Automatica 38 (2002) 527534

www.elsevier.com/locate/automatica
Brief Paper
Nonlinear decentralized controller design for multimachine power
systems using Hamiltonian function method

Zairong Xi
a
, Daizhan Cheng
b;
, Qiang Lu
a
, Shengwei Mei
a
a
Department of Electrical Engineering, Tsinghua University, Beijing, 100084, China
b
Institute of Systems Science, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, 100080, China
Received 6 December 2000; received in revised form 23 April 2001; accepted 10 September 2001
Abstract
In this paper, we rst express a multimachine power system as a Hamiltonian control system with dissipation. Then, using the
Hamiltonian function method a decentralized excitation control scheme, as a static measurable feedback, is proposed to stabilize the
multimachine power system. Then, it is shown that the control scheme with properly chosen parameters is also an H

control, which
solves the problem of disturbance attenuation simultaneously. Finally, the design technique is demonstrated by a three-machine power
system. ? 2002 Published by Elsevier Science Ltd.
Keywords: Multimachine power system; H

control; Decentralized control; Measurable control; Hamiltonian control system with dissipation
1. Introduction
In the last decade or so, several advanced nonlinear con-
trol techniques have been applied to the excitation control of
power systems (Lu & Sun, 1989; Chapman, Ilic, King, Eng,
& Kaufman, 1993; King, Chapman, & Ilic, 1994; Lu, Sun,
Xu, & Mochizuki, 1996; Jain & Khorrami, 1997; Wang,
Guo, & Hill, 1997). Most of them are based on dieren-
tial geometric approaches (Isidori, 1995). It was shown by
the literatures that the dynamics of power systems can be
exactly linearized by employing nonlinear state feedback.
Thus, one can use the conventional linear control theory to
provide designed performances (Lu & Sun, 1989; Wang et
al., 1997; Chapman et al., 1993; King et al., 1994; Lu et
al., 1996; Sun, Zhao, Sun, & Lu, 1996; Jain, Khorrami, &
Fardanesh, 1994; Mark, 1992; Wang, Xie, Hill, & Middle-
ton, 1992). The methods are based on canceling the inherent
nonlinearities of the system to obtain a feedback equivalent

This paper was not presented at any IFAC meeting. This paper
was recommended for publication in revised form by Associate Editor
In-Joong Ha under the direction of Editor Hassan Khalil. The research is
partially supported by a National Natural Science Foundation of China
(No. 59837270) and National Key Project of China (No. G1998020308,
No. G1998020309).

Corresponding author.
E-mail addresses: xizr@ps.tsinghua.edu.cn (Zairong Xi),
dcheng@iss03.iss.ac.cn (Daizhan Cheng).
linear system. So the systems structural properties were not
completely used by this kind of designing method and the
controllers obtained previously was complex. Meanwhile,
the physical limitation on the system structure makes an
instant information transfer among subsystems infeasible,
decentralized controllers for multimachine systems must
be used.
Very recently, port-controlled Hamiltonian (PCH) sys-
tems, proposed by Maschke and van der Schaft (1992); van
der Schaft and Maschke (1995) have been studied in de-
tail by Cheng, Qin, Hong, and Xi (1999), Escobar, van der
Schaft, and Ortega (1999), Cheng, Xi, Lu, and Mei (2000);
Xi and Cheng, 2000; Maschke, Ortega, and van der Schaft
(1998); Cheng, Xi, Hong, and Qin (1999); Maschke, Or-
tega, van der Schaft, and Escobar (1999); Ortega, van der
Schaft, Maschke, and Escobar (1999); Ortega, Lora, Nick-
lasson, and Sira-Ramirez (1998). Indeed, the Hamiltonian
function in PCH systems is considered as the total energy,
and can play the role of Lyapunov function for the system.
For instance, it consists of potential and kinetic energy for
mechanical systems. In some recent works the PCH method
has been developed and applied to a single-machine innite
bus power systems. The key point is to express the power
system into a PCH system in Cheng et al. (2000), Xi and
Cheng (2000), Cheng et al. (1999) and Shen, Ortega, Lu,
Mei, and Tamura (2000). It was shown in Xi and Cheng
0005-1098/02/$ - see front matter ? 2002 Published by Elsevier Science Ltd.
PII: S 0005- 1098( 01) 00233- 3
528 Zairong Xi et al. / Automatica 38 (2002) 527534
(2000), Cheng et al. (1999) and Shen et al. (2000) that the
Hamiltonian function method has some advantages.
In this paper, we consider the problemof transient stability
and H

control of multimachine power systems by means

of decentralized nonlinear excitation control. The idea and
results of transient stability and H

control using Hamilto-

nian function method in single-machine innite-bus power
system developed in Xi and Cheng (2000), have been ex-
tended to multimachine case. The resulting decentralized
nonlinear controller can guarantee the overall stability of the
large-scale power systems. Meanwhile, the lower boundary
of the L
2
gain from disturbance to penalty output can be
determined. As an example, the proposed control is imple-
mented to the three-machine systems.
2. Preliminaries
Consider the following port-controlled Hamiltonian sys-
tem with dissipation:
x = [J(x) R(x)]
@H
@x
+ g(x)u; x R
n
; u R
m
;
y = g
T
(x)
@H
@x
;
(1)
where J(x) is a skew-symmetric matrix, R(x) is a positive
semi-denite matrix and H : R
n
R, called a Hamiltonian
function, represents the total stored energy . The notation
@H=@x is dened by
@H
@x
=
_
@H
@x
1
; : : : ;
@H
@x
n
_
T
The following proposition remains true for the Hamilto-
nian systems with dissipation.
Proposition 1 (Xi & Cheng, 2000). If the equilibrium
point x

= 0 of the Hamiltonian control system (1) is a

strict local minimum point of H(x); and system (1) is zero
state detectable; then system (1) is stabilizable via an out-
put feedback control u =Ky =Kg
T
(x)@H=@x; where K
is a positive-denite matrix of appropriate dimension.
We develop a control for the following Hamiltonian con-
trol system with dissipation (Xi & Cheng, 2000)
x = [J(x) R(x)]
@H
@x
+ g
1
(x)u + g
2
(x)w;
x R
n
; u R
m
; wR
p
;
y = g
T
1
(x)
@H
@x
;
z = g
T
2
(x)
@H
@x
+ D(x)u;
(2)
where J(x) is a skew-symmetric matrix, R(x) is
a positive semi-denite matrix, u are controls, w are
disturbances and H(x) is the systems Hamiltonian func-
tion, y are the measured outputs, z are the penalty
signals.
The following lemma presents a sucient condition
which guarantees that the generalized Hamiltonian control
system (2) has solution with H

property, i.e., van der

Schaft (1992) there exists a positive number and a suit-
able state feedback control such that the closed-loop system
satises
_
T
0
||z(t)||
2
dt 6
2
_
T
0
||w(t)||
2
dt (3)
and the closed-loop system is asymptotically stable while
w = 0. In general, we assume that
@
T
H
@x
g
2
(x)D(x) 0; x R
n
:
Lemma 2 (Xi & Cheng, 2000). Assume that an equilib-
rium point x

= 0 of the Hamiltonian control system (2)

is a strict local minimum point of H(x); and the system is
zero-state detectable with respect to outputs y and inputs
u; w. If there exists a positive number satisfying
R+

2
2
g
1
(x)[D
T
(x)D(x)]
1
g
T
1
(x)

_
1
2
+

2
2
2
_
g
2
(x)g
T
2
(x) 0;
then the H

control problem of system (2) can be solved

by u =[D
T
(x)D(x)]
1
y.
3. Dynamical model
Consider a power system consisting of n synchronous ma-
chines. Under some standard assumptions, the motion of the
interconnected generators can be described by a classical
model with ux decay dynamics. In this model, the gener-
ator is modeled by the voltage behind direct axis transient
reactance. The angle of the voltage coincides with the me-
chanical angle relative to the synchronously rotating refer-
ence frame. The network has been reduced to internal bus
representation. The dynamical model of the ith machine with
excitation control can be written as follows (Bergen, 1986;
Kunder, 1994; Wang et al., 1997):
Mechanical equation:

i
(t) = !
i
(t); (4)
!
i
(t) =
D
i
2H
i
!
i
(t) +
!
0
2H
i
(P
mi0
P
ei
(t)) + w
i1
: (5)
Generator electrical dynamics:

qi
(t) =
1
T

d0i
[E
fi
(t) E
qi
(t)] + w
i2
: (6)
Zairong Xi et al. / Automatica 38 (2002) 527534 529
Electrical equations:
E
fi
(t) = k
ci
u
fi
(t); E
qi
(t) = E

qi
(t) + (x
di
x

di
)I
di
(t);
E
qi
(t)=x
adi
I
fi
(t); P
ei
(t)=E

qi
(t)
n

j=1
E

qj
(t)B
ij
sin(
ij
(t));
E
qi
(t) = V
ti
+
Q
ei
x
di
V
ti
;
Q
ei
(t) =E

qi
(t)
n

j=1
E

qj
(t)B
ij
cos(
ij
(t));
I
di
(t) =
n

j=1
E

qj
(t)B
ij
cos(
ij
(t));
I
qi
(t) =
n

j=1
E

qj
(t)B
ij
sin(
ij
(t));
where w
i1
; w
i2
are disturbances;
i
(t) is the power angle of
the ith generator, in radian; !
i
(t) the relative speed of the
ith generator, in rad=s; P
mi0
the mechanical input power, in
p.u., which is constant; P
ei
(t) the electrical power, in p.u.;
!
0
the synchronous machine speed, in rad=s; !
0
=2f
0
; D
i
the per unit damping constant; H
i
the inertia constant in sec-
onds; E

qi
(t) the transient EMF in the quadrature axis of the
ith generator, in p.u.; E
qi
(t) the EMF in the quadrature axis,
in p.u.; E
fi
(t) the equivalent EMF in the excitation coil, in
p.u.; T

d0i
the direct axis transient short circuit time constant,
in second; x
di
the direct axis reactance of the ith generator,
in p.u.; x

di
the direct axis transient reactance of the ith gen-
erator, in p.u.; B
ij
the ith row and jth column element of
the nodal susceptance matrix, which is a symmetric matrix,
at the internal nodes after eliminating all physical buses, in
p.u.;
ij
(t) =
i
(t)
j
(t); Q
ei
(t) the reactive power, in p.u.;
I
fi
(t) the excitation current, in p.u.; I
di
(t) the direct axis cur-
rent, in p.u.; I
qi
(t) the quadrature axis current, in p.u.; k
ei
the
gain of the excitation amplier, in p.u.; u
fi
(t) the input of
the SCR amplier of the ith generator, in p.u.; x
adi
the mu-
tual reactance between the excitation coil and the stator coil
of the ith generator, in p.u.; x
Ti
the transformer reactance;
x
ij
the transmission line reactance between the ith genera-
tor and the jth generator; V
ti
the terminal voltage of the ith
generator.
Remark 1. In power systems; P
ei
(t); Q
ei
(t) and V
ti
(t) are
readily measurable variables. So E
qi
(t) can be calculated
using these available variables.
4. Representation of PCH with dissipation
Consider the multimachine power system (4)(6),
denote a
i
= (D
i
=2H
i
), b
i
= (!
0
=2H
i
)P
mi0
, c
i
= (!
0
=2H
i
),
d
i
=(x
di
x

di
=T

d0i
), e
i
=(1=T

d0i
), let x
i1
=
i
(t), x
i2
=!
i
(t),
x
i3
= E

qi
(t) be state variables, u
i
= (1=T
0
d0i
)k
ci
u
fi
(t) be
controls, and w
i
= (w
i1
; w
i2
) be disturbances. Then the
dynamics can be described by
x
i1
= x
i2
x
i2
=a
i
x
i2
+ b
i
c
i
x
i3
n

j=1
x
j3
B
ij
sin(x
i1
x
j1
) + w
i1
;
x
i3
=e
i
x
i3
+ d
i
n

j=1
x
j3
B
ij
cos(x
i1
x
j1
) + u
i
+ w
i2
:
An alternative expression is
_
_
x
i1
x
i2
x
i3
_
_
=
_
_
0 c
i
0
c
i
a
i
c
i
0
0 0 d
i
_
_

_
_
_
_
_
_
_
_

b
i
c
i
+ x
i3
n

j=1
B
ij
x
j3
sin(x
i1
x
j1
)
1
c
i
x
i2
e
i
d
i
x
i3

n

j=1
B
ij
x
j3
cos(x
i1
x
j1
)
_
_
_
_
_
_
_
_
+
_
_
0
0
1
_
_
u
i
+
_
_
0 0
1 0
0 1
_
_
w
i
:
Let
H =
n

i=1
_
_
1
2c
i
x
2
i2

b
i
c
i
x
i1

1
2
x
i3
n

j=1
x
j3
B
ij
cos(x
i1
x
j1
)
+
e
i
2d
i
x
2
i3
_
_
:
Then the dynamics can be written as a generalized Hamil-
tonian control system with dissipation as
_
_
x
i1
x
i2
x
i3
_
_
=
_
_
0 c
i
0
c
i
a
i
c
i
0
0 0 d
i
_
_
@H
@x
i
+
_
_
0
0
1
_
_
u
i
+
_
_
0 0
1 0
0 1
_
_
w
i
; (7)
where x
i
= (x
i1
; x
i2;
x
i3
)
T
.
5. Stabilization of multimachine power systems
In this section, we consider the stabilization problem of
multimachine system (4)(6) around a prescribed opera-
tional point. So we assume w
i
= 0 throughout the section.
Given a desired equilibrium (x
e
i1
; 0; x
e
i3
), from Eq. (7)
it is easy to see that we can insert a constant excitation
530 Zairong Xi et al. / Automatica 38 (2002) 527534
control u
i
= u
i
; i =1; : : : ; n, where u
i
are constants, dened
by
u
i
= e
i
x
e
i3
d
i
n

j=1
B
ij
x
e
j3
cos(x
e
i1
x
e
j1
);
it follows that
b
i
= c
i
n

j=1
B
ij
x
e
i3
x
e
j3
sin(x
e
i1
x
e
j1
):
Dening
H
c
=
n

i=1
_
1
2c
i
x
2
i2

b
i
c
i
(x
i1
x
e
i1
) +
e
i
2d
i
(x
i3
x
e
i3
)
2
_
+
n

i=1
_
_
_

1
2
x
i3
n

j=1
B
ij
x
j3
cos(x
i1
x
j1
)
+x
i3
n

j=1
x
e
j3
cos(x
e
i1
x
e
j1
)
_
_
_
;
it is easy to see that the forced system (7) with the feedback
control
u
i
= v
i
+ u
i
= v
i
+ e
i
x
e
i3
d
i
n

j=1
B
ij
x
e
j3
cos(x
e
i1
x
e
j1
);
can be represented by the Hamiltonian control system with
dissipation as
_
_
x
i1
x
i2
x
i3
_
_
=
_
_
0 c
i
0
c
i
a
i
c
i
0
0 0 d
i
_
_
@H
c
@x
i
+
_
_
0
0
1
_
_
v
i
: (8)
It is easy to see that H
1
6H
c
6H
2
and
H
1
(x) =
n

i=1
_
_
_
1
2c
i
x
2
i2

b
i
c
i
(x
i1
x
e
i1
)
+
e
i
2d
i
_
_
x
i3
x
e
i3
+
d
i
e
i
n

j=1
x
e
j3
cos(x
e
i1
x
e
j1
)
_
_
2
_

_
+
1
2

ij
B
ij
(x
i3
x
j3
)
2
+ C;
H
2
(x) =
n

i=1
_
_
_
1
2c
i
x
2
i2

b
i
c
i
(x
i1
x
e
i1
)
+
e
i
2d
i
_
_
x
i3
x
e
i3
+
d
i
e
i
n

j=1
x
e
j3
cos(x
e
i1
x
e
j1
)
_
_
2
_

_
+
1
2

ij
B
ij
(x
i3
+ x
j3
)
2
+ C;
where C is a certain constant. So H
c
is bounded from below
because x
i1
[ ; ], and l 0 the set {x: H
c
(x) 6l}
is compact. Thus, H
c
(x) has a strict local minimum at
(x
e
i1
; 0; x
e
i3
). In this case we can construct a control law as
follows:
v
i
=k
i
g
T
i
@H
c
@x
=k
i
_
_
_

j=1
B
ij
[x
j3
cos(x
i1
x
j1
)
x
e
j3
cos(x
e
i1
x
e
j1
)] +
e
i
d
i
(x
i3
x
e
i3
)
_
_
_
=k
i
_
I
di
(t) +
e
i
d
i
x
i3

1
d
i
u
i
_
=
k
i
d
i
u
i

k
i
x
di
x

di
E
qi
=
k
i
d
i
u
i

k
i
x
di
x

di
_
V
ti
+
Q
ei
x
di
V
ti
_
(9)
where k
i
0 are the control gains, g
i
=(0; : : : ; 0; 1; 0; : : : ; 0; )
T
,
in which 1 lies in the 3i position (i = 1; : : : ; n). So
dH
c
dt
=
n

i=1
a
i
c
i
x
2
i2

n

i=1
(d
i
+ k
i
)

_
_
_

j=1
B
ij
[x
j3
cos(x
i1
x
j1
) x
e
j3
cos(x
e
i1
x
e
j1
)]
+
e
i
d
i
(x
i3
x
e
i3
)
_
_
_
2
:
Then, the closed-loop system approaches the largest invari-
ant set contained in
A =
_
_
_
x : x
i2
= 0;
n

j=1
B
ij
[x
j3
cos(x
i1
x
j1
)
x
e
j3
cos(x
e
i1
x
e
j1
)] +
e
i
d
i
(x
i3
x
e
i3
) = 0
_
_
_
:
From x
i2
0, we know that b
i
c
i

n
j=1
x
i3
x
j3
B
ij
sin(x
i1

x
j1
) = 0. So we get
b
i
= c
i
n

j=1
x
i3
x
j3
B
ij
sin(x
i1
x
j1
);
0 = x
i2
;
u
i
= e
i
x
e
i3
d
i
n

j=1
B
ij
x
e
j3
cos(x
e
i1
x
e
j1
):
Zairong Xi et al. / Automatica 38 (2002) 527534 531
They are exactly the conditions satised by the equilibrium.
Thus the largest invariant set contained in A is only the equi-
librium. From the LaSalle Invariant Principle (Slotine & Li,
1991) we know that the closed-loop system is asymptoti-
cally stable.
Theorem 3. The multimachine power system model
(4)(6) can be stabilized around a prescribed operational
point (x
e
i1
; 0; x
e
i3
) by the decentralized feedback
u
i
= u
i
+
k
i
d
i
u
i

k
i
x
di
x

di
_
V
ti
+
Q
ei
x
di
V
ti
_
; i = 1; : : : ; n;
where k
i
0 (i = 1; : : : ; n) are the control gains; and
u
i
= e
i
x
e
i3
d
i
n

j=1
B
ij
x
e
j3
cos(x
e
i1
x
e
j1
)
Remark 2. The constant control law u
i
= e
i
x
e
i3
d
i

n
j=1
B
ij
x
e
j3
cos(x
e
i1
x
e
j1
); i = 1; : : : ; n; are determined in advance
by the desired operational point (x
e
i1
; 0; x
e
i3
). Conversely; if
u
i
; are selected in advance; they determine an equilibrium
point (x
e
i1
; 0; x
e
i3
). So we can operate the previous process.
That is to say; the control law (9) depends only on the
local measurable signals. So the control law is a simple;
decentralized static measurable feedback.
Remark 3. It is critical that inserting the forcing input into
an expanded Hamiltonian function is possible only because
the input vectors g
i
are in the image of the structure matrix
of PCH system with dissipation (see Maschke et al.; 1998).
6. H

control of multimachine power systems

This section considers the disturbances attenuation prob-
lem for a multimachine power system (4)(6) via H

control.
From Section 4 we know that the multimachine
power system (4)(6) has the Hamiltonian represen-
tation (7). If we want the system to be operated at
a desired point (x
e
i1
; 0; x
e
i3
), it is necessary to use the
control u
i
= u
i
+ v
i
; i = 1; : : : ; n, where u
i
= e
i
x
e
i3

d
i

n
j=1
B
ij
x
e
j3
cos(x
e
i1
x
e
j1
). In this case the forced PCH is
represented by
_
_
x
i1
x
i2
x
i3
_
_
=
_
_
0 c
i
0
c
i
a
i
c
i
0
0 0 d
i
_
_
@H
c
@x
i
+
_
_
0
0
1
_
_
v
i
+
_
_
0 0
1 0
0 1
_
_
w
i
: (10)
Consider the H

control problem of the system (10) with

the penalty signals as
z
i1
=
_
_
_
_
_
_
_
_
1
c
i
x
i2

j=1
B
ij
[x
j3
cos(x
i1
x
j1
)
x
e
j3
cos(x
e
i1
x
e
j1
)] +
e
i
d
i
(x
i3
x
e
i3
)
_
_
_
_
_
_
_
_
=
_
0 1 0
0 0 1
_
@H
c
@x
i
; (11)
z
i2
= v
i
:
Using physical variables, the penalty signals become
z
i1
=
_
_
_
2H
i
!
0
!
i
(t)
(I
di
(t) I
e
di
) +
1
x
di
x

di
(E

qi
(t) E

e
qi
)
_
_
_
z
i2
=
1
T

d0i
E
f i
(t)
1
T

d0i
E

e
qi

x
di
x

di
T

d0i
I
e
di
where E

e
qi
and I
e
di
are the desired static EMF in the quadra-
ture axis and the desired static direct axis current of the ith
generator, respectively.
Remark 4. The selected z
i1
and z
i2
represent the bias of the
variables from the desired static points.
If we select control law as
v
i
=g
T
i
@H
c
@x
;
=

d
i
u
i


x
di
x

di
_
V
ti
+
Q
ei
x
di
V
ti
_
; (12)
where 0 is the control gain, then from previous section
we knowthat the closed-loop systemis asymptotically stable
when w=0. Furthermore, given 0, and selecting such
that
_

_
a
i
c
i
+
1
2
+
1
2
2

2
60;
d
i
+
1
2
+
_
1
2
2

1
2
_

2
60;
(13)
then from Lemma 2, the closed-loop system has H

prop-
erty.
Theorem 4. The H

problem of the multimachine power

system (10)(11) has a solution.
Proof. It is easy to know that there exists a positive such
that
a
i
c
i
+
1
2
0;
532 Zairong Xi et al. / Automatica 38 (2002) 527534
d
i
+
1
2

1
2

2
0: (14)
Then for such a given 0 we can choose 0 such that
a
i
c
i
+
1
2
+
1
2
2

2
60;
d
i
+
1
2
+
_
1
2
2

1
2
_

2
60:
(15)
Remark 5. In fact; we can design an algorithm to compute
the minimum value of . Using the above inequations (14)
and (15) the minimum is decided by the parameters of the
power systems itself.
7. A three-machine example
As an example, the three-machine system (Fig. 1) is used
to demonstrate the eectiveness of the proposed nonlinear
decentralized controller.
In the example system, since the generator No. 3 is
an innite bus, we have E

q3
= const: = 10

and use
the generator No. 3 as the reference. The system param-
eters used in the simulation are as follows (Wang et al.,
1997): x
d1
= 1:863; x
d2
= 2:36; x

d1
= 0:257; x

d1
= 0:319,
x
T1
= 0:129; x
T2
= 0:11; x
ad1
= x
ad2
= 1:712; T

d01
= 6:9;
T

d02
= 7:96, H
1
= 4; H
2
= 5:1; D
1
= 5; D
2
= 3; T
m1
=
T
m2
=0:35; T
e1
=T
e2
=0:1; R
1
=R
2
=0:05; K
m1
=K
m2
=1:0;
K
e1
= K
e2
= 1:0, k
c1
= k
c2
= 1; !
0
= 314:159, x
12
= 0:55;
x
13
= 0:53; x
23
= 0:6.
So we have
u
1
=
_
1 +

d
1
_
u
1


x
d1
x

d1
_
V
t1
(t) +
x
d1
Q
e1
(t)
V
t1
(t)
_
;
u
2
=
_
1 +

d
2
_
u
2


x
d2
x

d2
_
V
t2
(t) +
x
d2
Q
e2
(t)
V
t2
(t)
_
:
Fig. 1. Three-machine example system.
0 1 2 3 4 5 6 7 8 9 10
-1
-0.5
0
0.5
1
1.5
2
2.5
3

2
Fig. 2. The response of
1
and
2
.
0 1 2 3 4 5 6 7 8 9 10
-15
-10
-5
0
5
10
15
Fig. 3. The responses of !
1
and !
2
.
0 1 2 3 4 5 6 7 8 9 10
0.8
1
1.2
1.4
1.6
1.8
2
2.2
2.4
2.6
E
q1
Eq2
Fig. 4. The responses of E

q1
and E

q2
.
For this system we assume that a symmetrical three-phase
short-circuit fault occurs on the transmission line near bus
No. 4. The control parameters are = 0:1; u
1
= 0:2618
and u
2
= 0:2612.
Under the proposed control law Figs. 24 show that the
responses of the power system under the fault that occurs
at 0:1 s, is cleared at 0:3 s and restored at 1 s. From these
Zairong Xi et al. / Automatica 38 (2002) 527534 533
Figures we can see that the system is in steady state from
0 s to 0:1 s, and it can work eectively under the proposed
simple, decentralized static control law.
8. Conclusion
In this paper, we considered the stabilization and H

control of multimachine power systems. Using Hamiltonian

function method a simple, decentralized and measurable
controller was designed to solve the problem of stabilization
and disturbance attenuation. An algorithm was given for the
selection of the gain and the attenuation level. The results
were applied to the three-machine power systems.
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Zairong Xi was born in Hunan, China,
in 1969. He received M.S. degree in
Mathematics from Zhengzhou University
in 1997, and the Ph.D. degree in control
theory from the Chinese Academy of Sci-
ences in 2000. He is now the Postdoctoral
Fellow in Tsinghua University, Beijing,
China. His research interests include non-
linear systems analysis and synthesis,
power systems control, mechanical sys-
tems, stability analysis, and robust control.
Dr. Xi received the Excellent Prize of
President Scholarship and Prize of Huawei from the Chinese Academy
of Sciences in 2000.
Daizhan Cheng graduated from Tsinghua
University in 1970, received his M.S.
from graduate school, Chinese academy of
Sciences in 1981 and his Ph.D. from
Washington University, MO in 1985. Since
1990 he is a Professor with the Institute
of Systems Science, Chinese Academy
of Sciences. Currently, he is an associate
editor of Automatica, Asia J. Control,
deputy chief editor or associate editor of
4 domestic journals. His research inter-
ests include nonlinear control systems,
generalized Hamiltonian systems and numerical method in systems and
control.
534 Zairong Xi et al. / Automatica 38 (2002) 527534
Qiang Lu (SM85, IEEE) graduated from
the Graduate School of Tsinghua Univer-
sity, China, in 1963 and joined the faculty
of the same University. He was a visiting
scholar and a visiting professor in Wash-
ington University, St. Louis and Colorado
State University, Ft. Collins, respectively,
in 19841986 and a visiting professor of
Kyushu Institute of Technology (KIT),
Japan in 19931995. He is now a profes-
sor in Tsinghua University, and an aca-
demician of Chinese Academy of Science
(1991-). His research interest is in nonlinear control theory and its ap-
plications to power system.
Shengwei Mei (Member, IEEE) received
his B.S. degree in mathematics from Xin-
jiang University, M.S. Degree in opera-
tions research from Tsinghua University,
and Ph.D. degree in automatic control from
Chinese Academy of Sciences, Beijing, in
1984, 1989, and 1996, respectively. He is
now an associate professor of Tsinghua
University. His research interest is in con-
trol theory and its applications to power
systems.