB non-linearity
Deviation of frequency
With DB non-linearity
and tie-line power
and tie-line power
f1
f2
Ptie
f1
f2
Ptie
Performance indices
OS
ST
OS
ST
OS
ST
Performance indices
OS
ST
OS
ST
OS
ISE
0.0029 13.32 0.0029 13.32 9.038x107 19.38
ISE
7.26x104 3.24 7.15x105 7.28 2.96x105
ITAE
0.0027 10.85 0.0029 11.205 1.761x104 6.719
ITAE
1.501x104 6.25 1.499x104 4.139 0.0017
Deviation of frequency
With DB and boiler dynamics
Deviation of frequency
With DB and boiler dynamics
and tie-line power
and tie-line power
f1
f2
Ptie
f1
f2
Ptie
Performance indices
OS
ST
OS
ST
OS
ST
Performance indices
OS
ST
OS
ST
OS
ISE
0.0018 11.92 0.0017 12.96 1.264x104 8.979
ISE
4.23 x 10 - 5 3.307 4.123x10-5 10.42 1.919x105
ITAE
0.0061 11.16 0.0041 11.86 9.105x104 11.48
ITAE
1.541x10-4 1.128 4.774x10-5 3.378 1.837x10-5

ST
14.24
5.695

ST
26.4
3.838

ST
12.86
10.78

analysis by incorporating boiler dynamics to the test system.

The superiority of the designed controller is justified by
comparing results with recently published techniques for same
test system. At the end of the study, it is seen that the BBO
algorithm is successfully applied to AGC problem and it shows
better tuning capability compare to other similar population
based optimization techniques available in literature.

0.2

frequency deviation (Hz)

0.1

Area-1
Area-2

-0.1

-0.2

-0.3

-0.4

-0.5
0

10

20
30
40
50
time in sec
Fig.9: Frequency deviation with DB and Boiler dynamics using ISE criterion

0.01

deviation of frequency (Hz)

0.005

Area-1
Area-2

0
-0.005
-0.01
-0.015
-0.02
-0.025
0

10

20
30
time in sec

40

50

Fig.10: Frequency error with DB and Boiler dynamics using ITAE criterion

Table-IV: Comparative Transient performances with GDB

Optimization
methods
Ref.
DE
PSO
[22]
Proposed BBO ISE
algorithm BBO ITAE

f1
OS
ST
0.0194 12.97
0.0167 12.95
0.0016 8.59
0.0015 7.84

f2
OS
0.0136
0.0110
0.0013
9.57x10-4

Ptie
ST
OS
ST
15.67 0.0037 15.92
15.32 0.0029 15.75
13.69 2.19x10-4 16.76
9.73 1.79x10-4 14.23

0.005

Frequency deviation (Hz)

-0.005
BBO-ITAE
BBO-ISE
PSO
DE

-0.01

-0.015

-0.02

-0.025
0

10

15
20
25
time in sec
Fig.11: Comparative frequency responses in area-1 with GDB

30

VIII. CONCLUSION
This study presents the design and analysis of BBO optimized
PID-controller for AGC of an interconnected two-area thermal
power system with governor dead band non-linearity. ISE and
ITAE criterion are presented in this paper in order to minimize
the performance indices under different operating conditions.
Simulink results shows that double stage reheat turbine with
optimized controller by ITAE criterion gives better results
compare to others. Finally, the study is extended to a realistic

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APPENDIX-1
Pr1 = Pr2 = 2000MW, f = 60 Hz, B1 = B2 = 0.425 p.u MW/Hz, R1 = R2 = 2.4
Hz/p.u MW, Tsg = 0.08 sec, Tt1 = Tt2 = 0.3 sec, Tps1 = Tps2 = 120 sec,
Kps1 = Kps2 = 20, Kr1 = Kr2 = 0.5, Tr1 = Tr2 = 10 sec, T12 = 0.0866 p.u., a12 = 1.