International Journal of Applied Power Engineering (IJAPE)

Vol. 14, No. 1, March 2025, pp. 180~187

ISSN: 2252-8792, DOI: 10.11591/ijape.v14.i1.pp180-187  180

Optimal control of the UPFC for the stability of electrical

networks

Houria Ababsia, Djalel Dib, Abdelghani Djeddi

Department of Electrical Engineering, Laboratory of Mines (LM), Larbi Tebessi University, Tebessa, Algeria

Article Info ABSTRACT

Article history: The unified power flow controller (UPFC) is a crucial element in
contemporary power systems, specifically engineered to augment the
Received Nov 13, 2023 manageability and adaptability of power transmission in electrical networks.
Revised Sep 24, 2024 UPFC provides instantaneous modifications to voltage magnitude, phase
Accepted Oct 23, 2024 angle, and line impedance by using sophisticated power electronics and
control algorithms. This research examines the function of the unified power
flow controller (UPFC) in enhancing the power quality of electrical networks.
Keywords: The UPFC's capacity to dynamically regulate and optimize power flow assists
in minimizing voltage fluctuations, decreasing transmission line losses, and
Active power improving system stability. In addition, UPFC effectively addresses problems
FACTS such as voltage sags, swells, and flickers, hence enhancing the resilience and
FO-PID controllers dependability of the power supply. This research highlights the importance of
PID controller unified power flow control (UPFC) technology in improving system
Reactive power performance and power quality of electrical networks via a thorough
UPFC examination of its applications. This article presents research on the
performance of the unified power flow controller (UPFC) device in a network,
specifically focusing on the use of PID and FO-PID controllers for regulating
active and passive power.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Djalel Dib
Department of Electrical Engineering, Laboratory of Mines (LM), Larbi Tebessi University
Tebessa, Algeria
Email: [email protected], [email protected]

1. INTRODUCTION
Advances in electrical and electronic engineering have significantly increased the reliance on
electrical energy in modern life. This increased demand creates fluctuations in the power system network,
preventing it from operating in a single stable mode. Today, a key objective for electrical engineers is to deliver
high-quality power while minimizing transmission losses [1]-[3]. The development of flexible AC transmission
system (FACTS) devices, spurred by rapid advancements in power electronics and microelectronics since the
late 1980s, has been instrumental in enhancing power system stability. These devices provide fast, dynamic
control and enable better system management, leading to improved overall performance.
Among various FACTS devices, the unified power flow controller (UPFC) is one of the most widely
adopted [4]-[6]. Due to its versatility, UPFC has been applied in diverse research objectives. Numerous studies
have explored the optimal placement of UPFC in power networks, utilizing optimization techniques such as
particle swarm optimization (PSO), FVSI, the CPF method, and PSAT software to boost voltage stability,
increase transfer capability, and reduce power losses [7]-[10]. In [11], three FACTS devices-static VAR
compensator (SVC), STATCOM, and UPFC-were analyzed and optimized to enhance the protection of wind
farms. A novel relay system was developed, demonstrating that UPFC outperforms static synchronous
compensator (STATCOM) and SVC by combining the advantages of both devices.

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Int J Appl Power Eng ISSN: 2252-8792  181

UPFC was implemented for power flow control, with results showing that it improved both
instantaneous and fluctuation stability [12], [13]. Despite its advantages, designing a UPFC controller remains
complex due to its multivariable nature. Various control strategies have been proposed to address these
challenges. For instance, PSO optimization was applied to improve PI controller gains, yielding better results
than a standalone PI controller [14], [15]. Similarly, PSO was used to determine optimal PI gains and ideal
UPFC placement, achieving enhanced system performance and loss reduction [16].
Recently, a sliding mode controller (SMC) was applied to the UPFC system in [17]. Comparative
simulations indicated that SMC outperformed traditional PI control, particularly in durability and the
independent regulation of active and reactive power. This article aims to evaluate the fractional order PID
(FOPID) control strategy for UPFC and compare it with the PID strategy, aiming to determine which approach
optimally regulates active and reactive power.

2. UNIFIED POWER FLOW CONTROLLER

The unified power flow controller (UPFC) consists of two main voltage sources: one connected in
parallel and the other in series. The parallel component, known as static synchronous compensator
(STATCOM), is connected to a series component, the static synchronous series compensator (SSSC), through
a common DC link. This configuration enables the UPFC (Figure 1) to combine the functionalities of both
STATCOM and SSSC [18]. The UPFC’s primary function is to inject an adjustable AC voltage both in
magnitude and phase into the transmission line via a series transformer. This transformer plays a crucial role
by either supplying or absorbing the real power required by the series transformer at the shared DC link. The
figures below depict the electrical model of the UPFC, illustrating how it integrates these components to control
power flow effectively [19].

Figure 1. The fundamental scheme of UPFC

3. MODELING OF THE UPFC

Figure 2 shows modeling the unified power flow controller (UPFC) involves developing a
mathematical and control framework to simulate its effects on power flow, voltage control, and system stability
in a power network. The UPFC is a complex FACTS device that consists of two interconnected converters a
shunt and a series converter linked by a common DC circuit. The UPFC’s model incorporates these elements
using differential equations and power flow equations to represent dynamic behavior under different operating
conditions. This model is crucial for simulating how the UPFC can enhance system stability, reduce power
losses, and respond effectively to network disturbances [20].

3.1. Serial model and associated equations

To model the series physical system in Figure 2 we apply Kirchhoff's second law. We then obtain the
equation in the abc frame of refer to the following form:
−𝑟 1
0 0 0 0
𝐼𝑠𝑎 𝐿 𝐼𝑠𝑎 𝐿 𝑉𝑠𝑎 −𝑉𝑐𝑎 −𝑉𝑟𝑎
𝑑 −𝑟 1
[𝐼𝑠𝑏 ] = 0 𝐿
0 [𝐼𝑠𝑏 ] + 0
𝐿
0 [𝑉𝑠𝑏 −𝑉𝑐𝑏 −𝑉𝑟𝑏 ] (1)
𝑑𝑡
𝐼𝑠𝑐 −𝑟 𝐼𝑠𝑐 1 𝑉𝑠𝑐 −𝑉𝑐𝑐 −𝑉𝑟𝑐
[0 0
𝐿 ] [0 0
𝐿]

Applying Park's transformation to the system (1) allows us to write:

Optimal control of the UPFC for the stability of electrical networks (Houria Ababsia)
182  ISSN: 2252-8792

−𝑟 1
𝑑 𝐼𝑠𝑑 +𝑤 𝐼𝑠𝑑 0 𝑉𝑠𝑑 −𝑉𝑐𝑑 −𝑉𝑟𝑑
[ ]=[ 𝐿 −𝑟 ] [𝐼 ] + [
𝐿
1] [𝑉 −𝑉𝑟𝑞 ] (2)
𝑑𝑡 𝐼𝑠𝑞 −𝑤 −𝑉𝑐𝑞
𝐿
𝑠𝑞 0 𝑠𝑞
𝐿

3.2. Shunt model et and associated equations

To model the physical system of the shunt circuit in Figure 2 we apply Kirchhoff's second law. The
equation in the abc frame of reference takes the (3).
−𝑟𝑝 1
0 0 0 0
𝐼𝑝𝑎 𝐿𝑝 𝐼𝑝𝑎 𝐿𝑝 𝑉𝑝𝑎 −𝑉𝑐𝑎 −𝑉𝑟𝑎
𝑑 −𝑟𝑝 1
[𝐼𝑝𝑏 ] = 0 𝐿𝑝
0 [𝐼𝑝𝑏 ] + 0
𝐿𝑝
0 [𝑉𝑝𝑏 −𝑉𝑐𝑏 −𝑉𝑟𝑏 ] (3)
𝑑𝑡
𝐼𝑝𝑐 −𝑟𝑝 𝐼𝑝𝑐 1 𝑉𝑝𝑐 −𝑉𝑐𝑐 −𝑉𝑟𝑐
0 0 0 0
[ 𝐿𝑝 ] [ 𝐿𝑝 ]

To convert a balanced system to a synchronous d-q-o frame, use Park's transformation. The matrix form (3) is
as (4).
−𝑟𝑝 1
𝐼𝑝𝑑 +𝑤 𝐼 0 𝑉𝑝𝑑 −𝑉𝑐𝑑 −𝑉𝑟𝑑
𝑑 𝐿𝑝 𝑝𝑑 𝐿𝑝
[ ]=[ −𝑟𝑝 ] [𝐼 ] + [ ][ ] (4)
𝑑𝑡 𝐼𝑝𝑞 1 𝑉𝑝𝑞 −𝑉𝑐𝑞 −𝑉𝑟𝑞
−𝑤 𝑝𝑞 0
𝐿𝑝 𝐿𝑝

3.3. The modeling of the UPFC keeps branching

To maintain a constant capacitor voltage, the net real power exchanged between both converters via
the DC link must be zero, as dictated by the power balance equation governing the UPFC’s input and output.
The equation describing the behavior of the DC voltage VdcV_{dc}Vdc across the capacitor is as (5).
𝑑𝑉𝑑𝑐 1
= (𝑃𝑒 − 𝑃𝑒𝑝 ) (5)
𝑑𝑡 𝐶𝑉𝑑𝑐

With:

𝑃𝑒 = 𝑣𝑐𝑎 𝑖𝑠𝑎 + 𝑣𝑐𝑏 𝑖𝑠𝑏 + 𝑣𝑐𝑐 𝑖𝑠𝑐

𝑃𝑝𝑒 = 𝑣𝑝𝑎 𝑖𝑝𝑎 + 𝑣𝑝𝑏 𝑖𝑝𝑏 + 𝑣𝑝𝑐 𝑖𝑝𝑐

with: Pe : Active power absorbed by the AC system; Pep: Active power injection using the shunt inverter AC
method. The (6) explains the DC voltage V_dc behavior across a capacitor after Park transformation.
𝑑𝑉𝑑𝑐 2
= (𝑣𝑝𝑑 𝐼𝑝𝑑 + 𝑣𝑝𝑞 𝐼𝑝𝑞 − 𝑣𝑐𝑑 𝐼𝑟𝑑 − 𝑣𝑐𝑞 𝐼𝑟𝑞 ) (6)
𝑑𝑡 2𝐶𝑉𝑑𝑐

Figure 2. The physical representation of a UPFC converter connected to the network

4. THE DESIGN OF CONTROLLERS

4.1. UPFC controller based on PID controller
Figure 3 depicts the total system setup under PID management. As seen below, the observed active
and reactive power are compared to reference values to generate P and Q errors. Two PID regulators employ
the P and Q errors to compute the Vq and Vd voltage components that the VSC will generate. (Vq in quadrature
with V1 regulates active power, whereas Vd in phase with V1 controls reactive power) [21].

Int J Appl Power Eng, Vol. 14, No. 1, March 2025: 180-187
Int J Appl Power Eng ISSN: 2252-8792  183

Figure 3. General design of UPFC system with PID control

4.2. UPFC with FOPID controller

The fractional order PID (FOPID) controller has emerged as a more flexible and efficient alternative
to the traditional PID controller in controlling the unified power flow controller (UPFC) within power systems.
Unlike the conventional PID controller, which relies on fixed-order parameters for proportional, integral, and
derivative actions, the FOPID controller introduces fractional (non-integer) orders for these terms. This
additional degree of freedom allows for more nuanced and precise tuning, making it particularly effective in
complex and dynamic systems like the UPFC. Figure 4 shows the total system setup with FOPID control.
Here’s a closer look at why the FOPID controller enhances UPFC performance:
˗ Increased tuning flexibility
˗ Enhanced robustness
˗ Improved stability and damping
˗ Superior response time
˗ Optimized control of active and reactive power
These benefits translate into more efficient, stable, and adaptable control of power flow, ultimately improving
the overall performance and reliability of the power system

Figure 4. General design of the UPFC system with FOPID control

Optimal control of the UPFC for the stability of electrical networks (Houria Ababsia)
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5. UPFC OPERATING PRINCIPLE

The series inverter injects a voltage at the same frequency as that of the network of which amplitude
and phase are adjustable. This amplitude and phase adjustment makes it possible to obtain three operating
modes of the serial part:
- Voltage control: the injected voltage is in phase with that on the source side.
- Line impedance control: The current line and the injected voltage are in quadrature. This mode allows you
to alter the line's impedance in the same way as a compensator series does.
- Phase control: the injected voltage's amplitude and phase are calculated to produce the same voltage module
before and after the UPFC.
The primary goal of these three operating modes is to regulate the active and reactive power that flows
through the line. Furthermore, the UPFC may combine several compensations and move from one operating
mode to another. The shunt part can be used to compensate for the reactive power to maintain the plan voltage
and possibly provide active power in the network by the serial part [22], [23].

6. FRACTIONAL-ORDER PID (FOPID)

Fractional integer-order FO-PID controllers are a variant of integer-order PID controllers. The
following is the basic Fractional FOPID controller:

𝐶(𝑠) = 𝐾𝑝 + 𝐾𝑖 𝑆 −𝑥 + 𝐾𝑑 𝑆 𝑦 (7)

Kp, Ki, and Kd: Represent the gains of the proportional, fractional integrator, and fractional differentiators
respectively. x and y: Represent fractional integration and differentiation orders. The correct-order PID
controller is obtained if x = y = 1, Likewise, different combinations of x and y give PI, PD, FOPI, and FOPD
controllers [24], [25]

7. RESULTS AND DISCUSSION

The objective of this study is to examine the control of active and reactive power exchange within an
electrical interconnection line using a UPFC. Specifically, we analyze a UPFC connected to a high-capacity
THT interconnection line with a transport capability of 1000 MVA. The configuration of the network under
investigation is illustrated in Figure 5. This setup provides a suitable environment to evaluate the UPFC's
effectiveness in managing power flow and enhancing stability in high-capacity transmission networks. The
PID controller and FOPID. The parameters controller are presented in Table 1.

Table 1. The parameters of the PID controller and FOPID controller

Parameters KP Ki Kd λ µ
Parameter of PID controller 4000 4500 1000 / /
Parameter of FOPID controller 4000 4500 1000 0.3 0.25

Figure 5. Equivalent circuit of a transmission system with UPFC

All results for the PID and FOPID are presented in the Figures 6-8. The results presented Figures 6-8
demonstrate that the FOPID controller provides a clear advantage over the PID controller in managing power
flow through the transmission line. The FOPID controller achieves smoother response curves, better set-point
tracking, and improved stability, resulting in more precise and consistent power flow control. As summarized
in Table 2, the FOPID controller exhibits significantly enhanced dynamic performance compared to the PID
controller, with faster rise and settling times, indicating a quicker and more stable response to changes in load
and system conditions. This superior performance makes the FOPID controller highly effective for UPFC
applications where precision and responsiveness are critical.

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Int J Appl Power Eng ISSN: 2252-8792  185

(a) (b)

Figure 6. PID regulator with (a) active power and (b) reactive power

(a) (b)

Figure 7. FOPID regulator with (a) active power and (b) reactive power

(a) (b)

Figure 8. PID and FOPID regulator with (a) active power and (b) reactive power

Table 2. Comparison of methods

Parameter Active power with PID Active power with FOPID Reactive power with PID Reactive power with FOPID
RiseTime 0.3145 0.3031 0.0050 8.1085e-04
SettlingTime 0.3782 0.3115 0.6499 0.6496
SettlingMin 898.4733 900.1147 -49.7324 -150.0071
SettlingMax 1.0399e+03 1.0471e+03 651.4553 624.3497
Overshoot 3.9913 4.7905 2.8921e+03 4.2947e+03
Undershoot 5.9667 7.0921e-28 247.3368 1.0559e+03
Peak 1.0399e+03 1.0471e+03 651.4553 624.3497

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8. CONCLUSION
In conclusion, a comparison of two control strategies the classic proportional-integral-derivative
(PID) and the fractional-order PID (FOPID) shows that the FOPID control strategy works better for system
response and overall performance than the classic PID. The fractional-order technique increases flexibility and
adaptability, allowing for more accurate control parameter adjustment to meet the system's dynamic features.
The FOPID controller outperforms the standard PID controller in terms of stability, overshoot, and settling
time.This study shows that fractional order control works well to get better results in the power system that
was looked at. It also gives us useful information for making control strategies work better in similar situations.
The FOPID controller outperforms the typical PID controller in terms of peak overshoot and settling time when
the parameter reference values vary. The results obtained showed that the proposed UPFC based on FOPID
has enhanced the power flow capacity and reduced its loss, which allows it to respond better to system changes
and leads to increased stability, which reduces the occurrence of disturbances and failures in electrical
networks. Hence, improving the performance control units lead to increased efficiency of power systems,
which reduces losses and improves resource utilization. It can also reduce maintenance and repair costs, and
increase the life of equipment. In the future and as a continuation of this work, methods for artificial intelligence
and performance analysis may be introduced. Implementation of UPFC unified power flow controller using
ANN and FLC algorithms.

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BIOGRAPHIES OF AUTHORS

Houria Ababsia is a dedicated Ph.D. candidate in Electrical Engineering at

Echahid Cheikh Larbi Tebessi University- Tebessa, Algeria. With a strong foundation in
electrical systems and a passion for innovation, she is focused on the study, modeling, and
control of a UPFC system for the performance of electrical networks. She can be contacted
at email: [email protected] or [email protected].

Djalel Dib is a full professor and currently working as a research director in the
Department of Electrical Engineering at the University of Tebessa in Algeria. He received
his Ph.D. in power systems in 2007 in Algeria and he was awarded the professor rank in
December 2015. He holds the position of research director and head of the electrical
engineering team at LABGET and LM laboratory at the University of Tebessa. He
participated in several conferences and published several papers, nowhe is a reviewer in
several journals. His research interests are: power grids, power quality, and renewable energy.
He can be contacted at email: [email protected] or [email protected].

Abdelghani Djeddi was born in Algeria in 1973, he receive the State Engineer
degree 20 1996 on Control. He was an active industrial header at the Algerian Compagny of
Electrical and Gaz ”SONELGAZ” from 1999 to 2012He has obtained his Magister degree in
2007 on control and automatic and the Ph.D. on Automatic in 2017 from University badji
Mokhtar Annaba, and he has obtained his HDR from university of Echahid Cheikh Larbi
Tebessi, Tebessa. He is an associate professor in electrical engineering at the Department of
Electrical Engineering, Faculty of Sciences and Technology, Echahid CHEIKH Larbi
Tebessi, Tebessa, Algeria. His research area of interests includes fractional calculus, the
modelling and control of nonlinear systems, the diagnosis and new reliability engineering,
fault detection and isolation in industrials process, intelligent system based on fuzzy logic.
He can be contacted at email: [email protected].

Optimal control of the UPFC for the stability of electrical networks (Houria Ababsia)