Sādhanā Vol. 42, No. 8, August 2017, pp.

1239–1250  Indian Academy of Sciences

DOI 10.1007/s12046-017-0659-z

Transition between grid-connected mode and islanded mode

in VSI-fed microgrids
DIBAKAR DAS* , GURUNATH GURRALA and U JAYACHANDRA SHENOY

Department of Electrical Engineering, Indian Institute of Science, Bangalore 560012, India

e-mail: [email protected]; [email protected]; [email protected]

MS received 15 March 2016; revised 11 August 2016; accepted 28 September 2016

Abstract. This paper investigates the behaviour of a microgrid system during transition between grid-con-
nected mode and islanded mode of operation. During the grid-connected mode the microgrid sources will be
controlled to provide constant real and reactive power injection. During the islanded mode the sources will be
controlled to provide constant voltage and frequency operation. Special control schemes are needed to ensure
proper transition from constant P–Q mode to constant f–V mode and vice versa. Transition from one mode to
other will introduce severe transients in the system. Two kinds of transition schemes based on the status of the
off-line controller are discussed and a comparative study is presented for various step changes in the load. An
additional-pole-placement-based output feedback controller augmentation during transition between the modes
is proposed to reduce the transients. A static output feedback compensator design is proposed for the grid
connected to island mode transition and a dynamic output feedback compensator design is proposed for
resynchronisation. The performance of the output feedback controllers is tested under various operating con-
ditions and found to be satisfactory for the tested conditions.

Keywords. Distributed generation; d–q axis current control; droop control; output feedback controller.

1. Introduction grid-connected mode controls. The control, protection and

stability issues, being much different from those of the
With the advent of distributed generation (DG), the concept conventional power system, open up new prospects of
of microgrid is becoming popular in the recent times. A research in this field.
microgrid is a small power system network with distributed Two types of sources are mainly used in a small-scale
generators such as wind, solar and combined heat power microgrid, converter-interfaced sources and rotating-ma-
(CHP) plants that can operate in conjunction with the grid chine-based sources, (inertial source). The mix of various
(grid connected) to supply a fraction of the total load [1]. kinds of sources brings several challenges in control during
To increase the system reliability, the DG units can be different modes of operation. The converters, being fast-
operated in islanded mode when the grid is lost, keeping the acting sources, can quickly respond to power system dis-
load voltage and frequency within limits [2]. The continu- turbances [6, 7]. However the system dynamics can be
ous operation of these units has advantages such as addi- much slower with inertial sources. Coordination of these
tional revenue generation, increased system reliability, etc. sources brings up new challenges. Another challenge that
Operation of the DG units during islanded mode of oper- comes with the operation of microgrid is the stabilised
ation requires special control schemes [3, 4]. operation during grid-connected and islanded modes and
In the grid-connected mode the frequency and voltage of proper strategy for a stable transition from grid-connected
the system are dictated by the grid. The local sources to islanded mode and vice versa [8, 9]. This paper inves-
supply constant active and reactive power (P and Q) as set tigates the behaviour of inverter-based DG sources during
by an external reference. However, in the islanded mode of transition between grid-connected and islanded mode.
operation, when the grid is not present, the local sources This paper provides a systematic approach of developing
must undertake the job of catering to the loads [5]. The the controls for grid-connected and islanded modes. During
controls under such situation are also known as grid- the grid-connected mode the inverters are modelled as
forming controls. Usually a droop control strategy is used sources supplying constant real and reactive power (P–
for a system having multiple DG units [6]. Sometimes the Q) using d–q axis current control. A step by step procedure
islanded mode controls may become more complex than for designing the controllers is also discussed. The load
sharing between different inverter-based sources for islan-
*For correspondence ded mode is achieved using droop control [6]. A passive

1239
1240 Dibakar Das et al

islanding algorithm based on voltage and frequency mea- controller for grid-connected mode and droop controller for
surement is used for detecting the island and facilitating the islanded mode. The system parameters are given in table 1.
transition [10]. Two strategies are proposed for the transi- The control schemes for grid-connected and islanded modes
tion between grid-connected mode and islanded mode. In are explained in the subsequent sections.
one scheme only one mode controllers, either grid-con-
nected mode or islanded mode, will be on-line and calculate
the set points required for the inverter at any given point of 2.1 Control scheme during grid-connected mode
time. Whenever a switch-over command is issued by the
island detection unit the other controller starts calculating
The microgrid in grid-connected mode should operate in
the input for the inverter and the previously on-line con-
constant P–Q mode. Thus the inverter is operated in con-
troller becomes off-line. In another scheme, both the grid-
stant current control mode using d–q-axis-based current
connected mode and islanded mode controllers will be on-
control. Consider the inverter model as shown in figure 1b
line and continuously calculate the set points based on local
measurements but only one of them actively controls the along with the filter. The inverter equations in the abc-
inverter depending on the status of the island detection domain are as follows:
command. A comparative study of both the transition diabc
schemes is presented. It was observed that the second con- Lf þ Rf iabc ¼ Viabc  V1abc ð1Þ
dt
trol strategy performs better during the transition between
grid-connected and islanded mode but the transients are still where i is inverter 1 or 2. Transforming (1) to d–q reference
significant with the second control strategy. To reduce the frame, the following can be obtained:
transients, a novel output feedback controller is augmented
did
to the off-line controller during the transition period. A Lf þ Rf id þ xLf iq ¼ Vid  V1d ;
static feedback compensator is shown to be sufficient for dt ð2Þ
diq
transition to island mode and a first-order dynamic com- Lf þ Rf iq  xLf id ¼ Viq  V1q :
pensator is shown to be sufficient for resynchronisation to dt
the grid. These controllers are realised based on the outputs These equations are coupled because the d and q axis
of the island and grid-connected mode controllers. A sys- currents appear in each equation. The controller action can
0 0
tematic approach for developing the design of these output be decoupled by defining Vd and Vq as follows:
feedback controllers is presented and the performance is
0
validated for different operating conditions. Vd ¼ Vid  V1d  xLf iq ;
0 ð3Þ
Vq ¼ Viq  V1q þ xLf id :
2. Microgrid model The equation under the aforementioned substitution
becomes
The microgrid model used for the analysis in this paper
consists of two inverter-based sources as shown in figure 1a. 0 did
The distribution lines connecting the inverters and point of Vd ¼ Lf þ Rf i d ;
dt ð4Þ
common coupling (PCC) bus are modelled as short lines 0 diq
(series R–L model). The load considered in this case is a Vq ¼ Lf þ Rf i q :
dt
series R–L load with a rating of 10 kW (0.8 power factor (pf)
lag). The X/R ratio considered for the grid is 3. Figure 1b A synchronous reference frame phase-locked loop (PLL) as
shows the inverter model along with the first-order filter. shown in figure 2 [11] is used to obtain the voltage phase at
There are two different sets of controllers, d–q axis current the connection point of the inverter. A simple PI controller

(a) (b)
Figure 1. System model. (a) Network model. (b) Inverter model.
 Transition between grid-connected mode and islanded mode 1241

Table 1. System and control parameters.

Parameter Value
Grid SCC 20 MVA (X/R = 3)
Transformer rating 11 kV/400 V (D  Y)
Distribution line resistance 0.9 X
Distribution line reactance 0.314 X
Inverter rating 12.5 kVA (DG1 ) 6.25 kVA (DG2 )
Inverter switching frequency 10 kHz
Filter inductance 0.1088 mH Figure 3. Current controller.
Filter resistance 1.02 mX
Load 10 kW and 7.5 kVar
Current controller Kp ¼ 0:683 and Ki ¼ 6:405
DC bus voltage controller Kp ¼ 0:0191 and Ki ¼ 0:9527
Voltage controller Kp ¼ 0:01 and Ki ¼ 5:2

Figure 4. DC link voltage controller.

function (xc ¼ 1=s2 ); s1 is the time constant corresponding

to the bandwidth chosen. Simplifying the terms in (5) we
have

Figure 2. Phase-locked loop. Rf þ sLf

¼ s1 s: ð6Þ
Gci ðsÞGinv ðsÞ
0 0
is used as the current controller to generate Vd and Vq as Rearranging the terms in (6), the values of Kp and Ki can be
shown in figure 3. The controller output can then be used to obtained as follows:
calculate the inverter d–q voltages using (3). Since the Lf
observation time scale is much larger than the switching Kp ¼ ;
s1
time period, the inverter can be modelled as an average ð7Þ
Rf
model [12]. Ki ¼ :
To maintain desired power transfer the DC bus voltage is s1
regulated using an outer PI loop. The DC bus voltage The current controller parameters based on (7) are calcu-
controller provides a d-axis current reference for the inner lated as Kp ¼ 0:683 and Ki ¼ 6:405.
current controller, which should be added to the original d-
axis current reference. The detailed block diagram is shown 2.1b Design of DC link voltage controller: Before the
in figure 4. The design procedure for the current and DC voltage controller can be designed the plant transfer func-
link voltage controllers are outlined below. tion on the DC side needs to be determined, which relates
the ac and dc side inverter currents. The power balance
2.1a Design of current controller: The current controller equation in dc and ac side gives
should be designed in such away that it has a high band-
width so that speed of response is large. But the gain pro- Vdc Idc ¼ 3Vph Iph : ð8Þ
vided by the closed loop system at switching frequency
should be low [13, 14]. For switching frequency of 10 kHz, The rms value of current is related to the d-axis component
pffiffiffi
a closed loop system bandwidth of 1 kHz is considered as follows: Id ¼ 2Irms . Using this relation in (8), Idc can
[15]. The closed loop transfer function of the current con- be expressed as follows:
troller is given by rffiffiffi
3 VLL
1 Idc ¼ Id ¼ KDC Id : ð9Þ
Gci ðsÞGm ðsÞ 2 Vdc
Rf þ sLf 1
¼ ð5Þ The DC bus voltage is related to the capacitor current as
1 s1 sðs2 s þ 1Þ þ 1
1 þ Gci ðsÞGm ðsÞ follows:
Rf þ sLf
where Gci ðsÞ is the PI controller transfer function of the dVdc
C ¼ Idc : ð10Þ
current controller and Gm ðsÞ is measurement filter transfer dt
1242 Dibakar Das et al

The aim of the DC link voltage controller is to maintain the xact ¼ x0  Kpd ðPc  Pr Þ
DC bus voltage constant at Vdc 
. The total system can be ð11Þ
Vact ¼ V0  Kqd ðQc  Qr Þ
made equivalent to a low-pass filter with cut-off frequency
close to zero (between 1 and 20 Hz) [15]. Since the inner where Kpd and Kqd are the droop controller slopes; xact and
current loop is much faster than the voltage loop, the cur- Vact are the measured values of frequency and voltage; x0
rent controller and the inverter can be replaced by a unity- and V0 are the rated frequency and voltages. The Pr and Qr
gain block (as seen by the voltage controller) as shown in are the references corresponding to initial operating con-
figure 4. The voltage controller is designed with a band- ditions with rated voltage and frequency. Pc and Qc are the
width of 20 Hz and a phase margin of 68:4 . The PI con- calculated values of active and reactive power, respec-
troller gains of the voltage controller are calculated to be tively. A PI-controller-based voltage regulator is also
Kp ¼ 0:0191 and Ki ¼ 0:9527. Figure 5 shows the Bode implemented to ensure that the inverter tracks the reference
diagram of the loop transfer function. voltage generated by the voltage droop controller properly.
The design of voltage controller is carried out based on [6]
(Kp ¼ 0:01 , Ki ¼ 5:2).
2.2 Control scheme during islanded mode
2.2a Selection of droop constants: The droop controller
When the grid is removed an active and reactive power slopes can be decided based on the ratings of the inverters
mismatch occurs at the load terminal. Because of the dif- and acceptable voltage and frequency limits [6]. Over the
ference between load and generation, the load voltage and/ rated power range of any inverter the frequency variation
or frequency settles at a different value [2]. With multiple should be within 1 Hz. Similarly the voltage limit should be
DGs supplying a load, proper load sharing of the generators restricted within 0.95–1.05 pu [6]. These facts can be uti-
needs to be achieved without overloading. An artificial lised to calculate the droop slopes as follows:
droop characteristic is incorporated in the inverter as shown
in figure 6 [16]. This droop control method is advantageous Dx
Kpd ¼ ;
because it does not require any communication between Pmax  Pmin
ð12Þ
various sources and a decentralised control can be DV
Kqd ¼ :
achieved. In this work, a P–x and Q–V droop is imple- Qmax  Qmin
mented in the inverter. In droop control the frequency and
The following droop constants are obtained using (12):
voltage output of the inverter is dependent on P and Q
output, respectively, as shown here:
Kpd1 ¼ 3:14 and Kpd2 ¼ 6:28;
Bode diagram
Kqd1 ¼ 0:1 and Kqd2 ¼ 0:2:
Gm = −Inf dB (at 0 rad/s) , Pm = 68.4 deg (at 126 rad/s)
80
2.3 Controller for grid-connected to island mode
Magnitude (dB)

60
transition
40

20 The controller consists of an island detection unit to detect loss

0 of grid using local voltage and frequency measurements [10].
−20 The island detection unit issues a switch-over command to the
−90
inverter controllers whenever the PCC voltage and frequency
Phase (deg)

deviate respectively, by ±10% V and 0.5 Hz for a duration

−135
of 100 ms. On receiving this command the inverter takes the
reference values from the island mode controller and a transfer
−180
10
0
10
1
10
2 3
10
from grid-connected to island mode will be achieved.
Frequency (rad/s) Depending upon the state of the island mode controller (on-
line or off-line) at the instant of the transition, two schemes
Figure 5. Bode diagram of DC link voltage controller.
have been proposed here.
In Scheme-I, only one of the controllers, either grid-
connected mode or islanded mode controller, will be on-
line and calculate the set points required for the inverter at
any given point of time. In Scheme-II, both the grid-con-
nected and islanded mode controllers will be on-line and
continuously calculate the set points based on local mea-
surements. However, only one of them will be actively
controlling depending on the status of the island detection
command. A feedback controller is augmented in Scheme-
Figure 6. Droop control strategy. II to improve the transient performance further. The design
 Transition between grid-connected mode and islanded mode 1243

of output feedback controller for islanding is described in x_2 ðtÞ ¼ Ax2 ðtÞ þ Be2 ðtÞ
section 3.1. ð13Þ
u2 ðtÞ ¼ Cx2 ðtÞ

where x2 ðtÞ is the off-line controller state vector and u2 ðtÞ is

2.4 Controller for island to grid-connected mode the controller output; e2 ðtÞ is the error input to the off-line
transition controller.
The objective of the feedback controller F is to minimise
To minimise the transients during resynchronisation the PCC
the error between the controller outputs u1 ðtÞ and u2 ðtÞ at
breaker is closed when the microgrid system voltage, fre-
the instant of transition [17]. The feedback compensator
quency and phase are within the acceptable limits as speci-
output aðtÞ will be given as input to off-line controller for
fied by IEEE 1547 standards [2]. The grid side voltage and
minimising error between u1 ðtÞ and u2 ðtÞ. The output of the
the microgrid PCC voltage are monitored using PLLs. After
feedback compensator is given by the following equation:
issuing the grid reconnection command, the PCC breaker is
closed automatically when the phase, frequency and voltage aðtÞ ¼ Fðu2 ðtÞ  u1 ðtÞÞ: ð14Þ
are within ±10 , ±0.3 Hz and ±10%, respectively. The
inverter DGs consequently return to current-controlled mode Hence the state equation (13) becomes
of operation. Scheme-I and Scheme-II described in section
2.3 are also analysed during resynchronisation. To improve x_2 ðtÞ ¼ Ax2 ðtÞ þ BFðCx2 ðtÞ  u1 ðtÞÞ: ð15Þ
the transient performance with Scheme-II an additional Rearranging the terms, we have
dynamic output feedback compensator is proposed. The
design of the dynamic output feedback controller for x_2 ðtÞ ¼ ðA þ BFCÞx2 ðtÞ  BFu1 ðtÞ: ð16Þ
resynchronisation is described in section 3.4.
The transient response of the system subjected to any
change in the on-line controller output u1 ðtÞ is determined
3. Output feedback controller design using pole by the eigenvalues of the matrix ðA þ BFCÞ, which is
hereafter referred to as Ac . In the microgrid, when the grid
placement
is disconnected, the control mode will change from P–Q to
f–V mode. Similarly during grid synchronisation the control
Consider a generic situation where two or more controllers
mode changes from f–V to P–Q. Hence a feedback con-
operate on a single plant for different modes of operation of the
troller needs to be designed for the off-line controller, i.e.,
plant as shown in figure 7. Initially the plant operates with
the island mode controller during islanding and for grid
Controller-1, which is the on-line controller. Upon receipt of
connected mode controller during resynchronisation to
the transfer command the plant switches to Controller-2,
achieve seamless transition. The following subsections
which is the off-line controller. The on-line controller is driven
discuss the derivation of state space model of the islanded
by the error command e1 ðtÞ and the off-line controller is driven
and grid-connected mode controllers along with the design
by the error command e2 ðtÞ when it becomes on-line. A
of the proposed output feedback compensators.
feedback compensator is designed to reduce the error between
the output of the two controllers at the instant of transition. The
feedback compensator takes the error between the outputs of
off-line and on-line controllers and generates input for the off-
3.1 State space model of island mode controller
line controller. In this way the error between the outputs of off- For converting the droop controller in figure 8 into state-
line and on-line controllers can be reduced [17]. space model the following state variables are defined:
Consider the off-line controller to be described by the
following set of state-space equations: • x1 , x2 and x3 are the states of the measurement filters,

Figure 7. Output feedback controller architecture. Figure 8. Droop controller.

1244 Dibakar Das et al

• x4 is the state of the integrator in the PI voltage that the island mode controller state space model (19) of the
controller and test system is controllable and observable (in canonical
• x5 is the phase of the inverter voltage, hðtÞ. form). Hence a static output feedback is sufficient as per
Theorem 1. To determine the feedback compensator matrix
The differential equation governing the states are
F, the desired pole locations of Ac need to be determined
x_1 ¼ xc x1 þ xc DP first. The eigenvalues of Ac are chosen such that output of
island mode controller u2 ðtÞ tracks u1 ðtÞ within 100 ms
x_2 ¼ xc x2 þ xc DQ
from the instant of grid disconnection. This is because the
x_3 ¼ xc x2 þ xc DV ð17Þ island detection takes a minimum of 100 ms to give a
x_4 ¼ Kqd x2 þ x3 switch-over command. During this period u2 ðtÞ should
x_5 ¼ Kpd x1 þ x0 track u1 ðtÞ with minimum error to avoid switching tran-
sients. Consider a generic 2nd -order system described by the
where xc is the cut-off frequency of the measurement filter. following equation:
DP, DQ and DV are the errors in P, Q and voltage,
respectively. The output equations are yðsÞ x2n
¼ 2 : ð20Þ
xðsÞ s þ 2fxn s þ x2n
Kp Vdc Ki Vdc
V ¼ pffiffiffi ðKqd x2 þ x3 Þ þ pffiffiffi x4
3 3 ð18Þ The settling time (2% criterion) of the system is given by
h ¼ x5 4
ts ¼ : ð21Þ
where Kp and Ki are PI controller gains. V is the peak value fxn
of line to neutral voltage. The controller state space model Considering a settling time of at most 100 ms and f ¼ 0:7
can be expressed as follows: the poles of the second-order system can be easily deter-
2 3 2 3 mined. Since the closed-loop system has five poles, the
xc 0 0 0 0 xc 0 0 0 remaining three poles are chosen to be five times the neg-
6 0  xc 07 6 7
6 0 0 7 6 0 xc 0 07 ative real part of the complex poles. Based on the location
6 7 6 7
_ 6
X2 ¼ 6 0 0  xc 0 7
0 7X2 þ 6 0 xc 07 of the poles the desired characteristic polynomial of the
6 0 7e2
6 7 6 7 closed loop system is determined as follows:
4 0 Kqd 1 0 05 4 0 0 0 05
Kpd 0 0 0 0 0 0 0 1
2
Kqd Kp Vdc Kp Vdc Ki Vdc
3 DðsÞ ¼ s5 þ 680s4 þ 1:7  104 s3 þ 1:95  107 s2
0 pffiffiffi pffiffiffi pffiffiffi 0 5 ð22Þ
U2 ¼ 4 3 3 3 X2 þ 1:02  109 s þ 2:56  1010 :
0 0 0 0 1
The feedback matrix design is carried out to ensure that the
ð19Þ loop transfer functions of both Q-V and P-x droop con-
0 0 trollers have a settling time of 100 ms. The matrix F cal-
e2 ¼ ½DP DQ DV x0  , U2 ¼ ½V h and
0 culated in this way is very easy to implement as the outputs
X2 ¼ ½x1 x2 x3 x4 x5  . of both on-line and off-line controller are readily accessi-
ble. The feedback matrix for DG1 island mode controller,
F1 is shown below,
3.2 Design of output feedback compensator
for island mode controller  T
0 1147:6 152:79 0
F1 ¼ :
As explained in section 3 a feedback compenstor matrix 69:8 0 0 0
F needs to be designed to achieve seamless transition. This
can be achieved using pole placement techniques [18]. Similarly one can arrive at the feedback matrix F2 for
Theorem 1 given here describes the conditions for DG2 :
achieving arbitrary pole placement using static output  T
feedback. A detailed proof of the theorem is given in [18]. 0 344:94 152:79 0
F2 ¼ :
139:6 0 0 0
Theorem 1 If a system is controllable and observable,
and if n  r þ m  1, an almost arbitrary set of distinct
closed-loop poles is assignable by gain output feedback,
where n, r and m are the numbers of state variables, inputs 3.3 State space model of grid-connected mode
and outputs, respectively [18]. controller
For the island mode controller n ¼ 5, r ¼ 4 and m ¼ 2, In order to convert the equations to a state space model, the
which satisfies n ð5Þ  r þ m  1 ð5Þ. It is also observed following states are defined:
 Transition between grid-connected mode and islanded mode 1245

• x1 and x2 are the states of the measurement filter in

d and q-axis controllers, respectively.
• x3 and x4 are the states of integrators in PI controllers
of the d and q axis, respectively.
Using these state variable definitions the differential
equations of the measurement filter and the PI controllers
Figure 9. Grid-connected mode controller along with a dynamic
can be obtained as follows:
output feedback compensator.

x_1 ¼ xc x1 þ xc Did ;

ð23Þ
x_2 ¼ xc x2 þ xc Diq ; According to Theorem 2 the minimum order of dynamic
compensator is found to be 1. The first-order dynamic
x_3 ¼ x1 ; output feedback compensator is as follows [18]:
ð24Þ
x_4 ¼ x2 : 2F 3
1
0
6 7
The output of the controllers are expressed as follows: a¼4 s 5ðu2  u1 Þ: ð27Þ
F2
0
s
v0d ¼ Kp x1 þ Ki x3
ð25Þ A block diagram of the grid-connected mode controller
v0q ¼ Kp x2 þ Ki x4
with the augmented dynamic feedback compensator is
where Did ¼ id  id and Diq ¼ iq  iq . Kp and Ki are shown in figure 9. The loop transfer functions of the system
parameters of the PI controller. The controller state space given in figure 9 for d and q axes are given as follows:
model can be expressed as follows:  
F 1 xc Ki
Ld ðsÞ ¼ Kp þ ;
2 3 2 3 s s þ xc s
xc 0 0 0 xc 0   ð28Þ
6 0 F 2 xc Ki
6  xc 0 077
6 0
6 xc 7
7 Lq ðsÞ ¼ Kp þ :
X_1 ¼ 6 7X1 þ 6 7e1 s s þ xc s
4 1 0 0 05 4 0 0 5
ð26Þ
0 1 0 0 0 0 Since the equations for d- and q-axis controllers are
  completely decoupled a Bode-plot-based design can be
Kp 0 Ki 0
U1 ¼ X1 carried out, which will ensure an arbitrary pole placement
0 Kp 0 Ki
corresponding to a given settling time requirement. The
0 0 0 0 0 design parameters in (28) are the constants F1 and F2 ,
e1 ¼ ½Did Diq  , U1 ¼ ½vd vq  and X1 ¼ ½x1 x2 x3 x4  .
which are selected so as to obtain a reasonable speed of
response without compromising with the phase margin of
the system. In this scenario a settling time of 100 ms
3.4 Design of output feedback compensator (phase margin: 86:9 ) is chosen and accordingly the val-
for grid-connected mode controller ues of F1 and F2 can be easily determined
To achieve seamless transition during resynchronisation, (F1 ¼ F2 ¼ 494:6). The Bode plot of the loop transfer
an additional feedback compensator needs to be aug- function is shown in figure 10.
mented to the grid-connected mode controller. For the
grid-connected mode controller state space model given in
(26), n ¼ 4, r ¼ 2 and m ¼ 2. It can be found from the- 4. Results and discussion
orem 1 that the condition n ð4Þ  r þ m  1 ð3Þ for arbi-
trary pole placement is not satisfied. Hence, arbitrary pole The microgrid system described in section 2, figure 1a has
placement using static output feedback is not possible been modelled in Simulink. The system performance is
even though the state space model is found to be con- assessed with several sets of load/generation patterns. The
trollable and observable. However, a dynamic compen- microgrid operations during grid-connected mode and
sator can be designed for arbitrary pole placement as per during transition from grid-connected to islanded mode
the following theorem [18]. and vice versa have been analysed using the proposed
schemes. The following sequence of events are simulated
Theorem 2 If a system is both controllable and observ- in this case.
able, then a dynamic compensator of order p ¼ n  m 
r þ 1 can assign almost arbitrary poles for the overall • Initial operating conditions: At t = 0 s, the real and
closed-loop system provided that the poles to be assigned reactive power set points of each DG are set to 2.5 kW
are all distinct. and 0 kVar (unity power factor—upf).
1246 Dibakar Das et al

Bode diagram
Gm = −Inf dB (at 0 rad/s) , Pm = 86.9 deg (at 338 rad/s)
reactive powers of DG1 , DG2 and the grid for the events
200 considered earlier. Figure 11b shows the corresponding
voltage and frequency at the PCC bus. Prior to the creation
Magnitude (dB)

100
of disturbance, DG1 and DG2 supply 2.5 kW at upf. The
0
remaining power of 5 kW is supplied by the grid as seen
−100 from the figure. It can be observed from figure 11a that
−200 corresponding to Event-1, the active and reactive powers of
−90
DG2 increase to 5 kW and 3 kVar, respectively. DG1
Phase (deg)

power remains unchanged and the grid active and reactive

−135
powers reduce to 2.5 kW and 4.5 kVar, respectively. In
figure 11b it can be observed that the voltage and frequency
−180
10
–1 0
10
1
10 10
2 3
10 10
4 5
10 10
6 settle within limits (10% V and 0:5 Hz) with a small
Frequency (rad/s)
transient. At t ¼ 2 s (Event-2), the entire active power is
Figure 10. Bode diagram of the loop transfer function. supplied locally and the grid supplies the system losses
(0.2 kW) and the reactive power requirement of the load
(4.5 kVar) as per the set points. Finally, when DG2 set
• Event 1: At t = 1.5 s, the real and reactive power set points are made zero at t ¼ 2:5 s (Event-3), the grid active
points of DG2 are changed from 2.5 kW and 0 kVar and reactive powers increase back to 5 kW and 7.5 kVar,
(upf) to 5 kW and 3 kVar (0.85 pf). respectively. DG1 power remains unchanged. In all these
• Event 2: At t = 2 s, the real power set point of DG1 is step responses of power set points a settling time of 10 ms
changed from 2.5 to 5 kW (upf). is achieved as per the design.
• Event 3: At t = 2.5 s, both real and reactive power set
points of DG2 are made 0.
• Event 4: At t = 3 s, the grid is disconnected and the
4.2 Grid-connected to islanded mode transition:
system transitions into islanded mode of operation.
Event 4
• Event 5: At t = 5 s, the system load is reduced from 10
to 7.5 kW keeping the pf unchanged. The grid is disconnected at t = 3 s. The islanding detection
• Event 6: At t = 7 s, the grid reconnection command is algorithm detects an island and the controller switches from
issued and the system returns to grid-connected mode grid-connected to island mode at t = 3.11 s.
of operation. Figure 12a shows the voltage transient during transition
for Scheme-I (dotted line), Scheme-II (dashed line) and
Scheme-II with output feedback (solid line). Prior to the loss
of grid the voltage and frequency were 229 V and 50 Hz,
4.1 Grid-connected mode: Events 1–3
respectively. On grid disconnection, it can be observed from
Events 1–3 are created to test the performance of the grid- the figure that the load voltage and frequency deviate con-
connected mode controllers. Figure 11a shows the real and siderably from the nominal values. The island detection unit
Grid−P and Q DG2−P and Q DG1−P and Q

6000 232
P (W)
4000
Voltage (V)

Q (Var) 231
2000 230
0
229
1.4 1.6 1.8 2 2.2 2.4 2.6
228
6000
227
4000 1.4 1.6 1.8 2 2.2 2.4 2.6
2000
0
Frequency (Hz)

1.4 1.6 1.8 2 2.2 2.4 2.6

50.05
8000
50
6000
4000
49.95
2000
0
49.9
1.4 1.6 1.8 2 2.2 2.4 2.6 1.4 1.6 1.8 2 2.2 2.4 2.6
Time (s)
(a) (b)
Figure 11. Simulation results for grid-connected mode (Events 1–3). (a) Active and reactive power. (b) Voltage and frequency.
 Transition between grid-connected mode and islanded mode 1247

250 51.5
Scheme−I
Scheme−II
Output feedback
200
51

Frequency (Hz)
Voltage (V)

150

50.5

100

50
50
Scheme−I
Scheme−II
Output feedback
0 49.5
3 3.05 3.1 3.15 3.2 3.25 3.3 3.35 2.95 3 3.05 3.1 3.15 3.2 3.25 3.3
Time (s) Time (s)
(a) (b)
Figure 12. Load voltage and frequency during grid-connected to island mode transition (Event 4). (a) Voltage. (b) Frequency.

Var Supplied DG −Q (Var) DG −Q (Var)

DG −P (W)

8000 10000
6000
4000 5000
1

2000
1

0 0
2.95 3 3.05 3.1 3.15 3.2 3.25 3.3 3.35 3.4 3 3.2 3.4 3.6 3.8 4
8000
DG2−P (W)

6000 6000
4000 4000
2000
2000
0
2

0 −2000
2.95 3 3.05 3.1 3.15 3.2 3.25 3.3 3.35 3.4 3 3.2 3.4 3.6 3.8 4
P Supplied

By 2 DGs

8000
By 2 DGs

10000
6000
Scheme−I Scheme−I
5000 4000
Scheme−II Scheme−II
2000
Output Feedback Output Feedback
0 0
2.95 3 3.05 3.1 3.15 3.2 3.25 3.3 3.35 3.4 2.95 3 3.05 3.1 3.15 3.2 3.25 3.3
Time (s) Time (s)
(a) (b)
Figure 13. P and Q during grid-connected to island mode transition (Event 4). (a) Active power. (b) Reactive power.

senses the situation and issues a switch-over command at t = Figure 13a shows real powers of DG1 , DG2 and total DG
3.11s. The inverters activate the island mode controller powers supplied to load during transition. In Scheme-I the
according to Scheme-I or Scheme-II. It can be observed that active power of DG1 drops to zero and quickly rises to its
in Scheme-I the voltage reduces to a very low value and steady-state value. Since DG2 is already at P = 0 kW, no
quickly rises to the steady-state value at the instant of control dip can be seen. This dip causes a momentary load drop as
switch-over. However, in Scheme-II the voltage rises to the seen in the figure. With Scheme-II, DG1 shows very small
steady-state value after a small voltage dip. Frequency settles drop in active power and reaches steady state quickly
quickly in Scheme-II compared with Scheme-I. In both the without any over-shoot. With the output feedback con-
schemes the frequency and voltage settle to 49.94 Hz and troller, DG1 and DG2 do not show any harmful transients in
222.2 V, respectively, which are well within the prescribed real power and the load is served quickly.
limits [2]. It can be observed that with the output feedback Figure 13b shows reactive powers of DG1 , DG2 and total
controller, there is no dip in the voltage at the instant of DG powers supplied to load during transition. With
transition and quick recovery of voltage and frequency is Scheme-I, at the instant of transition, there is a significant
also achieved. dip in reactive powers of both DG1 and DG2 followed by
1248 Dibakar Das et al

7000 225
Active power (W)

6000

Voltage (V)
224
5000
223
4000 DG
1
3000 222
DG
2
2000 221
1000 220
4.5 5 5.5 4.5 5 5.5
Time(s)
Reactive power (Var)

5000 50

Frequency (Hz)
DG1
49.98
DG
4000 2
49.96

49.94
3000
49.92
2000 49.9
4.5 5 5.5 4.5 5 5.5
Time (s)
(a) (b)
Figure 14. Simulation results for islanded mode (Event 5). (a) Active and reactive power. (b) Frequency and voltage.

gradual recovery. With Scheme-II, DG1 reactive power that the transients during grid-connected to island mode
continuously rises and reaches a steady-state value. Simi- transition can be significantly reduced using a simple
larly, DG2 reactive power reduces significantly and takes a feedback controller.
long time to reach steady-state value. The load power
supplied by the DGs however does not experience any such
long overshoots in reactive power with Scheme-II. It means 4.4 Island to grid-connected mode transition:
that there is a circulating reactive current between the two Event 6
inverters during the transition. With output feedback it can
be observed that DG1 and DG2 reactive powers do not show This event is created to analyse the behaviour of microgrid
any harmful transient and quickly settle to steady-state system during resynchronisation with the grid. Figure 15a
value. shows the active power of the DGs and the grid during the
transition from islanded mode to the grid-connected mode.
Figure 15b shows the reactive power of the DGs and the
4.3 Islanded mode operation: Event 5 grid during the transition from islanded mode to the grid-
connected mode. Upon grid reconnection, the inverter DGs
The droop controllers designed in section 2.2 are tested in again transition to current-controlled mode and follow the
this event. Figure 14a shows the active and reactive power reference P and Q prior to islanding (DG1 : 5 kVA (upf),
of DG1 and DG2 during island mode. Figure 14b shows the DG2 : 0 kVA). It can be observed that DG1 and DG2 draw
voltage and frequency at the PCC bus during the island huge reactive powers from the grid during resynchronisa-
mode. It can observed that after transition to islanded mode, tion with Scheme-I. However DG1 reactive power becomes
real and reactive powers of DG1 and DG2 settle to 6.6 kW, negative and DG2 becomes positive, which indicate a cir-
3.9 kVar and 3.0 kW, 3.3 kVar, respectively. The voltage culating reactive power between the generators during
and frequency settle to 49.94 Hz and 222.2 V, respectively, resynchronisation. However, with the proposed dynamic
as per the droop characteristics. It has been observed that compensator, the circulating reactive current is eliminated.
the reactive powers are not shared exactly in accordance Also it can be seen that the grid power increases to balance
with the droop curve ratio due to high R/X ratio of the the load and generation.
system. At t = 5 s the load is reduced from 10 kW (0.8 pf) Figure 16 shows the corresponding PCC voltage and the
to 7.5 kW (0.8 pf). On load reduction, it can be observed frequency during the transition. The voltage and the fre-
that the responses of DGs P and Q settle within 80 ms and quency are now determined by the grid and the frequency
the voltage and frequency (224.2 and 49.96 Hz) settle has settled exactly to 50 Hz after undergoing a transient
according to the droop curve. (figure 16). With Scheme-I, considerable frequency and
Several other test cases have been simulated by varying voltage transients can be observed during resynchronisa-
load, generation, grid voltage and frequency. Under all tion. From this simulation, it can be concluded that the
these conditions, Scheme-II with feedback controller has dynamic output feedback compensator facilitates smooth
shown superior performance. Hence, it can be concluded transition during resynchronisation.
 Transition between grid-connected mode and islanded mode 1249

DG −Q (Var) DG −Q (Var)
6000 5000
DG −P (W)

5500
0
5000
1

1
4500 −5000
7 7.5 8 8.5 9 7 7.5 8 8.5 9
2000 5000
DG −P (W)

1000
0
0
2

2
−1000 −5000
7 7.5 8 8.5 9 7 7.5 8 8.5 9

Grid−Q(Var)
4000 15000
Grid−P(W)

Scheme−I
10000 Scheme−II
2000 Scheme−I
Dyn. Out. Feedback
Scheme−II 5000
Dyn. Out. Feedback
0 0
7 7.5 8 8.5 9 7 7.5 8 8.5 9
Time (s) Time (s)
(a) (b)
Figure 15. P and Q during island to grid-connected mode transition (Event 6). (a) Active power of DGs and grid. (b) Reactive power of
DGs and grid.

235 • The transients in active power with Scheme-II are

significantly reduced compared with Scheme-I. How-
Voltage (V)

230
ever, with Scheme-II, large circulating reactive cur-
225
rents between the sources are observed during
220 islanding.
• A novel output feedback controller augmentation to
215
7 7.5 8 8.5 9 scheme-II is proposed for reducing the transients and
circulating currents. A static feedback is shown to be
51 sufficient for transition to island mode and a first order
Frequency (Hz)

50 dynamic compensator is shown to be sufficient for

49 resynchronisation to the grid.
48 • The output feedback controllers are easy to implement
Scheme−I
47 Scheme−II using local measurements. The performance of the
Dyn. Out. Feedback system with output feedback controllers is found to be
46
7 7.5 8 8.5 9 satisfactory under all operating conditions tested.
Time (s)

Figure 16. Voltage and frequency during island to grid-con-

nected mode transition (Event 6). Acknowledgements

5. Conclusions This work was supported by CPRI, Ministry of Power,

Government of India, within the framework of the project
This paper investigates the operation of microgrid during Power Conversion, Control and Protection Technologies
transition from grid-connected to island mode and vice for Micro-Grid.
versa with inverter-based DG sources. A systematic
approach for designing the grid connected and island mode
controllers is described. Contributions of the paper are the References
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