4th Power Electronics,Drive Systems & Technologies Conference (PEDSTC2013),Feb 13-14,2013,Tehran,Iran

A New Algorithm for Optimal Measurement

Placement, Observability Analysis and Harmonic State
Estimation in Power Systems
Marjan Shafiee Rad,Hossein Mokhtari,Houshang Karimi
Center of Excellence in Power System Management and Control (CEPSMC)
Sharif University of Technology
Tehran,Iran
Marjan_shafiee@ee.sharif.edu, Mokhtari@sharif.edu, Houshang.karimi@sharif.edu

Abstract-Harmonic State Estimation (HSE) is a technique for

Various methods have been presented in the literature for

identifying harmonic distributions in power systems with limited

placement of harmonic meters and estimation of state variables

measurements. The main problem in HSE is the optimal placement

[6]-[8]. Weighted Least Square (WLS) method is a simple and

of measurement meters such that the estimation error is minimized,

fast method for harmonic state estimation, but it results in

while making the system fully observable. The second issue is the

measurement devices equal to or greater than the unknown state

HSE method. This method must be accurate and fast enough in

order to have an

accurate

HSE.

variables [9], [10]. One of placement methods is Minimum

This paper presents a new

Variance Criterion (MVC) that uses nodal harmonic injection

algorithm that uses minimum variance criterion (MVC) and a

currents for the minimization problem [4]. This method does not

sequential method for optimal meters placement, SVD method for

observability analysis and

finally WLS method

estimation.

method

The

proposed

minimizes

for

the

consider the observability of the system and do not optimizes the

harmonic

number

number of meters.

of

measurement devices and the error of estimation at the same time

and

also

makes

the

system

fully

observable.

The

The proposed algorithm uses the MVC method based on a

proposed

sequential manner to determine optimal measurement placements

algorithm is tested on Mazandaran transmission network, Iran.

using branch currents and considers the observability of the

power system under study. The proposed algorithm identifies

Keywords-Harmonic State Estimation; optimal placement;

estimation error; limited measurement; observability; power system
I.

observable buses in each step and excludes them from the buses
at which a meter can be installed in next steps. Therefore, this
technique optimizes the number of measurements, minimizes the

INTRODUCTION

error of estimation and makes the system observable at the same

Due to the widespread use of power electronic equipment,

time.

harmonic current/voltage level in power networks has been

Since,

in

this

algorithm

the

system

becomes

fully

observable with limited meters, WLS method can then be used

increased in recent years. This increase may result in extra losses,

for harmonic estimation.

damage to power system equipment and decrease their life time.

In order to assess the level of harmonics, it is required to monitor

This paper is organized as follows. Section II gives a

power networks using power quality analyzers. However, due to

description of the problem. The proposed algorithm is described

the high costs, only limited number of measurements can be done

in

in practice [1], [2].

experiments

III.

Section

using

an

IV

gives

actual

the

results

of

Iranian

power

system.

numerical

The task of harmonic state estimation is to identify the

the conclusions are given in the final section.

harmonic voltages/currents by partial measurements. Due to the

II.

high expense of measurement instruments and installation of

PROBLEM DESCRIBTlON

Harmonic state estimation contains a procedure which is the

communication channels, only a limited number of harmonic

reverse of a simulation study. Simulators determine the power

meters may be available [3], [4]. In other words, the number of

system response to several harmonic injection locations, but

measurements can be only slightly greater or even fewer than the

estimators determine the harmonic injections when the power

number of unknown state variables. The quality of the estimates

system responses are given by limited measurements. In other

is a function of the number and location of the measurement

words, HSE is an inverse problem of harmonic power flow. It

nodes. Therefore, a systematic procedure is needed to design the

estimates network state variables with limited measurements. A

optimal measurement placements [5].

general mathematical model relating the measurement vector

This project is supported by Yekta Optimized Power Company and

The authors would like to

acknowledge this support.

978-1-4673-4484-5/13/$31.00 2013 IEEE

The

sensitivity analysis of this algorithm is presented in section V and

locations and magnitudes of harmonic sources and to estimate

Mazandaran Regional Electric Company.

section

518

to

the state variable vector x (to be estimated) can be formulated as

follows.

z(h)

H(h)x(h)

e(h)

The following relation holds between the nodal voltages and

nodal currents injections of a power network.

(1)

where

h
z(h)
H(h)
x(h)
e(h)

(4)
A priori information about the possibility of occurrence of
harmonics at each bus can be expressed by a matrix [4], i.e.:

THE PROPOSED ALGORITHM

(5)

In this section, details of the proposed algorithm are

described. In this paper, nodal harmonic voltages (V(h)) are used
as state variables. If nodal harmonic voltages are known, all other
network variables can be determined. A subset of nodal voltages
V(h) and branch currents Ib(h) are selected as measurement
states. All programming for different parts of the algorithm are
conducted in MATLAB software.

where (Ju and (Jo are diagonal submatrices modeling a pnon

probability of existence of harmonic sources for the unknown
buses (not measured)
and observed (measured) buses,
respectively [4].
Reference [4] shows that the conditional error covariance
matrix is as (6).

System Modeling

In this paper, transmission lines are modeled as equivalent 1[

circuits; electric machines and transformers as constant
reactances determined by their transient reactance; aggregated
loads as impedances determined by their active and reactive
powers at the fundamental frequency and harmonic filters as
shunt impedances. The network topology and parameters at the
fundamental frequency is known. This topology is then
calculated for harmonics by programming.
B.

CovMatrix

As mentioned earlier, optimal placement of measurement

meters that can give accurate estimation of unknown state
variables with minimum number of measurements is an
important issue. Also, this placement must make the system fully
observable until all unknown variables are determined.

Minimize
with respect to
the Zou

In this subsection, a proper method is described for selecting

optimal locations for the measurement devices. This technique
provides minimum number of meters and their best locations in
order to make the system fully observable and then estimate the
nodal harmonic voltages accurately.

{E {(iu - lu)Z) }

Lh traceIICovMatrix(h)II

(7)

where h is the harmonic order.

Now, (7) can be used to specify the optimal location of each
instrument. This method uses nodal currents injections and only
gives the optimal buses for placing the measurement meters. But
these meters can measure the branch currents and must be placed
at one of the branches connected to the buses. The proposed
algorithm uses branch currents for this minimization and obtains
a matrix whose elements relate the nodal voltages to the branch
currents. This matrix is named ZBL in this paper.

In measurement placement method based on MVC, the goal

is to find the measurement locations (from the set of all possible
locations) that can minimize the expected value of the sum of
squares of differences between the estimated and true parameter
variables as shown in (2) [4].

Minimize
G
with respect to the
location of measurements

The trace of the magnitude of the covariance matrix is a

proper scalar of error for this minimization problem [4]. By
proper selection of Zou , this error can be minimized. In fact, Zou
determines the optimal placement of instruments. Since, Zou is
dependent on the harmonic order and has a different value at each
harmonic, the trace of the magnitude of the covariance matrix
must be evaluated, summed and minimized for all the harmonics
exist in the network as follows.

Optimal Measurement Placement Method

where

(3)

Let Vo and 10 denote the vectors of observed (measured)

quantities, and Vu and lu denote the vectors of unknown voltages
and currents, then:

The measurement matrix is a matrix whose elements relate

the measurement vector to the state variables. Since the
measurement error in (1) does not affect the solvability of HSE, it
can be ignored.

A.

ZI

where Z is the impedance matrix of the power system.

harmonic order;
m x 1 measurement vector;
m x n measurement matrix;
n x 1 state variable vector;
m x 1 measurement error vector.

III.

If the topology and parameters of the system are known, ZBL

can be fined. The method for obtaining this matrix is described
by a simple example. Consider the system shown in Fig. 1.

(2)

lu is the actual current and iu is an estimation of lu'

519

112

Z12

In the second step, the location of the first instrument is fixed,

..
1 -=:::I!:.--c=::J-

and the optimal second placement is obtained from the other

__

branches of the system. In this way, the measurement devices are

placed at suitable locations by a sequential manner.

Z31

C.

Figure 1.

The branch currents of this system obtained from

is observable, if there is a unique solution for this unknown

the system is fully observable. The observability analysis of

- V2-V3

1)
If

- V3-V1

is

(10)

Z31

Where

the

n ,

system

is

determined

determined, and there is always a solution for

(9)

Z23

(1)

can be analyzed as follows.

(8)

Z12

131 -

variable. If all state variables of the system are observable, then

(8)-(10).

- V1-V2

123 -

(1), n is the number of unknown variables (x) and m is

the number of measurements. In a HSE problem, a state variable

Schematic diagram of a sample system.

112 -

Observability Analysis Method

In Eq.

Rank(H)

one

solution

(the matrix

for

x,

or

over

x.

has a full column rank), there

and therefore,

the

system

is

fully

observable. Otherwise, the number of solutions is infinite and the

system is not fully observable.

Therefore,

the following relations are held between the

2)

branch currents and nodal voltages.

[I" 1
123

Z12
=

Z12

Z23

131

Z31

1
Z12

YLB

Z12

Z23

Z31

<

Z23

1
Z31

ml

solutions

Therefore, if

(11)

<

n,

the system is under determined, and there

or the number of solutions is infinite.

m (the
for

is

no

solution.

Rank(H)

Z31

Also, the solution of

X

(13)

YLf?

where

YLB

x
p

YLB has

where W is a diagonal matrix

a

(15)

(16)

H.

values of

is a particular solution, P is a constant and Vi is the ith

i

The SVD method represents a

where T is a matrix operator of complex conjugate transpose.

n-Rank(H)
+ "' i=1
PiVi

x
p

(14)

In all systems to which this algorithm is applied,

Dim(NullSpace(H))

(1) can be expressed by (16).

vector of the null space of

is not a

and the

H.

(12)

Z23

square matrix and has more rows than columns. Therefore,

(m

n)

matrix as (17 ).

UWVT

(17)

(m x n)

with entries of singular

H.

The columns of V corresponding to zero singular values are

YiB YLB is invertible.

the nullspace vectors of

if no singular value of

Now, ZBL is substituted into the impedance matrix Z in (4),

(6) and (7). This algorithm uses a sequential fashion as described
in [4]. This sequential method supposes that the placement of the
(K + l)th sensor does not change the optimal locations of meters
1 to K identified at pervious steps.

H.

Hence, the system is fully observable

becomes zero

[11], [12].

If the system is not fully observable, SVD can be used to

determine the observable and unobservable states as follows. If
all the nullspace vectors have zero entries in a particular position,
any linear combination of nullspace vectors will not change the
value of the corresponding state variable and this state will be

In this procedure, in the first step, the best location for the

observable

first measurement is obtained. This placement must minimizes

The case that results in minimum error is the best location for

this device (e.g. bus number

there

has a full column rank.

ZBL can be obtained from (14).

(7).

has a full row rank), there is

n the system is not fully observable.

dimension of the null space of

But, in a real network usually the number of branches is

full column rank, and therefore,

Otherwise,

The following relation holds between the rank of

greater than the number of buses. Hence, matrix

matrix

x .

Finally, the system is fully observable if the measurement

matrix

ZBL can be calculated from (13).

ZBL

Rank(H)

infinite

0
1

Now,

If

Where

is no solution for

[13], [14].

Therefore, this method can be used to check the observability

1, the line between bus 1 and bus 2).

of the system and obtain observable and unobservable states. The

520

observability of the power system must be considered and

checked during the steps of the algorithm. At the fIrst step, after

(ji
0

placing the fIrst measurement device, the observable buses must

be obtained and omitted from the other steps of the placement

observable. When the nodal voltage of bus number 1 and the

(jf
0

algorithm, e.g. after placing the fIrst measurement device at bus

1, the line between bus 1 and bus 2, bus number 1 and 2 become

0
1

(jf
0

branch current of the line between buses 1 and 2 are known, then
the voltage of bus number 2 can be obtained, making bus number
2 observable. This can also be verifIed by the SVD method that

described earlier. Now, bus number 1 and 2 are omitted from the

(j/

(19)

(jf

placement algorithm, and the optimal location for the second

measurement device is obtained from the other branches. This

(20)

algorithm will be repeated until all buses become observable.

where

Therefore, the proposed algorithm minimizes the number of

devices and the estimation error at the same time and makes the
system fully observable as well.

number of buses;

number of measurement devices;

Ii
Vi

D. State Estimation Method

Weighted Least Square (WLS) is the simplest method for

branch current of the ith measurement location;

nodal voltage of bus number i;

h
YBL

state estimation. Since, in this algorithm, the system becomes

fully observable with limited number of meters, WLS method

harmonic order;
matrix relating branch currents to nodal voltages that
obtained in section B.

can be used for harmonic estimation.

IV.

Nodal voltages and branch currents at the measurement

NUMERICAL EXPERIMENT AND DISCUSSION

locations are used as measurement variables. In other words, at

Mazandaran transmission Network located in the north part of

any measurement location, the nodal voltage and branch current

Iran is used to test the performance of the proposed algorithm.

are measured and used for the estimation of the state variables.

Since the three-phase system is balanced, hence a single phase

Therefore, by installing meters at half of the buses, the number of

representation is enough.

measurement variables

(m)

becomes equal to or greater than the

(n)

number of unknown state variables

The measurement data (nodal harmonic voltages

and also the system

Ib,aet )

harmonic branch currents

becomes completely observable. Therefore, The WLS method

admittance

be obtained for the state variables.

obtained

matrices

from

the

and

harmonic

simulation.

current

After

order to obtain the nodal harmonic voltages

vector is given in (18). The covariance matrix is given in (19). It

estimated injected harmonic currents

is assumed that the measurement placements are at bus numbers

1 to k, and Y k : k , k3: k4) is a submatrix containing rows k to
z

voltage magnitude

x',est

k3 to k4

from matrix

Y.

currents

The best estimate value

currents

YBus(h)

Ib,est

lest

Vest.

that

and the matrix

YLB(h)

Then, the estimated

and estimated branch harmonic

RMS

respectively.

YBus(h)

and

YLB(h)

Vest.

algorithm is shown in Fig. 2.

RMS

VM(%) , voltage angle VACrad) , injection

IM(%) and injection current angle IA(ra d ) at

is the number of buses, i is bus number and

error of VM(%)

[y" (:k\ k)

Y,,(1.

+ 1.

n)

[:l

is the

- IVi,h,actl-IVi,h,esti z
)
L [-1 (
IVi,h,actl

error of VA (rad)

X 100

RMS

error of IM(%)

(21)

VLf=l(ang(Vi,h,aet) - ang(Vi,h,est))Z

Vi
Vz

Then, the

and branch harmonic

can be calculated [6]. The RMS errors of the

are calculated

and saved at each harmonic order. The flowchart of the proposed

::

lest

harmonic order.

can be calculated using the admittance matrix

In this algorithm, matrixes

laet

optimal

each harmonic order are calculated by (21)-(24). It is assumed

The HSE algorithm is repeated for each harmonic order to

obtain the nodal harmonic voltages

Ib,est

current magnitude

for nodal harmonic voltages is obtained from (20).

injected harmonic currents

the

placements, the HSE algorithm is repeated for each harmonic

The unknown state vector, the measurement vector and the

and columns

injections

fInding

measurement matrix relating the measurement vector to the state

kz

and

harmonic power flow equation with the calculated harmonic

can be used for estimation, and as a result a unique solution can

( l

Vaet

are generated by solving the

(22)

(18)

(23)

RMS

error of IA(rad)

VLf=l(ang(ii,h,aet) - ang(ii,h,est))Z

521

(24)

Optimal placement for the Ith measurement device

Finding the observable buses

Measuring of the voltage and current at optimal locations

Establishing measurement matrix at each harmonic order
Obtaining state variables at each harmonic order
Obtaining other variables of the network

Figure 2.

This system has 3

Flowchart ofproposed algorithm.

buses. By applying the proposed method,

Figure 3.

16 hannonic meters are required to make the system fully

observable. The locations of the harmonic meters are shown in

Mazandaran Transmission Network with 16 PQ meters.

Nodal Harmonic Voltage Magnitude (p.u.)

Fig. 3. The actual and estimated nodal voltage magnitudes and

nodal voltage angles are shown in Figs. 4 and 5. The RMS errors

co

are calculated and listed in Table I. From Table I and Figs. 4-5,

:::J

0.05

--'---

---

---

the estimation errors are almost zero which shows the precision
of the proposed algorithm.
TABLE I.

RMS

error of

RMs ERRORS BETWEEN THE ESTIMATED AND SIMULATED

VALUES FOR MAZANDARAN NETWORK, IRAN
5th

7th

11th

Harmonic Order
13th

17th

19th

23th

25th

VM(%)

0.15

0.23

0.28

0.15

0.09

0.05

0.04

0.03

IM(%)

0.03

0.04

0.01

0.03

0.02

0.03

0.069

0.05

VA(rad)
IA(rad)

0.3

0.3

2.21
1.2

V.

6.42

0.73

3.01

0.23

2.45

3.13

4.07
3.1

2.81

1.07

2.94

Bus Number

3.3

Figure 4.

In this section, the sensitivity of the placement and estimation

Nodal Harmonic Voltage Phase (Radian)

(ij
:::J

increasing the Number ofMeasurement Devices

In this section, the improvement of the precision of the HSE

by increasing the number of measurement points is examined.

rn
E

magnitude at all buses of the test system by 16, 17 and 18

measurement devices. This figure shows that by increasing the

number of measurement devices, the precision of the estimation

@
Q)

location of the 17th and the 18th meter is shown in Table II. The
estimation error is obtained by (25).

IVi'h,atl-IVi'h,estl X 100
I i,h,acti

5
30

Q)
()
c

algorithm is improved and the estimation error is decreased. The

error of VM,i(%)

3g

-0
Q)

Fig. 6 indicates the estimation error of the fifth harmonic voltage

RMS

Comparison ofthe actual and estimated magnitude ofthe nodal

harmonic voltages in each harmonic order.

SENSITIVITY ANALYSIS

algorithm to some possible changes is studied.

A.

Harmonic Order

Bus Number
Figure 5.

(25)

522

Harmonic Order

Comparison ofthe actual and estimated angle ofthe nodal harmonic

voltages in each harmonic order.

LOCATIONS OF THE 17TH AND THE 18TH POWER QUALITY METER

IN TEST SYSTEM

TABLE IT.

PQ Meter

Bus Number

Component Name

17

17

Line 17 to 21

18

Line 2 to 29

systems is proposed in this paper. The mInImUm trace of the

covariance matrix as the minimum error of the estimated
variables in conjunction with a sequential manner is used to find
the

optimal

measurement

locations

that

can

and minimum number of harmonic meters.

Estimated
_Estimated
_Estimated

0.08

by 16

by 17
by 18

the

This placement

method uses branch currents and obtains the matrix relating the

Error of Fifth Harmonic Voltage Magnitude

O. 1

estimate

unknown state variables of a power system with a minimum error

nodal voltages to the branch currents for this minimization

meters
meters
meters

problem.

The observability of the power system is considered

and checked during the steps of algorithm, and the algorithm will

0.06

continue until all buses become observable. At any measurement

0.04

location, the nodal voltage and the branch current are measured

0.02
0
-0.02

Figure 6.

10

15
20
Bus Number

and used for the estimation of the state variables. Therefore, by

25

installing meters at half of the buses, the number of measurement

variables becomes equal to or greater than the number of
unknown state variables and also the system becomes observable.

30

Therefore, the WLS method can be used for the estimation, and a
unique solution can be obtained for state variables.

Comparison of the error for the fifth harmonic voltage magnitude at

all buses by increasing the number of meters.

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[3]

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523