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Full text available at: http://dx.doi.org/10.1561/3100000002 Toward a Unified Modeling and Control for Sustainable and Resilient Electric Energy Systems Marija D. Ilic´ Carnegie Mellon University United States [email protected] Boston — Delft Full text available at: http://dx.doi.org/10.1561/3100000002 Foundations and Trends R in Electric Energy Sys- tems Published, sold and distributed by: now Publishers Inc. PO Box 1024 Hanover, MA 02339 United States Tel. +1-781-985-4510 www.nowpublishers.com [email protected] Outside North America: now Publishers Inc. PO Box 179 2600 AD Delft The Netherlands Tel. +31-6-51115274 The preferred citation for this publication is Marija D. Ilic.´ Toward a Unified Modeling and Control for Sustainable and Resilient Electric R Energy Systems. Foundations and Trends in Electric Energy Systems, vol. 1, no. 1, pp. 1–141, 2016. R This Foundations and Trends issue was typeset in LATEX using a class file designed by Neal Parikh. Printed on acid-free paper. ISBN: 978-1-68083-227-3 c 2016 Marija D. Ilic´ All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or trans- mitted in any form or by yan means, mechanical, photocopying, recording or otherwise, without prior written permission of the publishers. Photocopying. In the USA: This journal is registered at the Copyright Clearance Center, Inc., 222 Rose- wood Drive, Danvers, MA 01923. Authorization to photocopy items for internal or personal use, or the internal or personal use of specific c lients, i s g ranted b y n ow P ublishers I nc f or u sers registered with the Copyright Clearance Center (CCC). The ‘services’ for users can be found on the internet at: www.copyright.com For those organizations that have been granted a photocopy license, a separate system of payment has been arranged. Authorization does not extend to other kinds of copying, such as that for general distribution, for advertising or promotional purposes, for creating new collective works, or for resale. In the rest of the world: Permission to photocopy must be obtained from the copyright owner. Please apply to now Pub- lishers Inc., PO Box 1024, Hanover, MA 02339, USA; Tel. +1 781 871 0245; www.nowpublishers.com; [email protected] now Publishers Inc. has an exclusive license to publish this material worldwide. Permission to use this content must be obtained from the copyright license holder. Please apply to now Publishers, PO Box 179, 2600 AD Delft, The Netherlands, www.nowpublishers.com; e-mail: [email protected] Full text available at: http://dx.doi.org/10.1561/3100000002 Foundations and Trends R in Electric Energy Systems Volume 1, Issue 1, 2016 Editorial Board Editor-in-Chief Marija D. Ilic´ Carnegie Mellon University United States Editors István Erlich Chao Lu Goran Strbac University Duisburg-Essen Tsinghua University Imperial College London David Hill Steven Low Robert J. Thomas University of Hong Kong and Caltech Cornell University University of Sydney Ram Rajagopal David Tse Daniel Kirschen Stanford University Berkeley University of Washington Lou van der Sluis Le Xie J. Zico Kolter TU Delft Texas A&M University CMU Full text available at: http://dx.doi.org/10.1561/3100000002 Editorial Scope Topics Foundations and Trends R in Electric Energy Systems publishes survey and tutorial articles on the following topics:: • Advances in power dispatch • Modern grid architecture • Demand-side and grid scale data • Power system analysis and analytics computing • Design and optimization of electric • Power system dynamics services • Power system operation • Distributed control and optimization • Power system planning of distribution networks • Distributed sensing for the grid • Power system reliability • Distribution systems • Power system transients • Fault location and service restoration • Security and privacy • Integration of physics-based and • Stability and control for the whole data-driven modeling of future multi-layer (granulated) network electric energy systems with new load models (to include storage, DR, EVs) and new • Integration of Power electronics, generation Networked FACTS • System protection and control • Integration of renewable energy sources • The new stability guidelines and control structures for supporting high • Interdependence of power system penetration of renewables operations and planning and the electricity markets • Uncertainty quantification for the grid • Microgrids: design, optimization, and stability • System impacts of HVDC Information for Librarians Foundations and Trends R in Electric Energy Systems, 2016, Volume 1, 4 issues. ISSN paper version 2332-6557. ISSN online version 2332-6565. Also available as a combined paper and online subscription. Full text available at: http://dx.doi.org/10.1561/3100000002 Foundations and Trends R in Electric Energy Systems Vol. 1, No. 1 (2016) 1–141 c 2016 Marija D. Ilic´ DOI: 10.1561/3100000002 Toward a Unified Modeling and Control for Sustainable and Resilient Electric Energy Systems Marija D. Ilic´ Carnegie Mellon University United States [email protected] Full text available at: http://dx.doi.org/10.1561/3100000002 Contents 1 Introduction 2 1.1 The key role of cyber in enabling performance of SEES 4 1.2 Major observations ..................... 7 1.3 Paper organization ..................... 8 2 Electric energy systems as social-ecological systems (SES) 15 2.1 The challenge of wicked problems ............ 16 2.2 The key role of physical and cyber grid design ...... 17 2.3 Five qualitatively different architectures .......... 17 2.4 Smart grid as an enabler of sustainable SEES ..... 20 3 Technological and social drivers of the electric energy sys- tems unbundling 22 3.1 Technological unbundling ................. 27 3.2 Cyber unbundling at value ................. 30 4 Emerging electric energy systems architectures 32 4.1 Large-scale bulk power systems (BPS) .......... 33 4.2 Hybrid electric energy systems .............. 34 4.3 Distributed electric energy systems and microgrids ... 34 ii Full text available at: http://dx.doi.org/10.1561/3100000002 iii 4.4 Next generation SCADA: Dynamic Monitoring and De- cision Systems (DyMonDS)................ 36 4.5 The quest for multi-layered system representation... 43 4.6 Toward new modeling of physical processes....... 44 5 General dynamic model of a physical grid and its structure 47 5.1 State space model of a stand-alone electric energy component ......................... 48 5.2 State space model of a stand-alone component with pri- mary controller ....................... 50 5.3 State space model of an interconnected electric energy system ............................ 50 5.4 Inherent structure of physics-based models in intercon- nected electric energy systems .............. 51 6 Unified state space modeling for multi-layered system rep- resentation 55 6.1 Unified state space model of a stand-alone component i ......................... 56 6.2 Higher-layer unified model of two interconnected com- ponents ........................... 59 7 General functional objectives in electric energy systems 61 7.1 Toward model-based multi-layered control of electric energy systems ....................... 65 7.2 Two qualitatively different cyber-physical designs for representative SEES architectures ............ 67 7.3 Two qualitatively different modeling approaches for rep- resentative SEES architectures .............. 68 8 Model-based hierarchical control for provable performance 70 8.1 Hierarchical control of a large system as a multi- temporal composite control design problem ....... 70 8.2 Sub-objective of a primary-level controller ........ 73 8.3 Sub-objective of a secondary-layer controller ...... 74 8.4 Objective of tertiary-level coordinating controller .... 76 Full text available at: http://dx.doi.org/10.1561/3100000002 iv 8.5 Important observations regarding composite control- based hierarchical control................. 78 8.6 Primary level composite control .............. 79 8.7 Hidden issues with state-of-the-art primary control design 83 9 Today’s hierarchical control of bulk power systems (BPS) 85 9.1 From physical models to information flow in today’s hi- erarchical control of electric energy systems ....... 89 9.2 The remaining challenge of making a BPS architecture resilient and efficient .................... 92 9.3 The key role of systematic cyber design to ensure re- siliency during stressed conditions ............ 93 10 Multi-layered distributed model and control design with minimal coordination 97 10.1 Beyond fully-regulated hierarchically controlled cyber architectures ........................ 98 10.2 General multi-layered interactive model in transformed state-space ......................... 100 10.3 Observations on interaction variable-based unified multi-layered distributed control .............. 105 11 Conclusions 107 Acknowledgements 112 Appendices 113 A Illustrations of concepts discussed 114 A.1 Dynamics of typical power system components in stan- dard state space form ................... 114 A.2 Synchronous machine model in standard state space form ............................. 115 A.3 Transmission line ...................... 116 A.4 Load ............................. 117 A.5 PV model and topology of inverter-controlled PV .... 117 Full text available at: http://dx.doi.org/10.1561/3100000002 v A.6 Open-loop dynamics of the PV system .......... 118 A.7 Dynamics of representative power components in trans- formed state space models ................ 120 A.8 Transformed state space model of a synchronous
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