Controller synthesis for single-area and multi-area power systems with communication delays

Finite-dimensional controller synthesis methods are developed for load-frequency control of power systems subject to communication time delays. The controllers proposed for single service area systems are simple to implement. The systematic controller synthesis methods are extended to multi-area systems under a decentralized control structure. The proposed synthesis procedures give low-order stabilizing controllers that also achieve integral-action so that constant reference inputs are tracked asymptotically with zero steady-state error. The freedom in the controller parameters can be used to improve system performance.