Journal of Robotics and Control (JRC)

Volume 4, Issue 3, May 2023

ISSN: 2715-5072, DOI: 10.18196/jrc.v4i3.17212 278

Novel PID Controller on Battery Energy Storage

Systems for Frequency Dynamics Enhancement
Muhammad Abdillah 1, Tirta Jayadiharja 2, R Harry Arjadi 3, Herlambang Setiadi 4*, Ramon Zamora 5, and Yusrizal Afif 6
1,2
Department of Electrical Engineering, Universitas Pertamina, Jakarta, Indonesia
3
Pusat Penelitian Teknologi Pengujian, Lembaga Ilmu Pengetahuan Indonesia, Tanggerang Selatan, Indonesia
4,6
Faculty of Advanced Technology and Multidiscipline, Universitas Airlangga, Surabaya, Indonesia
5
Department of Electrical Engineering, Auckland University of Technology, Auckland, New Zealand
Email: 1 [email protected], 2 [email protected], 3 [email protected],
4
[email protected], 5 [email protected], 6 [email protected]
*Corresponding Author

Abstract—Frequency dynamics is one of the important the frequency problem on multi-area and five-area AGC
aspects of power system stability. From the frequency dynamics, interconnects TGU non-reheat systems [8].
the operator could plan how is the reliability of the electricity.
The frequency can be maintained by controlling the balance The power system is tasked with maintaining a balance
between load demand and generation. To maintain the balance between power demand and power generation so that high-
of the generation, the governor is playing an important role to quality and reliable electricity is available to users [9]. To do
increase the speed of the turbine and enhance the generating that integral controller, PI control, and PID controller are used
capacity of the generator (ramp-up). However, as the speed of in the AGC. The application of integral control for AGC is
the governor is slower than the increasing load demand, in the
reported in [10]. In [10], renewable energy integration is
sub-transient area, the frequency may experience higher
overshoot. Hence, it is important to add additional devices such
considered. In addition, the integral controller is optimized
as battery energy storage systems to enhance the frequency using the auction-based algorithm. The research effort in [11],
dynamics response in the sub-transient area. One of the proposed a PID controller as the AGC controller. It is reported
important parts of storage is the controller. The controller must that the PID controller is giving satisfactory control for
make sure the storage charges and discharge energy are in the balancing the demand and production. The application of
sub-transient area. Hence PID controller can be the solution to fuzzy-PID to maintaining the balance between demand and
make the storage operate optimally This paper proposed a novel production is reported in [6]. In [6], the hydro-thermal power
PID controller on battery energy storage systems (BESS) to system is considered as the source. In addition, high voltage
enhance the dynamics performance of frequencies. The five-
direct current (HVDC) lines are also considered in the system.
area power system is used as the test system to investigate the
efficacy of the proposed novel idea. Time domain simulation is
From the simulation results, it is observed that the fuzzy-PID
investigated to see the improvement of the frequency dynamics can be used to control the hydro-thermal power plant governor
response. From the simulation results, it is found that adding a for maintaining the balance between the power and the
PID controller on BESS could enhance the BESS response and demand. The application of the 3DOF-POD controller for
result in frequency dynamics response improvement. frequency enhancements is reported in [12]. The renewable
energy power plant is considered in the system. From the
Keywords—Battery Energy Storage System; Clean Energy simulation results, it is noticeable that the proposed method
Technology; Energy Governance; Multi-area Automatic can help the system to maintain the frequency response.
Generation Control; Proportional Integral Derivative.
However, if the interconnected system is more than two areas,
I. INTRODUCTION controlling only the governor to enhance the frequency
dynamics response is out of date. Hence, it is important to add
In these modern times, the demand deviates from its additional devices that can store and release electricity power
normal state by an unpredictable small amount [1]. Therefore, in a short time [13], [14].
the system may suffer from nominal frequency deviations,
which can produce undesired effects [2]. Thermal Generating Battery energy storage systems (BESS) can be used as
Unit (TGU) needs to continuously supply electricity with additional devices that can use to enhance the frequency
increasing demand [3]. Automatic Generation Control (AGC) dynamic performance [15]. BESS can use to store and
has the role to maintain oscillation frequency and tie-line releasing energy in a short period [16]. The application of
power in unpredictable load changes[4]. The AGC controller BESS to help AGC for enhancing the frequency response of
parameter has a significant influence on the control the power system is reported in [17]. From the simulation
performance of Area Control Error (ACE), which measures results, it is noticeable that BESS can help AGC to enhance
the balance of generation with electricity demand, and the frequency performance by storing and releasing energy in
contract compliance between control areas [5]. It is called a short period. The application of BESS for frequency
secondary control and requires each control area to fulfill its regulation in islanded power systems is reported in [18]. From
demand [6]. As a result, it can maintain the nominal frequency the simulation results, it is noticeable that BESS can be used
in the system [7]. The main aim of this paper is to help to solve to regulate the frequency. It is found that the frequency has
less overshoot and faster settling time compared with the

Journal Web site: http://journal.umy.ac.id/index.php/jrc Journal Email: [email protected]

Journal of Robotics and Control (JRC) ISSN: 2715-5072 279

system that only uses AGC. Asian Development Bank (ADB) II. FUNDAMENTAL THEORY
publishes a handbook regarding the application of BESS [19]. In the electric power system, the frequency is a variable
From the book, it is reported that BESS can solve numerous that is constantly changing because it is influenced by the
problems associated with the integration of energy in large- generator and load. To stabilize the power system operation,
scale grids. However, very scant attention has been made to the frequency is always maintained according to the limit
developing the controller of BESS for enhancing the permitted. The standard operation of different frequencies
frequency dynamic response of power systems [20]. Hence, it under normal and abnormal conditions has been carried out by
is important to contribute to this area. different system operators are shown in Table I.
PID controller is one the most practical controller in
engineering applications [21]. The application of PID TABLE I. FREQUENCY QUALITY PARAMETERS IN THE SYNCHRONIC AREA
OF ALSO-E
controller for DC-DC converter controller is reported in [22].
From the results, it is noticeable that PID could provide a CE GB IRE NE
signal controller to the DC-DC converter. The research effort Nominal Frequency 50 Hz 50 Hz 50 Hz 50 Hz
in [23], tries to utilize the PID controller as the DC motor Standard Frequency ±50 ±200 ±200 ±100
Range mHz mHz mHz mHz
controller. It is found that the DC motor speed has less
overshoot and faster settling time when using the PID Maximum
±800 ±800 ±1000 ±1000
Instantaneous mHz mHz mHz mHz
controller as the controller. The application of the PID Frequency Deviation
controller as the controller of the flywheel energy storage Maximum Steady
system (FESS) is reported in [24]. From the simulation, it is ±200 ±500 ±500 ±500
State mHz mHz mHz mHz
proven that FESS with PID could provide better active power Frequency Deviation
to the grid. In addition, many industries use PID controllers Time to Recover 15
1 min 1 min 15 min
due to their simplicity and easy-to-understand structure [25]. Frequency min
Hence it is important, to add a PID controller as an additional
controller of BESS. The operating frequency standards set by the European
Network of Transmission System Operators for Electricity
This paper proposed a novel method of adding a PID (ENTSO-E) are shown in Table I. There are four synchronous
controller as an additional controller of BESS. Five areas of regions in Europe. The territory of Great Britain (GB) is
the interconnected power system are used as the test system of forming its synchronous area. In the Continental Europe (CE)
the paper. The rest of the paper is organized as follows: region are the areas of Austria, Belgium, Bosnia, Bulgaria,
Section 2 describes the fundamental theory of the paper. Croatia, Czech Republic, France, Germany, Greece,
Results and Discussion are described in Section 3. Section 4 Herzegovina, Hungary, Luxembourg, Italy, Macedonia,
highlighted the contribution and conclusion of the paper. Netherlands, Montenegro, Poland, Portugal, Romania, Serbia,
2*PI*T12/s [T12] [T12] [F12]
a12

In1 Out1

[T13] a13 [F13]

[In_1]

[T13]
[In_1]

[T14] a14 [F14]

1 In1 Out1
s Ki1 Kg Kt Kp
Tg.s+1 Tt.s+1 Tp.s+1

Governor1 Turbine1 Inertia, Load1

[Out_1] [T14]
[T15] a15 [F15]

B1 1/R1
In1 Out1
L1

[T23] a23 [F23]

[In_2]

[T15]

1 [Out_1] In1 Out1 [T24] a24 [F24]

s Ki2 Kg Kt Kp
Tg.s+1 Tt.s+1 Tp.s+1

Governor2 Turbine2 Inertia, Load2

[Out_2]
[T23] [F12]
B2 1/R2 [T25] a25 [F25]

L2 In1 Out1
[In_2]

[In_3] [T34] a34 [F34]

[T24]

In1 Out1
1
s Ki3 Kg Kt Kp
[T35] a35 [F35]
Tg.s+1 Tt.s+1 Tp.s+1

Governor3 Turbine3 Inertia, Load3

[Out_3]
[T25]

B3 1/R3
[Out_2] In1 Out1
L3 [T45] a45 [F45]

[F13]
[In_4]
[T34]
[F23]

In1 Out1
[In_3]
1
s Ki4 Kg Kt Kp
Tg.s+1 Tt.s+1 Tp.s+1

Governor4 Turbine4 Inertia, Load4 [T35]

[Out_4]

B4 1/R4 [Out_3] In1 Out1 [F14]

L4
[F24]

[F34]
[T45]
[In_5]
[In_4]

[Out_4] In1 Out1

1
s Ki5 Kg Kt Kp
[F15]
Tg.s+1 Tt.s+1 Tp.s+1 [Out_5]

Governor5 Turbine5 Inertia, Load5 [F25]

[Out_5]

[F35]
B5 1/R5

L5 [F45]
[In_5]

Fig. 1. Interconnection Model of Five Areas of Non-Reheat Thermal Generation System

Muhammad Abdillah, Novel PID Controller on Battery Energy Storage System for Frequency Dynamics Enhancement
Journal of Robotics and Control (JRC) ISSN: 2715-5072 280

Slovakia, Slovenia, Spain, Switzerland, and western 𝑑𝜔 𝑃𝑚 𝑃𝑒

𝐽𝑆 = 𝑇𝑚 − 𝑇𝑒 = − (1)
Denmark. The Inter-Nordic System (NE) is a transmission 𝑑𝑡 𝜔 𝜔
network in eastern Denmark, Finland, Norway, and Sweden.
Where 𝐽𝑆 , 𝜔, 𝑇𝑚 , 𝑇𝑒 ,𝑃𝑚 ,𝑃𝑒 , is the moment of inertia, rotor
The All-Island Irish System (IRE) is the area of the Republic
speed, mechanical torque, electrical torque, mechanic power,
of Ireland and does not include Northern Ireland.
and electrical power. (2) and (3) [39] describe the
A. Automatic Generation Control mathematical representation of inertia (3). Where S is the
The power output generated by the generator in a multi- synchronous generator's power rating output [40].
area power generation system interconnected via a power 𝐸𝑘𝑖𝑛𝑒𝑡𝑖𝑘
exchange (tie-line) must be of high quality [26]. These 𝐻= (2)
𝑆
characteristics include a stable frequency and output voltage.
A power generation system must be able to respond to load 1
𝐸𝑘𝑖𝑛𝑒𝑡𝑖𝑘 = 𝐽𝑆 𝜔2 (3)
changes by releasing the necessary power [27]. A controller 2
system is required to maintain the stability of the system When the system is made up of several interconnected
output, which is commonly referred to as AGC, to have a generators, the total inertia constant is the ratio of the kinetic
stable output of power, frequency, and voltage. AGC works energy of each generator added together [41]. Furthermore,
by adjusting the valve opening on the turbine to compensate the system output power rating influences the inertia constant.
for changes in power so that the power, frequency, and voltage As a result, referring to the total inertia can be written using
remain stable [28]. (4) [42].
In an electric power system, the generator will release two ∑𝑖 (𝐻𝑖 𝑆𝑆𝐺𝑖 )
types of power: active power and reactive power. The active 𝐻= (4)
𝑆𝑃𝑆
power on the generator causes the frequency to rise and fall in
response to changes in the active power released. To stabilize Where the system's minimum inertia can be used to solve
the frequency oscillation, a controller system that can adjust two major dynamic problems. The first issue is lowering the
the generator's output frequency is required [29]. This control rate of change of frequency (RoCof) after the perturbation
system is commonly referred to as Load Frequency Control appears. The second issue is to dampen frequency overshoot
(LFC) [30]. Changes in the active power removed from the and limit frequency nadir when there is a disturbance in the
generator are influenced by the rotor angle (δ) and the system. RoCof is the deferential frequency used to calculate
frequency value (f), while changes in the reactive power in the the system's inertia response. The system's RoCof value
generator are influenced by the voltage magnitude [31]. should be limited to ±1 Hz/s. RoCof's mathematical
representation can be described using (5) [43]. Where 𝑓0 is the
A change in the rotor angle ∆δ will cause a change in the
nominal frequency of the system.
value of the tie-line power and the output frequency. To
correct this, the rotor angle error signal must be corrected [32]. 𝑑(∆𝑓) 𝑓0 (𝑃𝑚− 𝑃𝑒 )
𝑅𝑜𝐶𝑜𝑓 = = (5)
The generator's output frequency and tie-line power will be 𝑑𝑡 2𝐻𝑆
used as input signals to the governor's valve controller [33].
The output signal at the valve will be an input to the prime III. METHOD
mover to increase or decrease torque depending on the
magnitude value of the input signal. Changes in the output A. Test System
value of the generator (∆PG ) are affected by the prime mover This study uses a multi-area AGC system. The AGC
and this condition will change the value of frequency ∆f and scheme is useful when the system load changes continuously
tie-line power ∆Ptie [34]. [44]. Therefore, the generation is customized automatically to
recover the frequency [45]. The five-area system in this study
LFC is designed based on the rotor angle setting on the is shown in Fig. 1 because most of the research in the AGC
generator. Changes in the rotor angle will be corrected so that field is concerned with the same two-area thermal system, and
the system frequency will be stable. The frequency deviation not much attention is paid to the different multi-area AGC
signal ∆f and ∆Ptie is amplified and converted into an active systems [46]. In Fig. 2, the design of the five-area AGC
signal which will be sent to the prime mover to increase torque system is modeled from the reference [47].
[35].
The transfer function of the governor shows (6).
B. Inertia Representation
To control the system frequency in a synchronous 𝐾𝑔
𝐺𝑔 (𝑠) = (6)
generator, the active power, and the resulting kinetic energy 𝑇𝑔 𝑠 + 1
function must be controlled [36]. The rotor's rotating mass
Meanwhile, the transfer function of the non-reheat turbine in
generates inertia power measured in joules-seconds (J∙s) or
(7) in (8) is the transfer function for rotating mass & load [48].
watt-seconds squared (W∙s^2) [37]. This inertia power is used
to compensate for a disturbance during the first 1-5 seconds of 𝐾𝑡
𝐺𝑡 (𝑠) = (7)
operation or when the primary and secondary controls are not 𝑇𝑡 𝑠 + 1
activated [38]. Based on the swing equation, the inertial
𝐾𝑝
response of a synchronous machine can be written as follows, 𝐺𝑝 (𝑠) = (8)
as described in (1) [31]. 𝑇𝑝 𝑠 + 1

Muhammad Abdillah, Novel PID Controller on Battery Energy Storage System for Frequency Dynamics Enhancement
Journal of Robotics and Control (JRC) ISSN: 2715-5072 281

The five-area system gets the frequency deviation equation at One of the most important performance elements of energy
(9) to (13) [49]. storage devices is their service life, this has the greatest
𝐾𝑝
influence in terms of economic efficiency [54]. In addition,
∆𝑓1 (𝑠) = [ ] [∆𝑃𝑚 (𝑠) − ∆𝑃𝐿 (𝑠) − ∆𝑃𝑇𝐿1 (𝑠)] (9) environmental friendliness is a major consideration because
𝑇𝑝 𝑠 + 1
the device is not harmful to the environment and can be
𝐾𝑝 recycled [55].
∆𝑓2 (𝑠) = [ ] [∆𝑃𝑚 (𝑠) − ∆𝑃𝐿 (𝑠) − ∆𝑃𝑇𝐿2 (𝑠)] (10)
𝑇𝑝 𝑠 + 1 Technically, BESS has proven to be able to provide
𝐾𝑝 frequency regulation [57]. BESS response times (in seconds)
∆𝑓3 (𝑠) = [ ] [∆𝑃𝑚 (𝑠) − ∆𝑃𝐿 (𝑠) − ∆𝑃𝑇𝐿3 (𝑠)] (11) are much faster than conventional power plants (typically 3-5
𝑇𝑝 𝑠 + 1
seconds). Thus, the energy policy must have the technical
𝐾𝑝 capabilities of all types of assets including BESS to be used in
∆𝑓4 (𝑠) = [ ] [∆𝑃𝑚 (𝑠) − ∆𝑃𝐿 (𝑠) − ∆𝑃𝑇𝐿4 (𝑠)] (12)
𝑇𝑝 𝑠 + 1 frequency regulation [19]. Some examples of projects
(BESS), Supercapacitor Energy Storage (SCES), Flywheel
𝐾𝑝
∆𝑓5 (𝑠) = [ ] [∆𝑃𝑚 (𝑠) − ∆𝑃𝐿 (𝑠) − ∆𝑃𝑇𝐿5 (𝑠)] (13) Energy Storage (FES), and Superconducting Magnetic Energy
𝑇𝑝 𝑠 + 1
Storage (SMES) in the real world are shown in Table II. The
Meanwhile, the tie-line power deviation equation points (14) projects mentioned are not meant for frequency setting. BESS
to (18) [50]. projects in Japan and Ireland are used to reduce fluctuations in
wind power generation [56].
2𝜋𝑇 2𝜋𝑇 2𝜋𝑇
∆𝑃𝑇𝐿1 (𝑠) = ∆𝑓1 (𝑠) − ∆𝑓2 (𝑠) + ∆𝑓1 (𝑠) − ∆𝑓3 (𝑠) + ∆𝑓1 (𝑠)
𝑠 𝑠 𝑠
2𝜋𝑇 TABLE II. REAL-WORLD ENERGY STORAGE FACILITIES AND THEIR
− ∆𝑓4 (𝑠) + ∆𝑓1 (𝑠) − ∆𝑓5 (𝑠) APPLICATIONS [56]
𝑠
(14) Name/Location Rating Application
30 MW/8
2𝜋𝑇 2𝜋𝑇 2𝜋𝑇 BES/Australia Fast frequency response
∆𝑃𝑇𝐿1 (𝑠) = ∆𝑓2 (𝑠) − ∆𝑓1 (𝑠) + ∆𝑓2 (𝑠) − ∆𝑓3 (𝑠) + ∆𝑓2 (𝑠) MWh
𝑠 𝑠 𝑠 8 MW/2
2𝜋𝑇 BES/USA Frequency regulation
− ∆𝑓4 (𝑠) + ∆𝑓2 (𝑠) − ∆𝑓5 (𝑠) MWh
𝑠
Frequency control,
(15) BES/Germany 8.5 MW/8.5
MWh spinning
2𝜋𝑇 2𝜋𝑇 2𝜋𝑇 reserve
∆𝑃𝑇𝐿1 (𝑠) = ∆𝑓3 (𝑠) − ∆𝑓1 (𝑠) + ∆𝑓3 (𝑠) − ∆𝑓2 (𝑠) + ∆𝑓3 (𝑠) Frequency control,
𝑠 𝑠 𝑠 BES/Puerto 20 MW/14
2𝜋𝑇 Rico MWh spinning
− ∆𝑓4 (𝑠) + ∆𝑓3 (𝑠) − ∆𝑓5 (𝑠) reserve
𝑠
BES/Japan 34 MW/244.8 Wind power fluctuation
(16) MWh mitigation
2𝜋𝑇 2𝜋𝑇 2𝜋𝑇 BES/USA 10 MW/40 Spinning reserve, load
∆𝑃𝑇𝐿1 (𝑠) = ∆𝑓4 (𝑠) − ∆𝑓1 (𝑠) + ∆𝑓4 (𝑠) − ∆𝑓2 (𝑠) + ∆𝑓4 (𝑠) MWh leveling
𝑠 𝑠 𝑠
2𝜋𝑇
BES/Ireland 2 MW/12 Wind power fluctuation
− ∆𝑓3 (𝑠) + ∆𝑓4 (𝑠) − ∆𝑓5 (𝑠) MWh mitigation
𝑠
3 MW/17.2
(17) SCES/China Voltage sag mitigation
kWh
2𝜋𝑇 2𝜋𝑇 2𝜋𝑇 4 MW/5.6
∆𝑃𝑇𝐿1 (𝑠) = ∆𝑓5 (𝑠) − ∆𝑓1 (𝑠) + ∆𝑓5 (𝑠) − ∆𝑓2 (𝑠) + ∆𝑓5 (𝑠) SCES/Spain Frequency stability
𝑠 𝑠 𝑠 kWh
2𝜋𝑇 Frequency regulation,
− ∆𝑓3 (𝑠) + ∆𝑓5 (𝑠) − ∆𝑓4 (𝑠) FES/USA 20 MW
𝑠 power quality
(18) FES/Japan 235 MVA High power supply to
nuclear fusion furnace
SMES/Japan 10 MW System stability, power
B
quality
Kt

Kt
1 + TT s
Kg
The BESS model shows in Fig. 3. The main important thing
-
1 + TT s
-
1 + Tg s is to examine postponing measurement, command, and
Kg Kt
converter in the model [58]. The BESS equation points to
Kp
Ʃ Ʃ
+ 1 + Tg s 1 + TT s + Tp s + 1 Δf(s)
Controller Kp
Governor
Tp s + 1
Kg
Turbine
1 + Tg s
Rotating Mass
and Load (19) [59].
Fig. 2. Non-Reheat Thermal Generation System
K p
Tp s + 1
𝐾𝐵𝐸𝑆𝑆
Δf(s)
1 + 𝑠𝑇𝑐𝑜𝑛𝑣
B. PID-based BESS
PID Controller
The performance of energy storage devices can be Command Delay
Time
Time Delay
Measurement
BESS

determined by the energy produced and their energy density

[51]. The use of energy storage can be distinguished by place Fig. 3. BESS Model
and duration of use, as determined by the technology used
𝐾𝐵𝐸𝑆𝑆
[52]. Battery technology in energy storage devices can be 𝐺𝐵𝐸𝑆𝑆 (𝑠) = (19)
distinguished based on energy density, round trip efficiency, 𝑇𝑐𝑜𝑛𝑣 𝑠 + 1
lifetime, and environmental friendliness of the device [53].

Muhammad Abdillah, Novel PID Controller on Battery Energy Storage System for Frequency Dynamics Enhancement
Journal of Robotics and Control (JRC) ISSN: 2715-5072 282

Conventional PID control is appended to the designated

𝐼𝐴𝐸 = ∫ |𝐴𝐶𝐸|𝑑𝑡 (23)
BESS (20), used to prevent active power mismatches in
energy storage systems [60].
𝐼𝑆𝐸 = ∫{𝐴𝐶𝐸}2 𝑑𝑡 (24)
1 𝑁
𝑃𝐼𝐷 𝐶𝑜𝑛𝑡𝑟𝑜𝑙 = 𝑃 (1 + 𝐼 + 𝐷 ) (20)
𝑠 1
1+𝑁 Because the ISE criterion rejects major errors more than
𝑠
The determination of the PID parameter is carried out in minor ones, it tends to eliminate major errors quickly while
several stages [61]. The first step is to determine the P retaining minor errors for long periods of time [76]. This
parameter to reduce the maximum oscillation but produces results in a fast response, but with a sufficiently large and low
continuous oscillations [62]. In the condition of the five-area amplitude, causing unwanted oscillations [77]. Because the
AGC system with the addition of BESS, the undershoot value IAE criterion aggregates errors over time and does not weight
is greater than the overshoot value [63]. Therefore, after any errors in the system response, the IAE tends to produce a
adding the P parameter, the undershoot value is greater than slower response than the ISE criterion, but with fewer
the overshoot value [64]. The second stage is to decrease the sustained oscillations [78]. The ITAE criterion incorporates
undershoot value by parameter I, causing the overshoot value errors that are multiplied by time over time, so the weight of
to increase [65]. The addition of the PI parameter has resulted the errors over time is much greater than the weight of the
in good attenuation of fluctuations, characterized by overshoot errors in the initial response [79]. The ITSE criteria provide a
and undershoot values that are smaller than the target large controller output for abrupt changes in set-point, which
operating frequency but have prolonged oscillations and are undesirable from the standpoint of controller design [80].
exceed the target time to recover frequency [66]. Therefore, IV. RESULTS AND DISCUSSION
the last step is the addition of parameter D to dampen
continuous oscillations [67]. If we look at the response In this study, a five-area AGC system simulation is
generated by each PID parameter, parameter D gets the best proposed to be carried out using MATLAB software. In the
response because it can dampen fluctuations without condition of the power plant, the thermal AGC
producing an impact [68]. However, because parameter D interconnection of five areas experiences changes in the
cannot stand alone, but must be paired with P [69]. This also electrical load with dynamic disturbances, which increase
affects parameter I, which must be paired with parameter P. frequency fluctuations. Therefore, the power frequency
Previously, the influence of the PI parameter can meet the fluctuation was reduced by BESS, with the addition of a PID,
overshoot and undershoot limits but cannot meet the time to which is used as the BESS control system to improve
recover frequency [70]. While the use of the PD parameter frequency stability better and faster. In other conditions, the
gets the opposite result, which can meet the time to recover addition of BESS requires costs for BESS purchases,
frequency and cannot meet the target undershoot value. installation, and so on. Therefore, to save costs on BESS
Therefore, the PID parameter is used to meet the target installation, a study was conducted to install one BESS in a
operating frequency [71]. five-area AGC system, based on the location of the BESS
installation area that received the best response to attenuation
C. Index Criterion of frequency fluctuations. However, each region has a
The objective function is determined in advance for the different frequency operating standard. Thus, to meet the
design of optimization techniques based on the desired frequency operating standards that have not been met by the
specifications and constraints [72]. The objective function addition of one BESS, a study was conducted on the number
used to optimize the controller parameters is typically chosen of BESS installations to reduce frequency fluctuations better
based on performance criteria that are dependent on system than one BESS. Fig. 4 show the flowchart of the research
response [73]. The desired specification in a time domain procedure.
system is the value of overshoot, rise time, settling time, and This research is carried out to improve the frequency
steady-state error [74]. stability of the multi-area AGC system, namely the non-reheat
The Integral of Time multiplied Absolute Error (ITAE) is thermal five-area AGC system, for the result of Frequency
given in equation (21), the Integral of Time multiplied Fluctuation Response of AGC can be seen in Fig. 5 and Fig.
Squared Error (ITSE) is given in equation (22), the Integral of 6. Repairs are carried out by referring to the standard operating
Absolute Error (IAE) is given in equation (23), and the frequency set by ENTSO-E. There are four operating
Integral of Squared Error (ISE) is given in equation (24) [75]. standards with two different maximum steady-state frequency
deviation values, namely the GB, IRE, and NE standards
𝐼𝑇𝐴𝐸 = ∫ 𝑡|𝐴𝐶𝐸|𝑑𝑡 (21) working at ±500 mHz. In comparison, the CE standard has a
smaller value, which has a maximum steady-state frequency
deviation value of ±200 mHz. Therefore, the target for
𝐼𝑇𝑆𝐸 = ∫ 𝑡{𝐴𝐶𝐸}2 𝑑𝑡 (22) improving frequency stability is to get a maximum steady-
state frequency deviation value of ±200 mHz or ±0.004 p.u.

Muhammad Abdillah, Novel PID Controller on Battery Energy Storage System for Frequency Dynamics Enhancement
Journal of Robotics and Control (JRC) ISSN: 2715-5072 283

Start

Installation of Single BESS

PID Control Installation
Based on Different Areas

Determining The Maximum

Undershoot and Overshoot
Values of The AGC-BESS Five
Area System

Obtaining The Maximum BESS Installation Based on

Overshoot and Undershoot Number of Areas
Values of The AGC-BESS Five
Area System

PID Control Installation

Determining The Five Area
System That Gets The Smallest
Frequency Fluctuation Overshoot
and Undershoot Values at The
Difference in BESS Installation Eliminate PID Control

No Yes
Overshoot and Undershoot Values
on The Same BESS Mounting
System?
Comparing The Range of
Frequency Fluctuations in Areas Installation Based on Number of
with The Smallest Overshoot and Areas?
Yes Undershoot Values No

Getting The BESS Mounting

The Best BESS Mounting System System with The Smallest
Fluctuation Range
Yes

Fulfill of Frequency Operating No

PID Control Installed?
Targets on The Best BESS
Mounting System? No

Yes

End

Fig. 4. Flowchart of the Paper

Fig. 5. Frequency Fluctuation Response of AGC Five Area System Fig. 6. Comparison of IRON Laying Responses to the Largest Frequency
Fluctuations

Muhammad Abdillah, Novel PID Controller on Battery Energy Storage System for Frequency Dynamics Enhancement
Journal of Robotics and Control (JRC) ISSN: 2715-5072 284

The five-area AGC system gets area 1, as the area that gets
the largest frequency fluctuation compared to other areas, as
shown in Fig. 5. Installation of BESS to improve frequency
stability in the area that has the largest frequency fluctuation,
namely in area 1, which refers to Fig. 5. This is proven by the
decrease in the value of frequency fluctuations after using
BESS and compared to before using BESS, the installation of
BESS area 1 can reduce the overshoot of maximum frequency
fluctuations from other areas, reduce the overshoot of
maximum frequency fluctuations by 20.565% and 2.014% in
the undershoot value. Meanwhile, for the installation of BESS
in area 5, the worst response in improving the frequency Fig. 10. Response of BESS PID Frequency Fluctuation in Area 4
stability of the five-area AGC system shows that the
maximum frequency fluctuation has increased after the Based on the data that has been obtained, the installation
installation of BESS, an increase in overshoot fluctuation of of 1 BESS area causes the system to get the largest overshoot
0.296%, and an undershoot fluctuation of 1.007%. For the value of 2.669e-3 p.u (50.133 Hz). While the largest
response of BESS PID in five-area can be seen in Fig. 7 to Fig. undershoot value is 1.070e-2 p.u or the frequency becomes
11, and shown in Table III for detailed results features. 49.465 Hz. Referring to Fig. 5, the installation of 5 BESS areas
got a better response than 1 area in reducing frequency
fluctuations. The maximum frequency overshoot value
obtained was 50.134 Hz (2.687e-3 pu), and the maximum
frequency undershoot value was 49.467 Hz (1.065e-2 pu).
Although the difference in the response of the installation of 1
BESS area to 5 areas is very small, it can be concluded that
the more BESS used, the better response to attenuation of
frequency fluctuations.

Fig. 7. Response of BESS PID Frequency Fluctuation in Area 1

Fig. 11. Response of BESS PID Frequency Fluctuation in Area 5

The installation of 5 BESS areas causes the system to

operate in a frequency range of 49.467 Hz to 50.134 Hz,
obtaining an Integral of Squared Error (ISE) performance
criterion of 0.269. This shows that the reduction of the
Fig. 8. Response of BESS PID Frequency Fluctuation in Area 2 undershoot of the largest frequency fluctuations must be made
better because it has not reached the expected target. The
smaller the ISE performance criteria value can eliminate
fluctuations with a large peak value. Hence, to get better
attenuation, use the PID control to set BESS. Referring to Fig.
7 to Fig. 11, the five-area AGC system with 5 BESS PID areas
received a better response than the uncontrolled BESS,
indicated by the achievement of improvement targets and
meeting the standard operating frequencies of GB, IRE, NE,
and CE. The use of 5 BESS PID areas gets an ISE performance
criterion value of 0.021, causing the system to operate in the
frequency range of 50.078 Hz to 49.857 Hz.

Fig. 9. Response of BESS PID Frequency Fluctuation in Area 3

Muhammad Abdillah, Novel PID Controller on Battery Energy Storage System for Frequency Dynamics Enhancement
Journal of Robotics and Control (JRC) ISSN: 2715-5072 285

TABLE III. DETAILED FEATURES OF FIG 7-11 the system when the PID controller is added as the additional
Overshoot Undershoot Settling controller.
(p.u) (p.u) Time (s)
Δf 1 1.982e-3 1.128e-3 26.004
V. CONCLUSIONS
Δf 2 1.798e-3 9.070e-4 20.041 This study improves the frequency stability of the AGC
Δf 3 1.654e-3 7.365e-4 16.578 for multi-area non-reheat thermal power, using BESS and PID
Δf 4 1.534e-3 5.993e-4 13.402 control. The use of BESS in multi-area AGC can smooth and
Δf 5 1.435e-3 4.899e-4 12.743 slightly dampen the frequency oscillation waves. The use of
BESS with PID control can reduce frequency fluctuations
Each region has a different standard operating frequency better. Installation of BESS is recommended in areas that have
in areas that use the standard operating frequencies of GB, the greatest frequency fluctuations because it can reduce
IRE, and NE, which is the maximum steady-state frequency frequency fluctuations in multi-area systems. The more areas
deviation value of ±500 MHz. The installation of 2 BESS PID BESS has installed, the better it can dampen frequency
areas on the five-area AGC system can meet these operating fluctuations. For further research, adding non-inertia power
standards because the system works in the frequency range of plants such as PV and wind power systems can be considered
49.531 Hz to 50.080 Hz. Fig. 10 shows the system response to investigate how the BESS could maintain the frequency of
under 4 different criterions namely ITAE, ITSE, IAE and ISE. the system under low inertia grid conditions.
While Table IV shows the detailed features of Fig. 12.
ABBREVIATION

α Area synchronization parameters

B Area frequency response characteristics
D Derivative parameters
F AGC five area system frequency
I Integral Parameters
KBESS BESS coefficient
Kg Steam governor coefficient
Ki AGC five area system integral control parameter
Kp Load coefficient
Kt Steam turbine coefficient
L Load on area
N Filter coefficient
Fig. 12. Criterion Index Figure.
P Proportional Parameters
TABLE IV. DETAILED FEATURES OF FIG 12 R Governor speed regulation
Index Value Settling Time (s) T Synchronization coefficient
ITAE 11.193 35.538 TC-De Order delay time
ITSE 0.151 22.712 Tconv Converter time
IAE 1.362 26.869 Tg Time constant steam governor
ISE 0.029 17.627
TM-De Measurement delay time
From all the results it is found that the system with BESS Tp Time constant load
has a lower frequency overshoot compared to the system Tt Time constant steam turbine
without BESS. This could have happened because BESS
APPENDIX
released and stored energy faster than the ramp-up of the
generator. Hence, in the first swings when the load disturbance Power rating: Area 1=2000 MW, Area 2=4000
occurs, BESS provides electricity to the grid. Resulting in MW, Area 3=8000 MW, Area 4=10000 MW, Area 5=12000
reducing the overshoot of the frequency. BESS could provide MW; B1=B2=B3=B4=B5=16 p.u. MW/Hz;
inertia control without getting any rotating machine when the Ki1=Ki2=Ki3=Ki4=Ki5=0,3; a12=-0,5, a13=-0,25, a14=-
disturbance occurs (it is called virtual inertia support). After 5 0,2, a15=-0,167, a23=-0,5, a24=-0,4, a25=-0,333, a34=-0,8,
seconds, the power plant starts to ramp up the generating a35=-0,667, a45=-0,833; R1= 0,04 Hz/p.u. MW, R2= 0,033
capacity to provide electricity as requested by the grid. Hz/p.u. MW, R3= 0,028 Hz/p.u. MW, R4= 0,025 Hz/p.u. MW,
R5= 0,022 Hz/p.u. MW; T=0,544; Tt=0,3 s; Tg=0,8 s; Tp=20 s;
It is also found that adding additional controllers such as Kp= 1 Hz/p.u. MW; Kg= 1 Hz/p.u. MW; Kt= 1 Hz/p.u. MW;
the PID controller at BESS could also enhance the frequency KBESS= 1; Tconv= 0,1 s; TC-De= 0,01 s; TM-De= 0,1 s; P=10; I=4;
response of the generator. This could have happened because D=5; N=100; F=50 Hz; L=0,2 p.u.
the PID controller gave more details control signals to BESS
rather than the gain controller only. If the control signals are ACKNOWLEDMENT
more detailed, the BESS could provide electricity faster. In The corresponding author would like to thanks to
addition, the BESS could also provide more detailed power to Universitas Airlangga for funding this research through

Muhammad Abdillah, Novel PID Controller on Battery Energy Storage System for Frequency Dynamics Enhancement
Journal of Robotics and Control (JRC) ISSN: 2715-5072 286

“Penelitian Dosen Pemula” grant (grant number: Power & Energy Society General Meeting, pp. 1-1, 2017, doi:
10.1109/PESGM.2017.8274506.
416/UN3.1.17/PT/2023.
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