IAES International Journal of Robotics and Automation (IJRA)

Vol. 13, No. 1, March 2024, pp. 65~79

ISSN: 2722-2586, DOI: 10.11591/ijra.v13i1.pp65-79  65

Analysis of inertia, damping, and synchronization

characteristics in grid-connected photovoltaic systems with
fuzzy logic control

Mimmithi Bhanu Prakash, Pradosh Ranjan Sahoo

School of Electronics Engineering, Vellore Institute of Technology-Andhra Pradesh University, Andhra Pradesh, India

Article Info ABSTRACT

Article history: The integration of renewable energy sources (RES) into DC-distributed
power systems (DC-DPSS) is gaining traction as a sustainable energy
Received Jun 15, 2023 solution. However, the inherent variability of RES output can introduce
Revised Jan 1, 2024 instability into the grid, posing challenges for maintaining system reliability
Accepted Jan 18, 2024 and stability. Fuzzy logic controllers (FLCs) have emerged as a promising
approach to mitigate these instability issues, offering a robust and adaptable
control strategy that can effectively handle the complexities of DC-DPSS.
Keywords: This paper examines the application of FLCs in DC-DPSS, exploring their
effectiveness in addressing instability caused by RES fluctuations. FLCs are
Direct current-direct current a control system that leverages fuzzy logic, a form of logic that utilizes
converter linguistic variables to represent uncertainty, make decisions, and improve
Droop controller the stability of DC-distributed power systems. The research analyzes various
Fuzzy logic controller system parameters, including inertia, damping, and synchronization
Maximum power point tracking characteristics, using a static synchronous generator (SSG) model. The study
controller builds upon prior findings by adding a fuzzy logic controller to the existing
Proportional integral controller system. The results showed better performance which resulted in improved
Solar photovoltaic inertia, damping, and synchronization characteristics. The efficiency of the
proposed controller is demonstrated using MATLAB/Simulink.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Pradosh Ranjan Sahoo
School of Electronics Engineering, Vellore Institute of Technology-Andhra Pradesh University
VIT-AP University, G-30, Inavolu, Beside AP Secretariat Amaravati, Guntur 522237, Andhra Pradesh, India
Email: [email protected]

1. INTRODUCTION
In recent years, demand of renewable energy sources for power generation has increased due to its
least effect of environmental pollution [1]. Therefore, grid tied photovoltaic (PV) power generation system
has shown an explosive growth as one of the sources for clean energy. In order to keep the direct current
(DC) bus voltage stable and distribute the load evenly across the converters, a new droop control method that
adjusts the value of the droop resistance based on load requirement is suggested in [2]. Local load and line
resistance also have a role in determining the voltage distribution. In [3], [4] the growth of the wind power
industry has affected the supply and design of the electricity grid. By working in sync with the electricity
grid, wind turbines with grid-forming control prevent phase-locked loops. Here, they examined the grid-
forming doubly fed induction generator (DFIG's) modeling, inertia, and damping under a variety of
operational conditions. The simulation results demonstrate a link between inertia and damping in various
operational scenarios. In [5], it is analyzed that by controlling the power retained by capacitors on the direct
current side, the droop control of a rate of change of frequency (RoCoF) helps to dampen frequency
fluctuations that can cause problems and also classifies the control time-frame and inertia which helps in

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66  ISSN: 2722-2586

reducing the frequency variation. The study [6] addresses frequency control challenges in micro-grids caused
by erratic renewable energy source (RES) outputs. It proposes integrating a fuzzy logic-based integral
controller and a superconducting magnetic energy storage (SMES) unit to mitigate these fluctuations. Using
MATLAB/Simulink simulations, the system's performance is evaluated, revealing that this combined setup
outperforms conventional integral controller-based systems. Specifically, the fuzzy logic-based integral
controller with the SMES unit effectively dampens frequency oscillations arising from abrupt load changes
and intermittent RES behavior, showcasing enhanced dynamic performance and superior frequency stability
within the micro-grid. Tekin et al. [7] introduced a novel switched capacitor-based quadratic boost converter
(QBC) integrated with fuzzy logic control (FLC) for efficient integration of low-power renewable energy
sources (RESs) like photovoltaic arrays with the grid. The proposed converter yields higher voltage gain at
low duty cycles compared to traditional converters, enhancing voltage stress reduction across the main power
switch for increased reliability and durability. By employing a switched-capacitor topology, this system
minimizes voltage and current stresses on power switches and diodes, improving efficiency. Mathematical
analysis and MATLAB/Simulink simulations validate the effectiveness. Sumarmad et al. [8] described
microgrids as a renewable energy solution for climate change, operating connected or independently. It
highlights the role of energy storage in stability and proposes three smart controllers for efficient microgrid
management. MATLAB Simulink simulations favor the fuzzy logic controller for its effectiveness. The study
emphasizes stability enhancement under diverse load and solar conditions, stressing the controllers' success
in ensuring safe microgrid operation. Future plans involve experimental validation and integrating energy
optimization into the system. The study [9] suggested a new way to improve a small self-sufficient power
grid using wind and diesel generators, along with batteries for efficiency. An intelligent energy management
system (IEMS) was made in two steps: first, using extra energy when wind is low or demand is high, and
second, using smart controls to boost performance. Tests showed that both methods keep the grid balanced
and improve power stability, with the 3D-fuzzy logic-frequency regulation (3D-FL-FR) control slightly
outperforming ANN, ensuring steady power even with high demand or changing wind.
In [10]–[12], it was observed that virtual synchronous generator (VSG) regulates the inverter of a
distributed generating unit to maintain power system reliability. Virtual inertia is also expressed by the swing
equation of a synchronous machine. Active and reactive power can be regulated using droop control or a
VSG, having advantages of virtual inertia and simulating swing equation. Variations in the swing equation
are investigated by comparing the two control methods in real-time. In [13], [14], the fundamentals, major
characteristics, application concerns, and development trends of voltage source controller VSC-dominated
power system modeling and stability analysis techniques are discussed. A novel controller is developed in
[15], [16] to improve the microgrid’s frequency response to disturbances such as large frequency deviations.
The various variables in the proposed control's design are discussed as well. It was also stated that the grid-
connected power converters were used as a method for implementing the idea of virtual inertia in a
distributed power system. In [17] static synchronous generator (SSG) is introduced to examine SSG
dynamics and stability, which may be compared to those of pulse width modulation (PWM) inverters due to
their shared physical mechanisms and mathematical models. This study addresses challenges in maximizing
solar power generation due to module mismatching and partial shading issues. Existing Maximum Power
Point Tracking (MPPT) techniques, while effective in stable conditions, often struggle with speed and
precision. To overcome these limitations, the paper proposes a novel combinatorial MPPT algorithm based
on fuzzy logic control and an improved farmland fertility optimization (IFFO) method. This approach
optimizes controller parameters, demonstrating superior performance in both uniform irradiance and partial
shading scenarios compared to six other methods. The proposed algorithm achieves efficiencies of 99% for
various conditions, ensuring optimal solar power generation [18].
This research explores the risks of unexpected shifts between grid-connected (GC) and stand-alone
(SA) modes in distributed generation systems. It proposes a fuzzy logic (FL)-based approach to enable a
controlled, smooth transition between modes, avoiding sudden state variable changes that could damage the
system. Fuzzy logic algorithm (FLA) generates a gradual trajectory from GC to SA modes using unified
control, enhancing voltage loop control for better disturbance rejection. Simulation tests validate the efficacy
of the FL-based strategy, offering a resilient approach for safer mode transitions in distributed generation
systems [19]. Inertia, damping, and synchronization characteristics of a solar grid-tied and inverter-side DC
voltage droop control system using the SSG mathematical model, and the electrical torque analysis technique
were examined. Problems related to power quality issues, angular stability, voltage stability and various other
technical aspects were also discussed in [20]–[22]. FLC is a specialized method of control that differs from
traditional controllers like the proportional integral (PI) controller. It is like using a smart and adaptable
approach to managing a system.
In our research, instead of sticking with the usual PI controller, we decided to explore the
possibilities offered by FLC. To do this, we looked at past studies to understand what really matters when it

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IAES Int J Rob & Autom ISSN: 2722-2586  67

comes to making a system perform its best. Specifically, we made significant enhancements in how our
system handles inertia (which is how resistant it is to change), damping (which reduces unwanted
movements), and synchronization (making sure everything works together smoothly). These improvements
have propelled our system to a new level of efficiency and performance. It is not just about technology; it is a
significant step forward in making renewable energy sources work seamlessly with the electrical grid. This
research brings us closer to a more reliable and efficient future for renewable energy integration. In section 2
the paper deals with the system configuration followed by system dynamic characteristics analysis in
section 3. In section 4 the paper gives brief about fuzzy logic controller and in section 5 the simulation results
were shown. In section 6 the conclusion of the paper is presented.

2. SYSTEM CONFIGURATION
The schematic representation of grid connected PV power generation system with DC voltage droop
control is shown in Figure 1. A solar module, a grid-tied inverter that makes use of DC voltage droop control,
and a DC/DC converter that operates under maximum power point tracking control make up the components
of this system. The maximum power point tracking (MPPT) feature of the DC/DC converter makes it
possible to have accurate control over the voltage drop on the side of the DC capacitor and the frequency
fluctuation on the side of the inverter. In general, the purpose of this system is to generate power from the
solar module in a reliable manner, transmit that electricity to the grid, and maintain a steady voltage and
frequency during the entirety of its operation.

Figure 1. Main circuit diagram

2.1. Solar PV system

The mathematical equation shown in (1) can be used for the analysis of power generation in solar
PV system.

𝑃=𝜂 ∗ 𝐴 ∗ 𝐺 ∗ 𝑃𝑅 (1)

Where 𝑃 is power output in watts (𝑊), 𝜂 is panel efficiency, 𝐴 is the panel area in square meters (𝑚²), 𝐺 is
the solar irradiance in watts per square meter (𝑊/𝑚²), and 𝑃𝑅 is the performance ratio (a factor that
accounts for various losses such as temperature, shading, and soiling). The charge controller can be modelled
by (2).

𝐼
𝑉𝑐 = 𝑉𝑚𝑝 − ( ) ∗ (𝑉𝑚𝑝 − 𝑉𝑜𝑐 ) (2)
𝐼𝑚𝑝

Where 𝑉𝑐 stands for the regulated voltage, maximum voltage and current of PV is shown with 𝑉𝑚𝑝 and 𝐼𝑚𝑝 , 𝐼
for the current leaving the panel, and 𝑉𝑜𝑐 for its open-circuit voltage.

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68  ISSN: 2722-2586

2.2. Boost converter

PV power is inefficient for most loads since it generates less power. Thus, a step-up converter
boosts PV levels. This is important because the DC-DC converter or inverter's input voltage is fixed, but the
PV panel's output voltage varies with sunshine. A boost converter allows energy to flow efficiently between
solar panels and converters, maximizing power generation.
The external structure of photovoltaic module is represented by the reference voltage and current
∗ ∗
signals and at DC side are represented with 𝑈𝑝𝑣 and 𝐼𝑝𝑣 , 𝑈𝑝𝑣 and 𝐼𝑝𝑣 are voltage and current output by pv
module respectively. These reference signals are fed into a proportional integral (PI) controller as input as
shown in Figure 2. Double closed-loop controller [23] consisting of an outer voltage loop and an inner
current loop at DC side, is present in the boost DC/DC converter.

Figure 2. Controlling topology of boost converter

In the DC voltage time scale, the dynamic process of inner current loop is ignored. Thereby the
output current of the PV is expressed in (3).
𝐾𝑖
𝐼 ∗ 𝑝𝑣 = 𝐼𝑝𝑣 = (𝐾′𝑝 ) + (𝑈 ∗ 𝑝𝑣 − 𝑈𝑝𝑣 ) (3)
𝑠

The outer voltage loop is characterized by its proportional and integral coefficients, which are identified as
𝐾𝑝′ and 𝐾𝑖 , respectively. The photovoltaic module produces its greatest amount of power when operating in
conditions of constant temperature and constant light intensity. Both DC/DC converter and the photovoltaic
module's output power are constant at this operating point. Consequently, it is clear that:

∆𝑃𝑖𝑛 = 0 (4)

2.3. Grid-tied inverter

A grid-connected converter may return AC electricity from renewable sources like solar panels to
the grid. The inverter's AC output is matched to the utility grid's AC voltage and frequency by a power
conditioning unit (PCU). Voltage regulation maintains the inverter's AC output voltage at the grid voltage,
preventing voltage fluctuations that could harm equipment or poor power quality. Power factor correction
corrects the system's current-voltage imbalance, improving efficiency. Here decoupling prevents grid
frequency variations. Figure 3 shows the grid connected mode of inverter side and can be derived as (5).

𝐾
𝐼 ∗ 𝑑 = 𝐼𝑑 = −(𝑈 ∗ 𝑑𝑐 + 𝑈𝑑𝑐0 − 𝑈𝑑𝑐 ) (𝐾𝑝 + 𝑖) (5)
𝑠

where current in d-axis and q-axis in the 𝑑𝑞 coordinate system was given by 𝐼𝑑 and 𝐼𝑞 . The q-axis current
reference value is represented by 𝐼𝑞∗ and d-axis current reference value is represented by 𝐼𝑑∗ . Proportional
coefficient 𝐾𝑝 and integral coefficient 𝐾𝑖 belong to DC voltage loop. Static gain is represented by 𝑠. The
∗
variation in DC voltage is represented by 𝑈𝑑𝑐 . 𝑈𝑑𝑐0 represents DC capacitor voltage reference and 𝑈𝑑𝑐
represents measured voltage of DC capacitor. Voltage deviation at DC link can be expressed as (6).

IAES Int J Rob & Autom, Vol. 13, No. 1, March 2024: 65-79
IAES Int J Rob & Autom ISSN: 2722-2586  69
1
𝑈 ∗ 𝑑𝑐 = (𝜔𝑔 − 𝜔𝑜 ) (6)
𝐷𝑝

where 𝐷𝑝 denotes the droop coefficient of DC voltage, 𝜔𝑔 represents actual angular velocity of grid and 𝜔𝑜
represents rated angular velocity of grid.

Figure 3. Grid-connected inverter control scheme

3. DYNAMIC CHARACTER ANALYSIS OF A GRID-CONNECTED PV POWER GENERATION

SYSTEM
In this section dynamic characteristics of grid tied PV power system will be analyzed and influential
function will be summarized. Results are then used to analyze the inertia, damping and synchronous dynamic
performance of grid connected PV power generation system. The method of analyzing static stability and
instability mechanism of rotational synchronous generator (RSG) system was given in and the dynamic
process of grid-tied inverter under DC voltage control time scale is derived as (7):

𝑑 ∆𝛿
= ∆𝜔
𝑑𝑡
{ 𝑑∆ 𝑈𝑑𝑐
(1)
2𝐻 = ∆𝑃𝑖𝑛 − ∆𝑃𝑒
𝑑𝑡

where power angle of the grid is denoted by , while ω denotes the angular frequency. Voltage on the
capacitor's DC side is denoted by symbol 𝑈𝑑𝑐 .
The power that is fed into the energy transfer medium is denoted by 𝑃𝑖𝑛 . 𝑃𝑒 is output power of
system, and 𝐻 is inertial time constant that system possesses. After rewriting (7) into standard torque
equation we get:

𝑑 ∆𝛿
= ∆𝜔
𝑑𝑡
{ 𝑑∆𝜔
(2)
𝑇𝐽 = −𝑇𝑑 ∆𝜔 − 𝑇𝑠 ∆𝛿
𝑑𝑡

where 𝑇𝑗 is coefficient of inertia, 𝑇𝑑 is damping coefficient, and 𝑇𝑠 is synchronous coefficient of the SSG
model. These three characteristics are deployed in conventional stability theory to characterize the dynamic
behaviour of an SSG system. Analysis of electrical torque using the parameters 𝑇𝑗 , 𝑇𝑑 , and 𝑇𝑠 provides
information about the inverter system's capacity to mitigate inertia and achieve grid synchronization.
Grid-tied inverter's transient behavior is analyzed with the help of the SSG model before the inverter
was put into service. Single phase simplified circuit diagram for grid connected inverter is given in Figure 4.
Terminal voltage of grid-connected inverter is denoted by 𝑈𝑔 , amplitude of the grid-tied inverter excitation
potential is denoted by 𝑈𝑠 . Difference between the grid-tied inverter and grid voltage is denoted by .

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70  ISSN: 2722-2586

Figure 4. Single-phase grid-connected inverter

When analyzing and modelling grid-connected inverter systems, it is common practice to have the
system be driven in relation to the grid voltage. The grid-tied inverter's vector diagram, with zero-line
impedance and grid voltage assumed, is shown in Figure 5. Active power and active current output by the
three-phase grid-connected inverter can be calculated by (9) and (10).

3 𝑈𝑠 𝑈𝑔
𝑃𝑒 = 𝑠𝑖𝑛𝛿 (3)
2 𝑋

𝑈𝑠
𝐼𝑑 = 𝑠𝑖𝑛𝛿 (4)
𝑋

where 𝑋 is a fixed inductance that is identical to that of the grid. All the above data was used as theoretical
analysis in developing SSG model of grid tied PV system based on DC voltage droop control. This helps in
analyzing the inertia, damping, and synchronization characteristics of grid-Connected PV power systems.

Figure 5. Vector representation in 𝑑𝑞 system

These techniques provide the theoretical foundation necessary to create an SSG model of the
proposed method, complete with DC-side voltage control over the controlling droop. By incorporating (6) in
(5) we get:

1 𝐾
𝐼𝑑 = [ (𝜔𝑔 − 𝜔𝑜 ) + 𝑈𝑑𝑐𝑜 − 𝑈𝑑𝑐 ] (𝐾𝑝 + 𝑖) (5)
𝐷𝑝 𝑠

By combining (10) and (11) we get:

𝑈𝑠 1 𝐾
𝑠𝑖𝑛𝛿 = − [ (𝜔𝑔 − 𝜔𝑜 ) + 𝑈𝑑𝑐𝑜 − 𝑈𝑑𝑐 ] (𝐾𝑝 + 𝑖) (6)
𝑋 𝐷𝑝 𝑠

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IAES Int J Rob & Autom ISSN: 2722-2586  71

The relation between variables is taken in case of small disturbances for the stability analysis and (12) can be
linearized to (13).

1
𝑠𝐾∆𝛿 = −(𝑠𝐾𝑝 + 𝑘𝑖 ) ( ∆𝜔 − ∆𝑈𝑑𝑐 ) (7)
𝐷𝑝

where power angle of the grid is denoted by 𝑜 and 𝐾 is defined in (14) as:
3 𝑈𝑠
𝐾= 𝑐𝑜𝑠𝛿𝑜 (8)
2 𝑋

linearization of (9) is:

3 𝑈𝑠 𝑈𝑔
∆𝑃𝑒 = 𝑐𝑜𝑠𝛿𝑜 ∆𝛿 (9)
2 𝑋

By incorporating (4) and (15) into (7), we can obtain the expression for voltage increment as (16).
3𝐾𝑈𝑔
∆𝑈𝑑𝑐 = − ∆𝛿 (10)
4𝐻𝑠

The grid-integrated PV system's inertia and damping properties can be analyzed using the current
AC torque approach. By using (16) to (13), we are eliminating the voltage increment. This leads to the
following derivation of the SSG model for the grid-connected PV system using control of DC voltage droop
by formation of standard electric torque (8):

𝑑 ∆𝛿
= ∆𝜔
𝑑𝑡
𝐾𝑝 𝑑 2 ∆𝜔 𝐾𝑖 𝑑∆𝜔
2𝐻 + (2𝐻𝐾 + 2𝐻 ) (11)
𝐷𝑝 𝑑𝑡 2 𝐷𝑝 𝑑𝑡
3 3
{ = − 2 𝐾𝑈𝑔 𝐾𝑝 ∆𝜔 − 2 𝐾𝑈𝑔 𝐾𝑖 ∆𝛿

The rate of frequency (RoCoF) [4], which measures how much the grid frequency changes during
actual grid operation, is typically quite low. RoCoF's quadratic term in (17) can therefore be viewed as a high
order an insignificant portion and can be ignored. Consequently, in (18) we have:

𝐾𝑖 𝑑∆𝜔 3 3
2𝐻 (𝐾 + ) = − 𝐾𝑈𝑔 𝐾𝑝 ∆𝜔 − 𝐾𝑈𝑔 𝐾𝑖 ∆𝛿 (12)
𝐷𝑝 𝑑𝑡 2 2

Comparing (17) with (8), from (19) we can determine the equivalent inertia parameter 𝑇𝑗 , damping parameter
𝑇𝑑 , synchronization parameter 𝑇𝑠 i.e.:
𝐻𝐾𝑖
𝑇𝑗 = 2𝐻𝐾 + 2
𝐷𝑝
3
𝑇𝑑 = 𝐾𝑈𝑔 𝐾𝑝 (13)
2
3
{ 𝑇𝑠 = 𝐾𝑈𝑔 𝐾𝑖
2

Some examples of these significant properties under steady-state conditions are the power angle and the DC-
side capacitance. Most effective and flexible way to include a PV system is by the process of adjusting the
frequency that is coupled to the grid and to adjust the inverter control parameters. Equation (19) demonstrates
that equivalent inertia coefficient 𝑇𝑗 is affected by both droop coefficient 𝐷𝑝 and proportional integral
coefficient 𝐾𝑖 of system's moment of inertia.
The ratio coefficient 𝐾𝑝 of outer DC voltage control loop affects the system's equivalent damping
coefficient 𝑇𝑑 . Larger 𝐾𝑝 , larger 𝑇𝑑 , and stronger damping effect of the system. 𝐾𝑖 , the proportional integral
coefficient, derived from the outer DC voltage loop, influences 𝑇𝑠 which is the synchronization coefficient.
The greater the inertia of the system, the larger the DC voltage drop caused by the coupling between the DC
voltage and the grid frequency. The outer DC voltage control loop's proportional coefficient 𝐾𝑝 affects the
damping, which in turn affects the deviation law. As the amount of deviation increases, so does the damping
effect of the system. Efficiency with which the system may be synchronised increases as proportional integral
coefficient 𝐾𝑖 of the DC voltage outer loop increases.
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4. FUZZY LOGIC CONTROLLER

Fuzzy logic controllers (FLCs) have gained prominence in microgrid control due to their ability to
handle complex nonlinear relationships and uncertainties inherent in microgrid operation. The effectiveness
of FLCs depends on the establishment of well-defined and appropriate fuzzy rules. These rules form the core
of the fuzzy control strategy, translating system inputs into control outputs.
In a microgrid context, fuzzy rules are typically formulated based on a combination of expert
knowledge, system dynamics, and historical data analysis. The process of rule establishment involves
identifying key input variables, defining membership functions for each variable, and establishing fuzzy
relationships between inputs and outputs. Fuzzy controllers employ fuzzy logic to make decisions using
incomplete or unclear data. FLCs have a fuzzifier, inference engine, rule basis, and defuzzifier.
Fuzzy sets are used with fuzzy logic operators in the inference engine to provide a fuzzy result. The
term “fuzzification” refers to the process of decomposing information at the input or output of a system.
While membership functions can take the form of any curve or table, the most common shapes are triangles
and trapezoids because they are easier to represent in embedded controllers. To assess the measurable values,
we create a fuzzy rule-based expert system. When assessing the value of an organization's intellectual
property, a fuzzy linguistics approach will help in making more accurate decisions.
Aggregation is process of compiling all fuzzy sets which represent the results of each rule into
single set. Before the last defuzzification process, all output variables are aggregated once. The result of an
aggregated fuzzy set can be simplified to a single number using a technique called defuzzification. It is used
to make an inference's fuzzy outcomes clearer. To achieve defuzzification, a decision-making algorithm is
used to pick the most appropriate crisp value from a set of fuzzy solutions.
The crisp output is achieved by first reducing the combined fuzzy set to a single numerical value.
Common defuzzification strategies include the center of mass method, the maximum method, and the mean
of maximum method. Mamdani and Sugeno are two approaches to building fuzzy interface systems. The
output of the Mamdani method must be represented as fuzzy sets. Instead of using several fuzzy sets, which
can become tedious, it may be more convenient to employ a single relationship purpose of a linguistic
variable.
The Singleton output mechanism is a method that reduces the amount of processing needed in the
de-fuzzification process. whereas the Sugeno technique can be applied to the modelling of any inference
system with a linear or constant membership function at its output. Similar to the Mamdani method [24], the
first two phases of the Sugeno technique involve fuzzifying inputs and applying fuzzy operator.
With x and y represent the inputs, 𝐾, 𝐿, and 𝑀 are constants, the Sugeno method's output can be
expressed as written as 𝑂 = 𝐾𝑥 + 𝐿𝑦 + 𝑀. The resultant 𝑂 of a zero-order Sugeno model is always the
same (𝐾 = 𝐿 = 𝑀). Only the relative significance of each rule's command can determine its result. When
comparing the effectiveness of Mamdani and Sugeno models, the Sugeno method provides better results
[25].
For the proposed fuzzy controller, eigenvalues or impedance-based frequency domain techniques
could offer a rigorous assessment of stability. Eigenvalue analysis involves computing the eigenvalues of the
system matrix associated with the controller, ensuring that they all have negative real parts to confirm
stability. On the other hand, impedance-based frequency domain analysis assesses the system's response to
different frequencies of input signals, providing insights into stability characteristics across a range of
operating conditions.
In the context of fuzzy control systems, eigenvalue analysis plays a crucial role in evaluating the
ability of fuzzy controllers to maintain stability in complex and uncertain environments like microgrids.
Eigenvalue analysis can be applied to fuzzy controllers by considering the fuzzy controller as an integral part
of the overall system dynamics. The state equation of the system, which encapsulates the system's behavior,
is augmented with the fuzzy controller's control rules and membership functions. By incorporating these
analyses into the evaluation of the proposed fuzzy controller, the paper can substantiate its claim of stability,
providing a more robust and comprehensive validation of the controller's performance in the specified
application.
Figure 6 serves as the graphical representation of the complicated flowchart detailing the fuzzy logic
controller employed in this study. The DC voltage droop control methodology is an intricate process
encompassing several crucial components, including the formulation of the problem, determination of inputs
and outputs, establishment of linguistic variables and their corresponding fuzzy sets, definition of
membership functions, construction of rules, the transformation of inputs into fuzzy logic values, rule
application, and ultimately, the process of de-fuzzifying the output variable. This comprehensive approach
underscores the sophistication and precision involved in managing DC voltage droop through the application
of FLC principles.

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Figure 6. Flow chart of FLC

This methodology adeptly manages DC voltage droop, ensuring the uninterrupted operation of a
grid-tied PV power generation system, even in the face of grid disturbances and fluctuations in solar
irradiation levels. Figures 7 to 9, presented herein, respectively depict the error function, the rate of change in
error, and the output membership function, encapsulating the intricate dynamics at play in this precise control
mechanism.
Establishing fuzzy controller rules involves identifying key input and output variables like voltage
error and control action, defining membership functions like “negative big” and “negative small”. Next, “IF-
THEN” rules are constructed to capture expert knowledge or desired control strategies. These rules form the
core of the fuzzy decision-making process. For example, a rule might state, “IF voltage error is negative large
AND change in error is positive small, THEN increase duty cycle by a medium amount.” These rules map to
inverter operations by addressing different conditions like load variations and indirectly influencing design
parameters through control actions. Maintaining stability requires careful rule design to avoid oscillations,
with analysis techniques like Lyapunov stability ensuring robustness. Tuning membership functions and rule
weights might be needed to optimize performance and stability.

Figure 7. Input 1

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Figure 8. Input 2

Figure 9. Output

Table 1 contains an explanation of the FLC regulations that were applied to this study along with list
of critical simulation circuit parameters were given in Table 2. Where the inputs of the system are error (𝐸),
change in error (𝐸) and output is change in duty cycle (𝐷). The process converts input and output
variables of real crisp variables to fuzzy variables that were expressed by linguistic terms such as negative
big (NB), negative small (NS), zero (Z), positive small (PS), and positive big (PB) of above mentioned 25
fuzzy IF-Then rules.

Table 1. FLC rules

𝛥𝐷 𝛥𝐸
NB NS Z PS PB
𝐸 NB PB PB PS PS Z
NS PB PS PS Z NS
Z PS PS Z NS NS
PS PS Z NS NS NB
PB Z NS NS NB NB

Table 2. Parameters of the system

Factor Value
Capacitance at DC bus /mF 5
PV side bus capacitance /μF 100
Filter Inductance at DC side /mH 24
Voltage at Dc side /v 750
Line-line voltage of grid /V 380
Inductance of filter /mH 3
Frequency at grid /Hz 50
Reactance related to line /mH 0.5

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5. SIMULATION RESULTS
The process would involve assessing the efficiency of FLC in PV systems as shown in Figure 1
using MATLAB/Simulink 2018a. When in the simulation, operating condition is set to 𝑡 = 1 𝑠, the grid
frequency decreases by 0.2 𝐻𝑧. This is because frequency deviations can occur due to sudden changes in
load, faults in the grid, or fluctuations in power generation from sources like PV systems, which may require
grid control mechanisms to restore the desired frequency level. Simulation results show the effect of system
parameters on inertia, damping and synchronization characteristics.

5.1. Droop mechanism analysis

Figures 10 and 11 shows the simulations of a grid-connected PV system with and without droop
loop, respectively. It shows the effect of frequency deviation to form the dc voltage droop on the system.
Despite fluctuations in grid frequency, the DC/DC converter maintains a constant power output and DC
voltage for the system.

Figure 10. Effect of various parameter changes on Figure 11. Effect of various parameter changes on
system inertia system power

Frequency deviation is introduced to establish the droop loop, however, DC-side capacitor begins to
react to changes in grid's frequency. By decreasing grid frequency, capacitor's side voltage will decrease
when energy is discharged, allowing the system to produce more power. When operating with droop control,
the system allows the DC voltage (𝑈𝑑𝑐 ) to vary with time, due to the use of a droop control strategy. Droop
control adjusts the voltage level based on the load demand and power. This variation helps to maintain stable
system operation and balance power supply and demand, ensuring efficient energy distribution within the
microgrid. Droop control offers adaptability and stability by allowing voltage variations. When the system is
operating in without droop condition, the system maintains a constant DC voltage and other mechanisms,
such as voltage regulators or power electronics, are used to maintain the voltage at a set value. Without droop
control, the system may not adapt as dynamically to changes in load or power generation and may require
more active control to maintain voltage stability. This system depends on additional control mechanisms to
maintain constant voltage levels and may face challenges in responding to rapid changes in load or
generation.

5.2. Analysis of inertia characteristics by using PI and FLC

DC voltage droop control is used to design a PV system connected to the grid by keeping 𝐾𝑝 and 𝐾𝑖
constant. DC-side capacitor voltage is found to oscillate more strongly as 1/𝐷𝑝 is increased. Controlling the
voltage drop is crucial for maintaining a constant oscillation amplitude. The results of this performance
analysis of the system are shown in Figures 12 and 13, which indicate the various ranges that were used. The
following results had been obtained using a FLC for the various values of 1/𝐷𝑝 , such as 60, 80, and 100. The
results of 𝑈𝑑𝑐 for the above-mentioned values were obtained at different trough values such as 741, 737, and
734.5 V, respectively after being enhanced. In the same way, the change in Pe had been observed from
different trough values at 9.5, 10, and 10.5 kW for the same 1/𝐷𝑝 values. This results shows the

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improvement to existing PI controller which can be referred in [26]. The FLC adjusts its control settings
dynamically as 1/𝐷𝑝 increases, thereby increasing voltage oscillations and tuning active power control.
Finally, this shows that greater the 1/𝐷𝑝 , stronger will be the inertia characteristics of the system. Thereby
showing better inertia characteristic performance of system when compared by PI controller.

Figure 12. Effect of droop co-efficient 𝐷𝑝 on system Figure 13. Effect of droop co-efficient 𝐷𝑝 on system
voltage power

5.3. Analysis of damping characteristics by using PI and FLC

In simulation of grid-connected PV system regulated via droop control of DC voltage observed a
change in damping qualities of the system by changing the 𝐾𝑝 . while 1/𝐷𝑝 and 𝐾𝑖 were held constant. The
results of the performance analysis of the system are shown in Figures 14 and 15. The following results had
been obtained using a FLC for the various values of 𝐾𝑝 , such as 0.5, 0.7, and 0.9. The results of 𝑈𝑑𝑐 for the
above-mentioned values were obtained at different trough values such as 733, 735, and 737 V respectively by
using FLC. In the same way, the change in 𝑃𝑒 had been observed from different trough values at 14.5, 13, and
12 kW for the same 𝐾𝑝 values. The improvement in system performance from the existing PI controller to the
FLC is due to the fuzzy controller's adaptability. When we change 𝐾𝑝 values, the FLC adjusted its control
parameters, which reduced voltage fluctuations and improved active power control. This adaptability allowed
the fuzzy controller to keep voltage (𝑈𝑑𝑐 ) more stable and regulate active power (𝑃𝑒 ) more accurately. On
the other hand, the PI controller could not adapt as effectively to changing control parameters, leading to less
stable 𝑈𝑑𝑐 and less precise 𝑃𝑒 regulation.

Figure 14. Effect of 𝑃 controller on system voltage Figure 15. Effect of 𝑃 controller on system power

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When 𝐾𝑝 of the system is larger, then amplitude of the DC side capacitor voltage drop will be
smaller and thereby smaller will be amplitude of the voltage and power oscillations. Finally, larger 𝐾𝑝 ,
stronger the damping effect of the system. This results shows improvement to the already-existing PI
controller, which can be referred to in [26].

5.4. Analysis of synchronization characteristics using PI and FLC

Both 𝐾𝑝 and 1/𝐷𝑝 were remained steady during the simulation of a PV system connected to the
grid. The results of the performance analysis of the system are shown in Figures 16 and 17. The following
results had been obtained using a FLC for the various values of 𝐾𝑖 , such as 0.5, 0.7 and 0.9. The results of
𝑈𝑑𝑐 for the above-mentioned values were obtained at different trough values such as 726, 728, and 730 V
respectively. In the same way, the change in Pe had been observed from different trough values at 17, 16, and
14 kW for the same 𝐾𝑖 values. When we adjust 𝐾𝑖 values, the FLC tuned its control parameters, resulting in
reduced voltage fluctuations and enhanced active power control.

Figure 16. Effect of 𝐼 controller on system voltage Figure 17. Effect of 𝐼 controller on system power

When compared with system which is having PI controller [26] results are far better when using
FLC. This shows that changes in 𝐾𝑖 have a greater effect on the properties of synchronization. This flexibility
allowed the fuzzy controller to maintain a more stable voltage (𝑈𝑑𝑐 ) and achieve more accurate active power
(𝑃𝑒 ) regulation. On the other hand, the PI controller lacked this adaptability, which led to less effective
performance when control parameters changed. In conclusion, when the system is having larger 𝐾𝑖 , then the
system will be having stronger synchronization characteristics. Above all results showed that FLC surpasses
traditional proportional-integral (PI) controllers in grid-connected photovoltaic systems, offering enhanced
inertia characteristics, synchronization, and reduced oscillations. FLCs, with their ability to handle
uncertainty through linguistic variables, prove superior in optimizing system performance and stability,
making them the preferred choice for efficient renewable energy integration.

6. CONCLUSION
In grid-connected photovoltaic systems, the implementation of FLC has made it feasible to make
significant improvements in terms of both performance and total system stability. By utilizing an FLC, more
precise and dynamic control of the DC voltage drop can be achieved. In the present study, by replacing the
existing PI controller with FLC, the effect of 𝐾𝑝 , 𝐾𝑖 and 𝐷𝑝 were carried out on the following characteristics:
inertia, damping and synchronization to analyze the system performance. It can be concluded from
simulation results that the inertia characteristics of system is stronger if 1/𝐷𝑝 is larger. Similarly, the larger
value of 𝐾𝑝 and 𝐾𝑖 , the stronger will be the damping and synchronization characteristics of the system.
Finally, from simulation it is clearly observed that the FLC is superior to the PI control in terms of the overall
performances of inertia, damping and synchronization characteristics. This paper provides important
information on the possibilities of employing FLC in grid-connected photovoltaic systems, which has the
potential to significantly improve the stability of such systems when facing minor disruptions.
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BIOGRAPHIES OF AUTHORS

Mimmithi Bhanu Prakash received the Bachelor of Technology (B.Tech.)

degree in electrical and electronics engineering from Koneru Lakshmaih University (KLU) in
2019. He received the Master of Technology (M.Tech.) degree in energy systems from
Jawaharlal Nehru Technological University, Anantapur in 2022. Currently he is a research
scholar at Vellore Institute of Technology – Andhra Pradesh (VIT-AP). His research interests
include power systems, power electronics and renewable energy systems. He can be contacted
at email: [email protected]; [email protected].

Pradosh Ranjan Sahoo received the B.Tech. degree in electronics and

telecommunication engineering form Biju Patnaik University of Technology, Rourkela, India
in 2007, the M.Tech. degree in control and automation and Ph.D. degree from National
Institute of Technology Rourkela, India in 2012 and 2019 respectively. He is now associated
with the School of Electronics Engineering, VIT-AP University, Andhra Pradesh. His research
interest includes decentralized control, robust control, and time delay systems. He can be
contacted at email: [email protected].

Analysis of inertia, damping, and synchronization characteristics in … (Mimmithi Bhanu Prakash)