Implementation of Rauch-Tung-Striebel smoother for power system dynamic state estimation in the presence of PMU measurements

This paper proposes a power system dynamic state estimator (DSE) based on a two pass algorithm known as the Rauch-Tung-Striebel (RTS) smoother. The RTS smoother is a two pass algorithm consisting of a standard Extended Kalman Filter (EKF) based forward pass and a backward recursion smoother. The measurement system is assumed to have both conventional measurements and phasor measurement units (PMUs). The results show that the RTS smoother can be implemented easily and can improve the estimation accuracy. The IEEE 14, 30, and, 118-bus systems are taken as the test bed for the study.