IETE Journal of Research

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Impact of Intelligent Demand Response for Load

Frequency Control in Smart Grid Perspective

Kamlesh Bharti, Vijay P. Singh & S. P. Singh

To cite this article: Kamlesh Bharti, Vijay P. Singh & S. P. Singh (2020): Impact of Intelligent
Demand Response for Load Frequency Control in Smart Grid Perspective, IETE Journal of
Research, DOI: 10.1080/03772063.2019.1709570

To link to this article: https://doi.org/10.1080/03772063.2019.1709570

Published online: 10 Jan 2020.

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IETE JOURNAL OF RESEARCH
https://doi.org/10.1080/03772063.2019.1709570

Impact of Intelligent Demand Response for Load Frequency Control in Smart Grid
Perspective
Kamlesh Bharti1 , Vijay P. Singh 2 and S. P. Singh3
1 Department of Electrical Engineering, Rajkiya Engineering College, Kannuaj, Kannuaj, Uttar Pradesh, India; 2 Department of Electrical

Engineering, Rajkiya Engineering College, Sonbhadra, Sonbhadra, Uttar Pradesh, India; 3 Department of Electrical Engineering, Rajkiya
Engineering College, Ambedkar Nagar, Uttar Pradesh, India

ABSTRACT KEYWORDS
Due to the advent of modern power technology in a wide area monitoring system (WAMS), demand Communication delay;
response (DR) will play a vital role in the development of future power grid. A number of studies in Demand response; LMI-LQR
the literature have presented several advantages and applications of DR with economical and soci- controller; Load frequency
etal benefits of a power system. However, very few studies have presented the impact of intelligent control; Padé approximation
DR, especially in load frequency control (LFC) with renewable resource (RR) in Smart grid (SG) per-
spective. The participation of DR control loop and supplementary control (SC) loop for different load
variations is presented for the system under study. In this paper, an effort has been made to present
the impact of intelligent DR control loop with communication delay in a single area thermal power
system integrated with a wind power generation system. Furthermore, this paper introduces a linear
matrix inequality with linear quadratic regulator (LMI-LQR) controller as a coordinator between DR
loop and SC loop to minimize the frequency deviation caused by communication delays. The results
of this study validate the feasibility of the proposed control, as well as the capability of the DR loop
for the operation of LFC in SG perspective.

1. INTRODUCTION reduces the cost of operation than the conventional gen-

In the last six decades, frequency regulation in power eration system [7]. Another feature of DR is to provide
system has been one of the most critical issues [1–2] regulation reserves, mainly in ancillary services (AS) to
and it must be maintained by matching generation and minimize the area control error. Furthermore, an applica-
load demand including system losses [3]. In forthcoming tion and efficacy of DR control loop is typically applied in
decades, the SG would have high penetration of renew- the distribution level of micro-grids in AS [8–10], power
able resources (RRs) for power generation to meet the grid frequency stabilization [11–14] mainly in transmis-
load requirement. In this context, an energy storage sys- sion level, household appliances consisting of electric
tem (e.g. batteries, flywheels, and ultra-capacitor) with water heaters (EWHs), electric heating (EH), and refrig-
variable loads has been presented to improve the sys- erators [13]. As per the requirement of power scenario,
tem performance and stability of power system, due to the power system configuration is continuously changing
low efficiency, high operational cost of devices, and gen- to meet the scarcity of load demand. Only the thermal
eration side controller [4]. Demand response (DR) has unit is not able to supply the peak load demand, and,
been considered as a solution for future power grid with hence, to increase the system efficiency, the integration
increasing penetration of RRs [5]. of RRs is essential with thermal plant [15]. Therefore, the
integration of the thermal power system with RRs gives
Due to high cost of storage system, unreliability of con- an opportunity to the power system operator to maintain
ventional system, and limited bandwidth of Information the power balances according to peak load demand. Due
communication infrastructure (ICT), real time smart to variation in wind speed, unpredictable load demands,
active participation of variable load known as a DR is and system uncertainties, these resources need to be inte-
considered for proper balancing between generation and grated to form a hybrid system (HS) for improved perfor-
peak load demand. One of the most important features of mance and to minimize frequency deviation profile. To
DR is to control the power generation pattern according minimize the frequency deviation in isolated hybrid dis-
to the requirement of peak load demand [6], and, hence, tributed generation (DG) system, a number of research
it increases the power system efficiency and reliability and studies have addressed this in the literature [16–25] in

© 2020 IETE
2 K. BHARTI ET AL.: IMPACT OF INTELLIGENT DR FOR LFC IN SG PERSPECTIVE

the past. A number of control strategies using PI control • The effectiveness of a hybrid system including DR
[16], H-infinity loop shaping with GA and PSO control and proposed controller, in the presence of high wind
[26], and H-infinity based linear matrix inequality (LMI) power variations, random load changes, and commu-
[18] are reported in the hybrid DG system. Recently, the nication delays are evaluated and compared with other
application of DR control loop in load frequency con- methods available in the literature.
trol (LFC) was presented for a single area thermal power
system in [27]. However, the above presented studies The application of DR control loop for a power system
have subsequent limitations. Furthermore, the authors integrated with wind power generation is not reported
of [28] have presented robust LFC using dynamic DR in the literature. So, in this paper, an attempt is made
with communication delay in the deregulated power sys- to modify the power system configuration by incorpo-
tem. Recently, the authors of [29] have presented energy rating DR control loop in a single area power system
management for smart building using a dynamic demand integrated with wind power generation for minimization
response. The authors of [30] have discussed the practical of frequency profile.
pricing method of DR in SG. Furthermore, the authors
of [31] have presented demand side management with The rest of the paper is as follows. In Section 2, LFC-
micro-grid. DR with RR model for power system is discussed with
communication delay. The system is numerically evalu-
It is mentioned in the literature that there are many ated in Section 3. Then, a controller design is presented
constraints and limitations in using DR to a real power in Section 4. Simulation results and discussion are given
system. The exact modeling of DR in simulation perspec- in Section 5 and, finally, the conclusion is presented in
tive depends on what basis constraints are selected. For Section 6.
DR modeling, several works have been presented for cus-
tomer welfare, economic constraints, etc. The limitation
of existing work in this area is as follows. Effectiveness 2. SYSTEM CONFIGURATION OF POWER
and efficacy of DR control loop are not presented in SYSTEM WITH DR
[5,7,11–14]. Furthermore, automatic generation control The proposed configuration of power system for LFC-
(AGC) is not considered in the studies with DR con- DR with wind power generation is presented, and how
trol loop [5,11–13]. Since most of the DR programs are DR algorithm contributes in the system frequency con-
contract based and voluntary, the active participation of trol with communication delay is given in Figure 1. From
DR for frequency deviation may vary with time. There- Figure 1, it is reflected that power is generated by thermal
fore, the effect of communication delay with DR control power plant and wind power system. The power system
loop in a power system on the system performance is not parameters are given in [27].
reported in [5,7] and [12–14]. Performance of DR con-
trol loop in a power system integrated with RRs is not The balance between power and frequency can be
investigated in [5,8–10,12–13,27]. achieved by applying suitable control strategy, which is

The major contributions towards an intelligent con-

trol design for hybrid LFC problem in SG, consid-
ering the impact of intelligent DR, are highlighted
below.

• The impact of intelligent DR in LFC with RR in Smart

grid (SG) is presented.
• In order to analyze and evaluate, the performance of
the proposed system including communication delay
with DR loop including nonlinearities in the system
such as GRC and GDB is presented.
• In order to check the dynamic behavior and robust-
ness of system, sensitivity analysis of a closed loop sys-
tem w.r.t. the sharing of regulation services in control
effort is obtained.
• Communication delay is modeled with the fifth-order Figure 1: Proposed configuration of the power system for LFC-DR
Padé approximation. with RR
 K. BHARTI ET AL.: IMPACT OF INTELLIGENT DR FOR LFC IN SG PERSPECTIVE 3

given as 3.1 Steady-State Error Calculation

Tp 1 Generally, in a power system, primary control is not
PT − PL + PDR + PW = sf + f , (1) more effective and hence SC is required for quick balance
Kp Kp
between generation and load demand as shown in Figure
where PT , PL , PW , and PDR represent total power 1. Since DR control loop is also added, it is necessary to
from thermal system, load demand, wind power genera- investigate the performance of DR in terms of steady-
tion, and DR output power, respectively, 1/Kp = D is the state error evaluation. So, frequency deviation with DR
equivalent damping coefficient, and Tp /Kp = M is the is given by
equivalent inertia constant of system.
Kp
f (s) = [PT (s) − PL (s)
1 + sTp
2.1 State Space Representation of LFC-DR System
+ P(s)PDR (s) + Pw (s)], (5)
In this section, state space modeling for LFC-DR with RR
using the Padé approximation is presented where
x(t)• = Ax(t) + Bu(t) + d(t), (2)  
f (s) 1
y(t) = Cx(t) + Du(t), (3) PT (s) = Pr (s) − × .
R (1 + sTg ).(1 + sTt )
where A (9×9) is the system state matrix, B (9×2) is the (6)
control matrix, and  (9×2) is the disturbance matrix.
Using Equation (5) and Equation (6), we can get
x1 = f , x2 = Pt , x3 = Pg , x4 = Pw and x5 . . . ⎡  f (s)
x9 are states related to the fifth-order Padé approxima- Kp Pr (s) − R
f (s) = ⎣
tion. 1 + sTp (1 + sTg ).(1 + sTt )

− PL (s) + P(s).PDR (s) + Pw (s)] . (7)

2.2 Delay Approximation Using Padé Approach
To linearize the system near its operating point with By rearranging the terms of f (s) in Equation (7)
communication delay, the Padé approach is extensively 
Pr (s)
used in the literature. The communication delay can be f (s) = v(s)
(1 + sTg )(1 + sTt )
expressed by the exponential function e−sτ , where τ gives 
the communication delay time. For the application of PL (s)
+ P(s)PDR (s) − + Pw (s) , (8)
linear robust control techniques in a power system, an s
exponential delay term can be modeled by any order of
the Padé approximation e−sτd ≈ Ruv (e−sτd ) as defined in where
[32]. In this study, we have modeled the delay by using Kp R
the fifth-order Padé approximation, which is given as v(s) = 1
, (9)
[R.(1 + sTp ) + Kp (1+sTg )(1+sT t)
]
P(s) = Ruv (e−sτd ) Kp .R 1 1 1
  v(0) = ≈ ≈ ≈ . (10)
−τd 5 s5 + 30τd 4 s4 − 420τd 3 s3 + 3360τd 2 s2 Kp + R 1
R + K1p 1
R +D B
−15, 120τd s + 30, 240
=  55  , Applying the final value theorem, the steady-state error is
τd s + 30τd 4 s4 + 420τd 3 s3 + 3360τd 2 s2
+15, 120τd s + 30, 240 given by Equation (11)
(4) fSS = lim s.f (s)
s→0
where τd is the communication delay in seconds. Pr,SS + PDR,SS + Pw,SS − PL
= . (11)
B
3. NUMERICAL CALCULATION OF STUDIED
SYSTEM
From Equation (11), it is clear that frequency deviation
In this section, steady-state error evaluation of the pro- will not zero until DR, wind power generation and SC
posed system is presented for optimal sharing between presents. If we consider the non-availability of DR and
DR and supplementary control (SC). RR, then SC will provide required control action.
4 K. BHARTI ET AL.: IMPACT OF INTELLIGENT DR FOR LFC IN SG PERSPECTIVE

For optimal sharing between DR loop and SC loop, the

steady-state value of control action is divided into two
parts:

Pr,SS = αPL ,
PDR,SS = (1 − α)PL , (12)

where α is the sharing of regulation services in control

effort and its value varies from 0 to 1. When α = 1, DR
control effort is zero and total required control effort is
provided by SC. Similarly, when α = 0 is for time, total
regulation is provided by DR control loop. The optimal
value of α provides the required regulation between sup-
plementary and DR control, based on price of DR in
real time market provided by ISO/RTO. On the basis of
market price, ISO/RTO will perform the optimal sharing
of regulation services effectively and rapidly and evalu-
ate the different situation of LFC to evaluate the system
dynamic performance under different load conditions. Figure 2: Reformed power system with integral controller for DR
and SC loops

3.2 Contribution Mechanism for Proposed System 3.3 Sensitivity Analysis of Feedback System for
In this approach, a DR algorithm is proposed for fre- LFC-DR-RR Model
quency control of system in SG environment. Firstly, In this section, robustness of a system is verified by sen-
the following the load disturbance, frequency devia- sitivity analysis of the proposed LFC-DR-RR model w.r.t.
tion/control signal changes. Based on the sign of fre- the open loop system without DR. In order to check the
quency changes, the amount of controllable load should dynamic behavior of model, it is necessary to evaluate
be connected or disconnected. For example, when fre- the sensitivity analysis of the closed loop system w.r.t. the
quency is positive and negative, the controllable load coefficient α. Furthermore, in order to split the required
should be added or removed from the system so that control action into two parts, a power system structure as
frequency remains constant at a nominal value. shown in Figure 1 should be modified by incorporating
integral action for both SC loop and DR control loop as
It is mentioned in the literature that DR program can shown in Figure 2.
be voluntary and contract based. So, to apply the impact
of this limitation, the sharing of regulation services 0 < Now, the closed loop transfer function with DR and RR
α < 1 in Equation (11) is considered in this study so relating to system frequency deviation to step change in
that α determines how much load can participate in DR load can be calculated as follows:
algorithm during load disturbance.
 
fD (s)
TDRclosed (s) =
It should be noted that during reconnecting or discon- PL (s) DRclosed
necting the controllable loads for DR algorithm, it causes K
− 1+sT
p

some changes in frequency signal, which can also be con- =

p
,
1
+ K 1  
sidered as disturbance itself. In this study, DR algorithm 1+ R sα × (1+sTg )(1+sTt ) ×
Kp
1+sTp
is used under the condition of load changes. Apart from + Ks (1 − α)P(s) + Pw (s)
load disturbance, other types of disturbance such as wind (13)
KWTG
power variation are handled by the generation side. where PW (s) = 1+sTWTG .

Furthermore, during disconnecting or reconnecting the Equation (13) represents the closed loop transfer func-
controllable loads, some amount of delay is incurred. In tion when supplementary and DR control loop exist. If
this study, an assumption is made which is very close to there is non-availability of DR control loop, i.e. α = 1,
reality that at any instance of time step change in load is then only SCs exist. The closed loop transfer function
applied to system. of the conventional power system with no DR is given
 K. BHARTI ET AL.: IMPACT OF INTELLIGENT DR FOR LFC IN SG PERSPECTIVE 5

in Equation (14)

 
fD (s)
Tscclosed (s) =
PL (s) Sclosed
K
− 1+sT
p
p
=  1 K 1   . (14)
+ × (1+sTg )(1+sTt)
Kp
1+ R s × 1+sT
+Pw (s) p

Similarly, an open loop transfer function can be derived

when only primary control is available and given in
Equation (15) Figure 3: Sensitivity analysis of the closed loop system w.r.t. open
loop system for the LFC-DR-RR model
  K
− 1+sT
p
fD (s) p
TOL (s) = =  . necessary to evaluate the sensitivity of closed loop system
PL (s) OL 1+
Kp
R(1+sTg ).(1+sTt )(1+sTp ) w.r.t. α parameters
(15) δTDR
δTα
SDR
α = TDR
The sensitivity of the closed loop function w.r.t. primary
Tα
control, Equations (13) and (14), can be simplified by
using Equation (15) α Ks ( (1+sTg )(1+sT
1
t)
− P(s))
= . (20)
  (TOL (s))−1 − Ks α (1+sTg )(1+sT
1
fD (s) t)
TDRclosed (s) = +Pw (s) − Ks (1 − α)P(s)
PL (s) DRclosed
1 So, from Equations (18) and (19), it is evident that the
= , (16)
(TOL (s))−1
− Ks α (1+sTg )(1+sT
1
t)
closed loop LFFC-DR-DG system is less sensitive w.r.t.
the system without DR if and only if following condition
+Pw (s) − Ks (1 − α)P(s)
is satisfied:
  1
fD (s) > P(s). (21)
Tscclosed (s) = (1 + sTg )(1 + sTt )
PL (s) Sclosed
1 To check the impact of sensitivity on proposed system
= . (17) performance, a simulation study was performed for dif-
(TOL (s))−1 − K 1
s (1+sTg )(1+sTt ) ferent values of α. From Figure 3, it is clear that a higher
portion of DR (i.e. a smaller value of α) is less sensitive
So, the sensitivity function of the closed loop transfer
of the closed loop system w.r.t. the open loop system. It is
function with and without DR with open loop transfer
also clear that sensitivity values for different values of α
function is given as
for the closed loop system are nearly similar for with and
δTDR without DR control loop. This proves the efficacy of the
δTOL
SDR
OL = TDR fifth-order Padé approximation for linearizing the time
TOL delay in DR control loop. Furthermore, from Figure 4, it
(TOL (s))−1 is reflected that the closed loop system is less sensitive to
= , (18) α when DR control loop has a higher participation, i.e. a
(TOL (s))−1 − Ks α (1+sTg )(1+sT
1
)
t lower value of α, in regulation services.
+Pw (s) − Ks (1 − α)P(s)

δTSC 4. CONTROLLER DESIGN

δTOL (TOL (s))−1
SSC
OL = = −1
. (19) In this section, a general control formulation for LFC-
TSC
TOL
(TOL (s)) − Ks (1+sTg )(1+sT
1
)
t RR system with DR is presented. In this study, the con-
Furthermore, the value of α plays a vital role in the per- ventional thermal power system is integrated with RR.
formance of the LFC-DR-DG closed loop system, so it is Furthermore, following a step change in load, DR could
6 K. BHARTI ET AL.: IMPACT OF INTELLIGENT DR FOR LFC IN SG PERSPECTIVE

For the illustration of the LQR problem [33], the state-

feedback gain matrix K that minimizes the cost function

(23) in terms of output y is given as
  
J = min E yT y (23)
(K)

subject to
(A − BK)T P + P(A − BK) + Q + K T RK < 0, (24)
where P ∈  > 0 is a Lyapunov matrix.

We can frame an LMI for the cost function (23), using the

output y as given in [30]
 1/2  
Figure 4: Sensitivity analysis of the closed loop system w.r.t. α for  Q 0 x
the LFC-DR-RR model y= 1/2 , (25)
0 R u
Substituting (24) into (22) with u = −Kx
have contribution in restoration of the system frequency     
to a nominal value. But for the case if DR is associ- E yT y = E y yT = E[xT Qx + uT Ru]
ated with time delay, during that period, generators try  1/2  
Q T 1/2 T 1/2 T
to compensate the power imbalance via increasing their = tr E[xx ][(Q )] − K (R ) .
−R1/2 K
generations. Afterward, when participation of DR as a SC
(26)
tries to balance all parts of loads and generation, the addi-
tional generation produced during time delay may cause The LMI-LQR representation [30] of cost function (26)
effective amount of frequency overshoot/undershoot and was subjected to following constraints (27-29):
impose instability to overall system performance.  
J = min [tr(QY + X) − tr(N + T N T )], (27)
(,Z, X)
In this study, linear matrix inequality (LMI)–linear

quadratic regulator (LQR), called LMI-LQR [33], is X − (R1/2 )Z−1 (−1 R1/2 ) > 0
used to make a system more efficient against over-  
X̂ R1/2 
shoot/undershoot and adjust the generators according to = > 0, (28)
T R1/2 Z
regulation provided by DR. So, controller used in this
study is not used for only control action for SC control,
⎡ ⎤
but also for making communication between generation (AZ + ZT AT − B − T BT T ZT
side and load demand. ⎣  −R−1 0 ⎦ < 0.
Z 0 −Q−1
The performance index of system is solved for LMI con-
(29)
straints, and matrix equations are simultaneously solved.
For the linear time invariant model for the proposed
power system Equation (2), choose a suitable control law For minimization of frequency deviation at steady-state
u = −ky. condition, the power system state should be modified by
including integrator and hence the design will also be
Therefore, a closed loop system robust against any change in system parameters. Further-
more, for the LQR method, it is necessary to define the
ẋ = (A − BKC)x + d, (22) states and control weighting matrices Q and R
where A is the system matrix, B is the input distribution x1 = f , x2 = Pt , x3 = Pg , x4 = Pw and
matrix,  is the disturbance distribution matrix, C is the 
control output distribution matrix, x is the state vector, x5 . . . x8 , x9 = f dt.
u is the control vector, and d is the disturbance vector
consisting of load change and change in wind power. The Q = diag((1 01×7 1)), R = [1].
state and other variables of the proposed power system
are considered as follows: The procedure adopted to study the performance of pro-
 T  T posed DR control loop with communication delay using
u = u1 u2 , d = PL PWTG , y = [f ]T . proposed algorithm is illustrated in Figure 5.
 K. BHARTI ET AL.: IMPACT OF INTELLIGENT DR FOR LFC IN SG PERSPECTIVE 7

Figure 6: Frequency deviation for LFC-DR and the conventional

system

Figure 7: Controller performance for LFC-DR and the conven-

Figure 5: Flow chart of DR control loop with communication
tional system
delay using LMI-LQR

5. SIMULATION RESULTS AND DISCUSSION

In this section, MATLAB simulation results are per-
formed for different load conditions for (i) single area
power system and (ii) single area power system integrated
with RRs. In this study, 106.381 MW of conventional
power generation, average of 56 MW of wind power gen- Figure 8: Steady-state value of control inputs for the LFC-DR sys-
eration, and 74.5 MW of load are considered. The efficacy tem
of controller is verified in with DR and without DR for
both types of cases. From simulation results, it is evi- values of α. In order to check the efficacy of the proposed
dent that system dynamic performance of LFC-DR sys- method, a comparative simulation is performed and it is
tem integrated with RR is better than only the LFC-DR clear from Figure 6 that the proposed method is supe-
system. rior in terms of especially dynamic response, compared
to suboptimal controller designed in [27]. Furthermore,
Case: 1 Single area power system with DR (LFC-DR) simulation analysis was carried out in order to check the
[27] impact of different orders of the Padé approximation on
system dynamic performance for α = 0.1 and it is found
In this section, simulation results are performed for only that performance of the second-order and the fifth-order
the single area power system with LMI-LQR controller Padé approximations is nearly same. From Figure 7, it
design and compared with [27] with LQR controller. is clear that the proposed method is more superior to
From simulation results, it is evident that LMI-LQR con- suboptimal controller design in [27].
troller performance is better than LQR controller, espe-
cially in overshoot, undershoot, and settling time. The steady-state value of SC and DR control inputs is
given in Figure 8 by the proposed method, which shows
(A) Step change in load (0.01 pu) the share of regulation services between DR control
and SC based on real time market price or decided by
In this section, a step change in a load of magnitude ISO/RTO.
0.01 pu is applied to the system. The system frequency
deviation is given in Figure 6. From Figure 6, it is reflected (B) Random change in load
that when participation of α is lower (i.e. = 0.1), the sys-
tem dynamic performance is significantly improved in A random step change in load is applied to the system,
comparison to the conventional power system and higher and the corresponding frequency deviation for different
8 K. BHARTI ET AL.: IMPACT OF INTELLIGENT DR FOR LFC IN SG PERSPECTIVE

Figure 9: Frequency deviation for LFC-DR and the conventional

system for random load

Figure 11: System response of LFC-DR-RR using step change in

load

Figure 10: Effect of communication delay on the LFC-DR-RR sys-

tem

Figure 12: Steady-state values of the control inputs using step

values of α is shown in Figure 9. From Figure 9, it is clear change in load
that a high/low value of α for DR loop dynamic response
changes in the same ratio against the load demand.
By including DR in control effort, the system response (A) Step change in load (0.01 pu)
improved significantly than the conventional system.
In this section, a step change in the load of magnitude
Furthermore, a simulation study was performed in order 0.01 pu is applied to the system. The system response is
to check the impact of communication delay for different given in Figure 11. From the figure, it is reflected that
values of τd for α = 0.1 on the system performance. The higher participation of DR control, i.e. α = 0.1, shows
proposed method gives better performance when τd ≤ better performance in terms of system dynamic perfor-
0.3 s. When the value of communication delay exceeds mance, especially in overshoot and settling time, than
0.3 s, the system performance becomes sluggish than the LFC-DR and only conventional LFC system.
conventional system for τd = 0.4 s.
From the figure, it is clear that system performance is
A further simulation study was performed to show the identical for second and fifth orders. Again, the control
impact of the second- and fifth-order of the Padé method inputs for supplementary and DR control are given in
with 0.1 s delay on the system performance with the Figure 11, which shows that both control signals are uni-
conventional LFC-DG system, as shown in Figure 10. fied in nature. The steady-state value of DR control loop
and SC loop is given in Figure 12, which shows the active
Case: 2 Single area power systems with DR integrated participation of DR and SC with 0.01 pu load demand.
with RRs
(B) Random step change in load
In this section, simulation results were obtained for the
proposed single area power system integrated with RRs In this section, the performance of controller for the
called the LFC-DR-RR system. From simulation results, LFC-RR system with DR is validated by applying ran-
it is cleared that system dynamic performance, especially dom load as shown in Figure 13. Also, the corresponding
settling time overshoot and undershoot, is improved sig- frequency deviation for given value of alpha and conven-
nificantly than the LFC-DR system. tional LFC system is given in the said figure. From Figure
 K. BHARTI ET AL.: IMPACT OF INTELLIGENT DR FOR LFC IN SG PERSPECTIVE 9

Figure 15: Impact of DR latency on system performance

Figure 13: Frequency deviation of the system using random load

Figure 16: Change is system parameters with proposed con-

troller for LFC-DR with RR system
Figure 14: Steady-state values of the control inputs for the LFC-
DR with the RR model
The quantative analysis is shown in Figure 16. The
robustness of the proposed controller consistently keeps
13, it is clear that the higher the participation of DR, the the computed performance indices low over the range of
better the control effort and hence the frequency devi- uncertainty considered here. The improvement is quite
ation is minimum. Furthermore, the calculation of the significant as compared to the LFC-DR-RR system w.r.t.
steady-state (SS) value of control inputs for optimal shar- the LFC-DR system for different values of α, which shows
ing between SC and DR control loop for random load is that by introducing the RR system with LFC-DR, perfor-
shown in Figure 14, which also matches with (11). mance indices are minimum compared to the LFC-DR
system and hence increases the life span of the system.
(C) Impact of communication delay
(D) Random wind Profile
In this section, the impact of communication delay on
system performance for LFC-DR system with RR is pre- Due to the intermittent nature of wind profile, its model-
sented for different values of τd for α = 0.1 as shown in ing is required. Vander-Hoven [34] is used in this study to
Figure 15. From the figure, it is clear that the LFC-DR model the wide band variation in wind speed. The spec-
system with RR with communication delay gives a better tral power of wind speed is calculated in range from .0007
result than the conventional LFC system. Furthermore, to 900 cycles/hour. The average wind speed (14.02 m/s)
the robustness of the system is verified by the change is applied to the LFC-DR-RR system with 0.01 pu step
in (±20%) system parameters. The performance indices change in load. The frequency deviation of system is eval-
(integral absolute error (IAE)) are used and computed as uated for different values of α and it is found that the
follows: higher the participation of DR control effort, the lower
the value of α and the better the response of the system.
10 The wind profile and frequency deviation of system and
IAE = |fD |dt. (29) its zoom plot are shown in Figure 17. Furthermore, the
0 real time test signal of wind is applied to the system and
10 K. BHARTI ET AL.: IMPACT OF INTELLIGENT DR FOR LFC IN SG PERSPECTIVE

Figure 19: Frequency deviation of the LFC-DR-RR system with

GRC

Figure 17: Frequency deviation of the LFC-DR-RR system for ran-

dom wind

Figure 20: Frequency deviation of the LFC-DR-RR system with

GDB

[32]. The system frequency deviation including nonlin-

earities such as GRC and GDB is given in Figure 19 and
Figure 20, respectively. From the obtained results, it is evi-
dent that the response of the system has larger overshoot,
more oscillation in signal, and higher settling time. Also,
from the obtained results, it is clear that in spite of non-
linearities present in the system for lower value of alpha,
the frequency deviation response is minimum compared
to the conventional LFC.
Figure 18: Frequency deviation of the LFC-DR-RR system for the
real time wind test signal and total wind power generation
6. CONCLUSION
In this study, the impact of intelligent DR in the hybrid
the corresponding frequency deviation for a lower value power system for LFC application is presented. The pro-
of α is given in Figure 18. In addition to it, Figure 18 posed criteria can be applied for any configuration of
demonstrates the wind velocity pattern and total wind the power system. By introducing DR, an optimal shar-
power generation. From Figure 18, it is clear that for the ing between supplementary and DR control is presented
real time wind signal, the participation of α for frequency for different values of load. The effect of communication
deviation of the LFC-DR-RR system between DR control delay in DR for the controller design is compensated by
loop and SC loop performs well and hence the system is the Padé approximation method. The inclusion of the RR
stable, which shows the efficacy of proposed controller system with LFC-DR improved the frequency deviation
design. profile in comparison to only LFC-DR system and gives
an alternate way for balancing the power demand during
(E) Impact of GDB and GRC peak load condition and hence increases the life span of
system. The series of simulation results demonstrated the
In this section, the nonlinearities in the form of Governor effectiveness of including DR and proposed controller, in
dead band (GDB) and Governor rate constraints (GRC) the presence of high wind power variations, random load
are considered in the proposed LFC-DR-RR system. The changes, GRC, GDB, and communication delays, in the
mathematical detail of GDB and GRC can be found in hybrid power system.
 K. BHARTI ET AL.: IMPACT OF INTELLIGENT DR FOR LFC IN SG PERSPECTIVE 11

FUNDING 12. Z. Changhong, U. Topcu, and S. H. Low. “Frequency-

based load control in power systems,” American Control
This work was financially supported by the collaborative
Conference (ACC), Montreal, QC, pp. 4423–30, 2012.
Research and Innovation Programme (CRIP) of the Abdul
Kalam Technical University (AKTU), Lucknow, under Projects
13. Z. Xu, R. Diao, S. Lu, J. Lian, and Y. Zhang, “Modeling of
grant number AKTU/Dean-PGSR/2019/CRIP/16 from
electric water heaters for demand response: a baseline PDE
TEQIP-III.
model,” IEEE Trans. Smart Grid, Vol. 5, no. 5, pp. 2203–10,
Sept. 2014.
ORCID
14. M. Bayat, K. Sheshyekani, M. Hamzeh, and A. Rezazadeh,
Vijay P. Singh http://orcid.org/0000-0002-1345-6002 “Coordination of distributed energy resources and demand
response for voltage and frequency support of MV micro-
grids,” IEEE Trans. Power Syst., Vol. 31, no. 2, pp. 1506–16,
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Authors S.P. Singh received his Ph.D. degree from

NIT, Allahabad, India. Currently, he is an
Kamlesh Bharti received his M.Tech. associate professor in the Department of
degree in power electronics from the Electrical Engineering Rajkiya Engineer-
MNNIT, Allahabad, India, in 2010. He is ing College Ambedkar Nagar, India. His
at present a Ph.D. scholar at AKTU, Luc- research areas include Renewable Energy
know. His research areas include Smart and Grid Interface, Power Converters,
Grid, Demand response, distributed gen- Power applications in Power Systems, and
erations, and renewable energy resources. Power Quality.
Email: kamlesh1787@gmail.com Email: singhsurya12@gmail.com
Vijay Pratap Singh received his Ph.D.
degree from the MNNIT, Allahabad,
India, in 2017. Presently, he is working as
an assistant professor in Rajkiya Engineer-
ing College Sonbhadra. His research areas
include robust control applications in load
frequency control and power quality in
distributed generations and renewable
energy resources.

Corresponding author. Email: pratap200697@gmail.com