Linearized model of an example SMIB system

February 10, 2019

In this lecture, a nonlinear model of an example single machine infinite bus (SMIB) system is considered to
demonstrate the process of building the corresponding linearized model using Taylor series expansion and
truncation of higher order nonlinear terms. This will allow us to represent the example power system in the
standard linearized state-space representation Ẋ = AX + Bu, where X is the state vector of dimension n x
1, A is the system matrix of dimension n x n, B is the input matrix of dimension n x m, and u is the input
vector of dimension m x 1. To start with, we consider the nonlinear 3rd order dynamic (flux-decay) model
of the SMIB system which is reproduced here for convenience.

δ̇ = ωbase (ω − 1) (1)
1
ω̇ = [Pm − Pe − PD ] (2)
2H
1
Ėq0 = 0 [Ef d − Eq ] (3)
Tdo

Here,

Pe = Vtd id + Vtq iq (4)

PD = D(ω − 1) (5)
Eq = Eq0 + (Xd − Xd0 )id (6)
Eq0 − Vb cosδ
id = (7)
Xd0 + XL
Vb sinδ
iq = (8)
Xq + XL
Vtd = Xq iq (9)
Vtq = Eq0 − Xd0 id (10)
ωbase = 2πf (11)

Linearization of id :

∆Eq0 + Vb sinδ0 ∆δ
∆id =
Xd0 + XL

=⇒ ∆id = C1 ∆δ + C2 ∆Eq0 (12)

Linearization of iq :

1
 Vb cosδ0 ∆δ
∆iq =
Xq + XL

=⇒ ∆iq = C3 ∆δ (13)

Linearization of Vtd :

∆Vtd = Xq ∆iq = Xq C3 ∆δ = P1 ∆δ (14)

Linearization of Vtq :

∆Vtq = ∆Eq0 − Xd0 ∆id = ∆Eq0 − Xd0 (C1 ∆δ + C2 ∆Eq0 ) = −Xd0 C1 ∆δ + (1 − Xd0 C2 )∆Eq0

=⇒ ∆Vtq = P2 ∆δ + P3 ∆Eq0 (15)

Linearization of Eq :

∆Eq = ∆Eq0 + (Xd − Xd0 )∆id = ∆Eq0 + (Xd − Xd0 )(C1 ∆δ + C2 ∆Eq0 )

=⇒ ∆Eq = (Xd − Xd0 )C1 ∆δ + [1 + (Xd − Xd0 )C2 ]∆Eq0

=⇒ ∆Eq = K4 ∆δ + K3 ∆Eq0 (16)

Linearization of damping power PD :

∆PD = D∆ω (17)

Linearization of real power output Pe :

∆Pe = Vtd0 ∆id + id0 ∆Vtd + Vtq 0 ∆iq + iq 0 ∆Vtq

=⇒ ∆Pe = Vtd0 (C1 ∆δ + C2 ∆Eq0 ) + id0 P1 ∆δ + Vtq 0 C3 ∆δ + iq 0 (P2 ∆δ + P3 ∆Eq0 )

=⇒ ∆Pe = (Vtd0 C1 + id0 P1 + Vtq 0 C3 + iq 0 P2 )∆δ + (Vtd0 C2 + iq 0 P3 )∆Eq0
=⇒ ∆Pe = K1 ∆δ + K2 ∆Eq0 (18)

Linearization of Eq. (1), (2) and (3):

∆δ̇ = ωbase ∆ω (19)

1 1
∆ω̇ = [∆Pm − ∆Pe − ∆PD ] = [∆Pm − K1 ∆δ − K2 ∆Eq0 − D∆ω] (20)
2H 2H
1 1
∆Ėq0 = 0 [∆Ef d − ∆Eq ] = 0 [∆Ef d − K4 ∆δ − K3 ∆Eq0 ] (21)
Tdo Tdo
Finally, representing Eq. (19 − 21) into matrix form:
 
  0 ωbase 0   
0

0 
∆δ̇ ∆δ 
 K1 D K2 
 ∆ω̇  =  − 2H − 2H − 2H   ∆ω  +  2H 1
0 ∆P m
 (22)
0
  0 0 1 ∆Ef d
∆Ėq − TK04 0 − TK03 ∆Eq 0
Tdo
do do