A Novel Optimal Shunt Capacitors Placement and Sizing Technique for Cost Minimization

<div>The installation of shunt capacitors in radial distribution systems leads to reduced branch power flows, branch currents, branch power losses and voltage drops. Consequently, this results in improved voltage profiles and voltage stability margins. However, for efficient attainment of the stated benefits, the shunt capacitors ought to be installed in an optimal manner, that is, optimally sized shunt capacitors need to be installed at the optimum buses of an electrical system. This article proposes a novel approach for optimizing the placement and sizing of shunt capacitors in radial distribution systems with a focus on minimizing the cost of active power losses and shunt capacitors’ purchase, installation, operation and maintenance. To reduce the search space, hence the computation time, the prroposed approach starts the search process by arranging the buses of the radial distribution system under consideration in pairs. Thereafter, these pairs influence each other to determine the optimum total number of buses to be compensated. The proposed approach was tested on the 34- and 85-bus radial distribution systems and when the simulation results were compared with those obtained by other approaches, it was established that the developed approach was a better option because it gave the least cost.</div>

A Novel Optimal Shunt Capacitors Placement and Sizing Technique for Cost Minimization

<div>The installation of shunt capacitors in radial distribution systems leads to reduced branch power flows, branch currents, branch power losses and voltage drops. Consequently, this results in improved voltage profiles and voltage stability margins. However, for efficient attainment of the stated benefits, the shunt capacitors ought to be installed in an optimal manner, that is, optimally sized shunt capacitors need to be installed at the optimum buses of an electrical system. This article proposes a novel approach for optimizing the placement and sizing of shunt capacitors in radial distribution systems with a focus on minimizing the cost of active power losses and shunt capacitors’ purchase, installation, operation and maintenance. To reduce the search space, hence the computation time, the prroposed approach starts the search process by arranging the buses of the radial distribution system under consideration in pairs. Thereafter, these pairs influence each other to determine the optimum total number of buses to be compensated. The proposed approach was tested on the 34- and 85-bus radial distribution systems and when the simulation results were compared with those obtained by other approaches, it was established that the developed approach was a better option because it gave the least cost.</div>

Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along the sagittal direction, such as slopes and stairs. To accomplish autonomous locomotion navigation in complex environments, spinning is a fundamental yet indispensable functionality for legged robots. However, spinning behaviors of quadruped robots on uneven terrain often exhibit position drifts. Motivated by this problem, this study presents an algorithmic method to enable accurate spinning motions over uneven terrain and constrain the spinning radius of the center of mass (CoM) to be bounded within a small range to minimize the drift risks. A modified spherical foot kinematics representation is proposed to improve the foot kinematic model and rolling dynamics of the quadruped during locomotion. A CoM planner is proposed to generate a stable spinning motion based on projected stability margins. Accurate motion tracking is accomplished with linear quadratic regulator (LQR) to bind the position drift during the spinning movement. Experiments are conducted on a small-scale quadruped robot and the effectiveness of the proposed method is verified on versatile terrains including flat ground, stairs, and slopes.

Practical Design Considerations for Performance and Robustness in the Face of Uncertain Flexible Dynamics in Space Manipulators

Low frequency dynamics introduced by structural flexibility can result in considerable performance degradation and even instability in on-orbit, robotic manipulators. Although there is a wealth of literature that addresses this problem, the author has found that many advanced solutions are often precluded by practical considerations. On the other hand, classical, robust control methods are tractable for these systems if the design problem is properly constrained. This paper investigates a pragmatic engineering approach that evaluates the system’s stability margins in the face of uncertain, flexible perturbation dynamics with frequencies that lie close to or within the bandwidth of the nominal closed-loop system. The robustness of classical control strategies is studied in the context of both collocated (joint rate) and non-collocated (force/torque and vision-based) feedback. It is shown that robust stability and performance depend on the open-loop control bandwidth of the nominal control law (as designed for a simplified, rigid plant). Namely, the designed bandwidth must be constrained to be lower than the minimum flexible mode frequency of the unmodeled dynamics by a given factor. This strategy gives credence to popular heuristic methods commonly used to reduce the effect of unmodeled dynamics in complex manipulator systems.

Root locus-based stability analysis for biological systems

Background: The first objective for realizing and handling biological systems is to choose a suitable model prototype and then perform structure and parameter identification. Afterwards, a theoretical analysis is needed to understand the characteristics, abilities, and limitations of the underlying systems. Generalized Michaelis–Menten kinetics (MM) and S-systems are two well-known biochemical system theory-based models. Research on steady-state estimation of generalized MM systems is difficult because of their complex structure. Further, theoretical analysis of S-systems is still difficult because of the power-law structure, and even the estimation of steady states can be easily achieved via algebraic equations. Aim: We focus on how to flexibly use control technologies to perform deeper biological system analysis. Methods: For generalized MM systems, the root locus method (proposed by Walter R. Evans) is used to predict the direction and rate (flux) limitations of the reaction and to estimate the steady states and stability margins (relative stability). Mode analysis is additionally introduced to discuss the transient behavior and the setting time. For S-systems, the concept of root locus, mode analysis, and the converse theorem are used to predict the dynamic behavior, to estimate the setting time and to analyze the relative stability of systems. Theoretical results were examined via simulation in a Simulink/MATLAB environment. Results: Four kinds of small functional modules (a system with reversible MM kinetics, a system with a singular or nearly singular system matrix and systems with cascade or branch pathways) are used to describe the proposed strategies clearly. For the reversible MM kinetics system, we successfully predict the direction and the rate (flux) limitations of reactions and obtain the values of steady state and net flux. We observe that theoretically derived results are consistent with simulation results. Good prediction is observed ([Formula: see text]% accuracy). For the system with a (nearly) singular matrix, we demonstrate that the system is neither globally exponentially stable nor globally asymptotically stable but globally semistable. The system possesses an infinite gain margin (GM denoting how much the gain can increase before the system becomes unstable) regardless of how large or how small the values of independent variables are, but the setting time decreases and then increases or always decreases as the values of independent variables increase. For S-systems, we first demonstrate that the stability of S-systems can be determined by linearized systems via root loci, mode analysis, and block diagram-based simulation. The relevant S-systems possess infinite GM for the values of independent variables varying from zero to infinity, and the setting time increases as the values of independent variables increase. Furthermore, the branch pathway maintains oscillation until a steady state is reached, but the oscillation phenomenon does not exist in the cascade pathway because in this system, all of the root loci are located on real lines. The theoretical predictions of dynamic behavior for these two systems are consistent with the simulation results. This study provides a guideline describing how to choose suitable independent variables such that systems possess satisfactory performance for stability margins, setting time and dynamic behavior. Conclusion: The proposed root locus-based analysis can be applied to any kind of differential equation-based biological system. This research initiates a method to examine system dynamic behavior and to discuss operating principles.

Voltage instability identification with modified L-index using synchrophasor data

<p>In the prevailing open-access environment, one of the limitations for power exchanges has been voltage stability. The study of voltage stability necessitates a complete network representation. In this paper, the advantage of the dynamic behavior of generators is considered by incorporating dynamic models for generators. It has been shown dynamic models resulted in more accurate results compared to the conventional PV buses or ideal voltage source models that are used in most of the voltage stability studies. Moreover, the traditional L-index is augmented by incorporating real-time and synchronized phasor data collected from the optimally located phasor measurement units (PMU) in a wide-area measurement system (WAMS) to estimate more accurate voltage stability margins. Simulation studies carried out on IEEE 9-bus and IEEE 14-bus systems under various system conditions. It has been demonstrated that the inclusion of dynamic models and synchrophasor data from WAMS significantly improves the precision with which voltage stability analysis results are obtained.</p>

Multivariable fractional-order PID tuning by iterative non-smooth static-dynamic H∞ synthesis

This paper proposes a new method for tuning the parameters of multi-input multi-output (MIMO) fractional-order PID (FOPID) controller. The aim of the proposed method is to calculate the parameters of this controller such that the rise time and steady-state errors of the feedback system are minimized without violating the predetermined stability margins. Mathematically, this problem is formulated as maximizing the spectral norm of the open-loop transfer matrix at zero frequency subject to a constraint on the H∞ -norm of the sensitivity function. This problem is nonlinear in parameters of the MIMO FOPID, which can be solved using the iterative algorithm developed in this paper based on non-smooth H∞ synthesis.