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Zonal pricing is a well-suited mechanism to incentivize grid-supporting behavior of profit-maximizing producers and consumers operating on a large-scale power system. In zonal electricity markets, local system operators create individual price zones, which provide appropriate price signals depending on local grid conditions such as an excess or shortage of electrical energy in certain regions. In this paper, a real-time zonal pricing controller for AC power networks is presented that ensures frequency and voltage stability as well as Pareto efficiency of the resulting closed-loop equilibria. Based on a dynamic network model that takes line losses and power exchange with adjacent price zones into account, distributed continuous-time control laws are derived which require only neighbor-to-neighbor communication. Application to a real-time congestion management strategy illustrates how spatially and temporally differentiated prices enable grid-supportive operation of the participants without interventions by a superordinate control authority. Effectiveness of different zonal pricing concepts compared to an isolated grid operation is demonstrated through simulations on the IEEE-57 bus system.

Topology design is a critical task for the reliability, economic operation, and resilience of distribution systems. This paper proposes a distributionally robust optimization (DRO) model for designing the topology of a new distribution system facing random contingencies (e.g., imposed by natural disasters). The proposed DRO model optimally configures the network topology and integrates distributed generation to effectively meet the loads. Moreover, we take into account the uncertainty of contingency. Using the moment information of distribution line failures, we construct an ambiguity set of the contingency probability distribution, and minimize the expected amount of load shedding with regard to the worst-case distribution within the ambiguity set. As compared with a classical robust optimization model, the DRO model explicitly considers the contingency uncertainty and so provides a less conservative configuration, yielding a better out-of-sample performance. We recast the proposed model to facilitate the column-and-constraint generation algorithm. We demonstrate the out-of-sample performance of the proposed approach in numerical case studies.

This paper develops an efficient algorithm for the multi-period optimal dispatch of deterministic inverter-interfaced energy storage in an unbalanced distribution feeder with significant solar PV penetration. The three-phase, non-convex loss-minimization problem is formulated as a convex second order cone program (SOCP) for the dispatch of batteries in a receding-horizon fashion in order to counter against the variable renewable net-load generation. The solution of the SOCP is used to initialize a nonlinear program (NLP) in order to ensure a physically realizable solution. The phenomenon of simultaneous charging and discharging of batteries is rigorously analyzed and conditions are derived that guarantee it is avoided. Simulation scenarios are implemented with GridLab-D for the IEEE-13 and IEEE-123node test feeders and illustrate not only AC feasibility of the solution, but also near-optimal performance and solve-times within a minute.

The participation of renewable, energy storage, and resources with limited fuel inventory in electricity markets has created the need for optimal scheduling and pricing across multiple market intervals for resources with intertemporal constraints. In this paper, a new multi-period market model is proposed to enhance the efficiency of markets with such type of resources. It is also the first market design that links a forward market and a spot market through the coordination of schedule and price under the multi-period paradigm, achieving reliability, economic efficiency and dispatch-following incentives simultaneously. The forward market solves a multi-period model with a long look-ahead time horizon whereas the spot market solves a series of multi-period dispatch and pricing problems with a shorter look-ahead time horizon on a rolling basis. By using the forward schedules and opportunity costs of intertemporal constraints as a guideline, the spot market model is able to produce economically efficient dispatch solutions as well as prices that incentivize dispatch following under the perfect forecast condition. The proposed scheme is applied to the dispatch and pricing of energy storage resources. Numerical experiments show that the proposed scheme outperforms the traditional myopic method in terms of economic efficiency, dispatch following and reliability., Add proofs for properties

While energy arbitrage from energy storage can lower power system operating costs, it can also increase greenhouse gas emissions. If power system operations are conducted with the constraint that energy storage operation must not increase emissions, how does this constraint affect energy storage investment decisions? Two bi-level energy storage investment problems are considered, representing ‘philanthropic’ (profitability-constrained) and profit-maximizing storage investors (PhSI, PMSI). A MILP heuristic is developed to obtain good candidate solutions to these inherently MINLP bi-level problems. A case study is conducted on a 30% renewable system, with sensitivity analyses on the price of storage and the price of carbon emissions. Regardless of the emissions-neutrality constraint, a PhSI installs significantly more energy storage than a PMSI, increasing system flexibility. The effect of the emissions-neutrality constraint in the absence of a carbon price is to reduce the quantity of storage purchased and reduce annual system emissions ( ${\scriptstyle\sim}$ 3%), with only minor increases in overall cost ( ${\scriptstyle\sim}$ 0.1%). In cases with a carbon price, storage does not tend to increase emissions and the emissions constraint does not tend to decrease storage investment. The emissions-neutrality constraint is seen to deliver similar emissions reductions even in a system with much higher renewable penetration (46%).

To contribute to a smart grid, the unit commitment and dispatch (UCD) is a very important problem to be revisited in the future microgrid environment. In this paper, the UCD problem is studied by taking account of both traditional thermal units and distributed generation units (DGs) while considering demand response (DR) and carbon emissions trading (CET). Then, the UCD problem is reformulated as the optimal switching problem of a hybrid system. The reformulation allows convenient handling of time-dependent start-up cost for dynamic programming (DP). Afterwards, a closed-loop hierarchical operation (CLHO) algorithm is developed which is capable of producing the optimal schedule in the closed-loop behavior. Theoretical analysis is also presented to show the equivalence of the reformulation and the effectiveness of the CLHO algorithm. Finally, the closed-loop behavior and the effectiveness of the algorithm are further verified by simulation studies. It is also shown that low emission quotas and high emission trading price help reduce the total carbon emissions.

Wind power uncertainty poses significant challenges for automatic generation control (AGC) systems. It can enhance control performances to explicitly consider wind power uncertainty distributions within controller design. However, widely accepted wind uncertainties usually follow non-Gaussian distributions which may lead to complicated stochastic AGC modeling and high computational burdens. To overcome the issue, this paper presents a novel Ito-theory-based model for the stochastic control problem (SCP) of AGC systems, which reduces the computational burden of optimization considering non-Gaussian wind power uncertainty to the same scale as that for deterministic control problems. We present an Ito process model to exactly describe non-Gaussian wind power uncertainty, and then propose an SCP based on the concept of stochastic assessment functions (SAFs). Based on a convergent series expansion of the SAF, the SCP is reformulated as a certain deterministic control problem without sacrificing performance under non-Gaussian wind power uncertainty. The reformulated control problem is proven as a convex optimization which can be solved efficiently. A case study demonstrates the efficiency and accuracy of the proposed approach compared with several conventional approaches., 10 pages, 3 figures

Natural disasters, such as hurricanes, earthquakes and large wind or ice storms, typically require the repair of a large number of components in electricity distribution networks. Since power cannot be restored before these repairs have been completed, optimally scheduling the available crews to minimize the cumulative duration of the customer interruptions reduces the harm done to the affected community. Considering the radial network structure of the distribution system, this repair and restoration process can be modeled as a scheduling problem with soft precedence constraints. As a benchmark, we first formulate this problem as a time-indexed ILP with valid inequalities. Three practical methods are then proposed to solve the problem: (i) an LP-based list scheduling algorithm, (ii) a single to multi-crew repair schedule conversion algorithm, and (iii) a dispatch rule based on $\rho$-factors which can be interpreted as Component Importance Measures. We show that the first two algorithms are $2$ and $\left(2 - \frac{1}{m}\right)$ approximations respectively. We also prove that the latter two algorithms are equivalent. Numerical results validate the effectiveness of the proposed methods.

In this paper, we propose a risk-based data-driven approach to optimal power flow (DROPF) with dynamic line rating. The risk terms, including penalties for load shedding, wind generation curtailment and line overload, are embedded into the objective function. To hedge against the uncertainties on wind generation data and line rating data, we consider a distributionally robust approach. The ambiguity set is based on second-order moment and Wasserstein distance, which captures the correlations between wind generation outputs and line ratings, and is robust to data perturbation. We show that the proposed DROPF model can be reformulated as a conic program. Considering the relatively large number of constraints involved, an approximation of the proposed DROPF model is suggested, which significantly reduces the computational costs. A Wasserstein distance constrained DROPF and its tractable reformulation are also provided for practical large-scale test systems. Simulation results on the 5-bus, the IEEE 118-bus and the Polish 2736-bus test systems validate the effectiveness of the proposed models.

This paper analyzes different models for evaluating investments in Energy Storage Systems (ESS) in power systems with high penetration of Renewable Energy Sources (RES). First of all, two methodologies proposed in the literature are extended to consider ESS investment: a unit commitment model that uses the System States (SS) method of representing time; and another one that uses a representative periods (RP) method. Besides, this paper proposes two new models that improve the previous ones without a significant increase of computation time. The enhanced models are the System States Reduced Frequency Matrix (SS-RFM) model which addresses short-term energy storage more approximately than the SS method to reduce the number of constraints in the problem, and the Representative Periods with Transition Matrix and Cluster Indices (RP-TM&CI) model which guarantees some continuity between representative periods, e.g. days, and introduces long-term storage into a model originally designed only for the short term. All these models are compared using an hourly unit commitment model as benchmark. While both system state models provide an excellent representation of long-term storage, their representation of short-term storage is frequently unrealistic. The RP-TM&CI model, on the other hand, succeeds in approximating both short- and long-term storage, which leads to almost 10 times lower error in storage investment results in comparison to the other models analyzed.

Though distribution system operators have been adding more sensors to their networks, they still often lack an accurate real-time picture of the behavior of distributed energy resources such as demand responsive electric loads and residential solar generation. Such information could improve system reliability, economic efficiency, and environmental impact. Rather than installing additional, costly sensing and communication infrastructure to obtain additional real-time information, it may be possible to use existing sensing capabilities and leverage knowledge about the system to reduce the need for new infrastructure. In this paper, we disaggregate a distribution feeder's demand measurements into: 1) the demand of a population of air conditioners, and 2) the demand of the remaining loads connected to the feeder. We use an online learning algorithm, Dynamic Fixed Share (DFS), that uses the real-time distribution feeder measurements as well as models generated from historical building- and device-level data. We develop two implementations of the algorithm and conduct case studies using real demand data from households and commercial buildings to investigate the effectiveness of the algorithm. The case studies demonstrate that DFS can effectively perform online disaggregation and the choice and construction of models included in the algorithm affects its accuracy, which is comparable to that of a set of Kalman filters., 14 pages, article in press, 2018, IEEE Transactions on Power Systems

We consider using a battery storage system simultaneously for peak shaving and frequency regulation through a joint optimization framework which captures battery degradation, operational constraints and uncertainties in customer load and regulation signals. Under this framework, using real data we show the electricity bill of users can be reduced by up to 15\%. Furthermore, we demonstrate that the saving from joint optimization is often larger than the sum of the optimal savings when the battery is used for the two individual applications. A simple threshold real-time algorithm is proposed and achieves this super-linear gain. Compared to prior works that focused on using battery storage systems for single applications, our results suggest that batteries can achieve much larger economic benefits than previously thought if they jointly provide multiple services., Comment: To Appear in IEEE Transaction on Power Systems

The most common procedure to solve a linear bilevel problem in the PES community is, by far, to transform it into an equivalent single-level problem by replacing the lower level with its KKT optimality conditions. Then, the complementarity conditions are reformulated using additional binary variables and large enough constants (big-Ms) to cast the single-level problem as a mixed-integer linear program that can be solved using optimization software. In most cases, such large constants are tuned by trial and error. We show, through a counterexample, that this widely used trial-and-error approach may lead to highly suboptimal solutions. Then, further research is required to properly select big-M values to solve linear bilevel problems.

Economic dispatch and frequency regulation are typically viewed as fundamentally different problems in power systems and, hence, are typically studied separately. In this paper, we frame and study a joint problem that co- optimizes both slow timescale economic dispatch resources and fast timescale frequency regulation resources. We show how the joint problem can be decomposed without loss of optimality into slow and fast timescale sub-problems that have appealing interpretations as the economic dispatch and frequency regulation problems respectively. We solve the fast timescale sub-problem using a distributed frequency control algorithm that preserves the stability of the network during transients. We solve the slow timescale sub-problem using an efficient market mechanism that coordinates with the fast timescale sub-problem. We investigate the performance of the decomposition on the IEEE 24-bus reliability test system., Comment: Under revision

Energy storage can facilitate the integration of renewable energy resources by providing arbitrage and ancillary services. Jointly optimizing energy and ancillary services in a centralized electricity market reduces the system's operating cost and enhances the profitability of energy storage systems. However, achieving these objectives requires that storage be located and sized properly. We use a bilevel formulation to optimize the location and size of energy storage systems, which perform energy arbitrage and provide regulation services. Our model also ensures the profitability of investments in energy storage by enforcing a rate of return constraint. Computational tractability is achieved through the implementation of a primal decomposition and a subgradient-based cutting- plane method. We test the proposed approach on a 240-bus model of the Western Electricity Coordinating Council system and analyze the effects of different storage technologies, rate of return requirements, and regulation market policies on energy storage participation on the optimal storage investment decisions. We also demonstrate that the proposed approach outperforms exact methods in terms of solution quality and computational performance.

This paper proposes a methodology to identify and protect vulnerable components of connected gas and electric infrastructures from malicious attacks, and to guarantee a resilient operation by deploying valid corrective actions, while accounting for the interdependence of the gas pipeline network and power transmission network. The proposed mathematical formulation gives rise to to a trilevel optimization problem, where the lower level is a multiperiod economic dispatch of the gas–electric system and seeks operating strategies under available resources and given attack, the middle level distinguishes the most threatening attack on the coupled physical infrastructures, and the upper level provides optimal preventive decisions to reinforce the vulnerable components and increase the system resilience. By reformulating the lower level problem as a mixed integer linear programming, a nested column-and-constraint generation algorithm is developed to solve the min–max–min model. Case studies on two test systems demonstrate the effectiveness and efficiency of the proposed methodology.

Strategic bidding problems in electricity markets are widely studied in power systems, often by formulating complex bi-level optimization problems that are hard to solve. The state-of-the-art approach to solve such problems is to reformulate them as mixed-integer linear programs (MILPs). However, the computational time of such MILP reformulations grows dramatically, once the network size increases, scheduling horizon increases, or randomness is taken into consideration. In this paper, we take a fundamentally different approach and propose effective and customized convex programming tools to solve the strategic bidding problem for producers in nodal electricity markets. Our approach is inspired by the Schmudgen's Positivstellensatz Theorem in semi-algebraic geometry; but then we go through several steps based upon both convex optimization and mixed-integer programming that results in obtaining close to optimal bidding solutions, as evidenced by several numerical case studies, besides having a huge advantage on reducing computation time. While the computation time of the state-of-the-art MILP approach grows exponentially when we increase the scheduling horizon or the number of random scenarios, the computation time of our approach increases rather linearly.

The deepening penetration of renewables in power systems has contributed to the increasing needs for generation scheduling flexibility. Specifically, for short-term operations, flexibility here indicates that sufficient ramp capacities should be reserved to respond to the expected changes in the load and intermittent generation, also covering a certain amount of their uncertainty. To address the growing requirements for flexible ramp capacity, markets for ramp products have been launched in practice such as the ones in California ISO and Midcontinent ISO. Some-times, to guarantee sufficient ramp capacity, expensive fast start units have to be committed in real-time. Moreover, with higher penetration of renewable generation, the flexibility provided by the conventional units might not be enough. Actually, wind power producers are physically capable of offering flexibility, which is sometimes also economically efficient to the entire system. In this paper, we aim to explore the mechanism and possibility of including wind power producers as ramp providers to increase the supply of flexibility. To conduct the anal-yses, a two-stage stochastic real-time unit commitment model considering ramp capacity adequacy is formulated. Case studies indicate that both the system and the wind power producers can benefit if the wind power is allowed to provide flexible ramp products., Submitted to a journal

This paper addresses two vital issues which are barely discussed in the literature on robust unit commitment (RUC): 1) how much the potential operational loss could be if the realization of uncertainty is beyond the prescribed uncertainty set; 2) how large the prescribed uncertainty set should be when it is used for RUC decision making. In this regard, a robust risk-constrained unit commitment (RRUC) formulation is proposed to cope with large-scale volatile and uncertain wind generation. Differing from existing RUC formulations, the wind generation uncertainty set in RRUC is adjustable via choosing diverse levels of operational risk. By optimizing the uncertainty set, RRUC can allocate operational flexibility of power systems over spatial and temporal domains optimally, reducing operational cost in a risk-constrained manner. Moreover, since impact of wind generation realization out of the prescribed uncertainty set on operational risk is taken into account, RRUC outperforms RUC in the case of rare events. Three algorithms based on column and constraint generation (C&CG) are derived to solve the RRUC. As the proposed algorithms are quite general, they can also apply to other RUC models to improve their computational efficiency. Simulations on a modified IEEE 118-bus system demonstrate the effectiveness and efficiency of the proposed methodology, arXiv admin note: text overlap with arXiv:1510.03308

It has been shown that the heating, ventilation, and air conditioning (HVAC) systems of commercial buildings can offer ancillary services to power systems without loss of comfort. In this paper, we propose a new control framework for reliable scheduling and provision of frequency reserves by aggregations of commercial buildings. The framework incorporates energy-constrained frequency signals, which are adopted by several transmission system operators for loads and storage devices. We use a hierarchical approach with three levels: (i) reserve capacities are allocated among buildings (e.g., on a daily basis) using techniques from robust optimization, (ii) a robust model predictive controller optimizes the HVAC system consumption typically every 30 minutes, and (iii) a feedback controller adjusts the consumption to provide reserves in real time. We demonstrate how the framework can be used to estimate the reserve capacities in simulations with typical Swiss office buildings and different reserve product characteristics. Our results show that an aggregation of approximately 100 buildings suffices to meet the 5 MW minimum bid size of the Swiss reserve market., 29 pages, 8 figures, 3 tables, submitted to the IEEE Transactions on Power Systems

Optimal Power Flow (OPF) dispatches controllable generation at minimum cost subject to operational constraints on generation and transmission assets. The uncertainty and variability of intermittent renewable generation is challenging current deterministic OPF approaches. Recent formulations of OPF use chance constraints to limit the risk from renewable generation uncertainty, however, these new approaches typically assume the probability distributions which characterize the uncertainty and variability are known exactly. We formulate a Robust Chance Constrained (RCC) OPF that accounts for uncertainty in the parameters of these probability distributions by allowing them to be within an uncertainty set. The RCC OPF is solved using a cutting-plane algorithm that scales to large power systems. We demonstrate the RRC OPF on a modified model of the Bonneville Power Administration network, which includes 2209 buses and 176 controllable generators. Deterministic, chance constrained (CC), and RCC OPF formulations are compared using several metrics including cost of generation, area control error, ramping of controllable generators, and occurrence of transmission line overloads as well as the respective computational performance.

This paper considers future distribution networks featuring inverter-interfaced photovoltaic (PV) systems, and addresses the synthesis of feedback controllers that seek real- and reactive-power inverter setpoints corresponding to AC optimal power flow (OPF) solutions. The objective is to bridge the temporal gap between long-term system optimization and real-time inverter control, and enable seamless PV-owner participation without compromising system efficiency and stability. The design of the controllers is grounded on a dual epsilon-subgradient method, and semidefinite programming relaxations are advocated to bypass the non-convexity of AC OPF formulations. Global convergence of inverter output powers is analytically established for diminishing stepsize rules and strictly convex OPF costs for cases where: i) computational limits dictate asynchronous updates of the controller signals, and ii) inverter reference inputs may be updated at a faster rate than the power-output settling time. Although the focus is on PV systems, the framework naturally accommodates different types of inverter-interfaced energy resources., Comment: Accepted for publication on IEEE Transactions on Power Systems

Distribution microgrids are being challenged by reverse power flows and voltage fluctuations due to renewable generation, demand response, and electric vehicles. Advances in photovoltaic (PV) inverters offer new opportunities for reactive power management provided PV owners have the right investment incentives. In this context, reactive power compensation is considered here as an ancillary service. Accounting for the increasing time-variability of distributed generation and demand, a stochastic reactive power compensation scheme is developed. Given uncertain active power injections, an online reactive control scheme is devised. This scheme is distribution-free and relies solely on power injection data. Reactive injections are updated using the Lagrange multipliers of a second-order cone program. Numerical tests on an industrial 47-bus microgrid and the residential IEEE 123-bus feeder corroborate the reactive power management efficiency of the novel stochastic scheme over its deterministic alternative, as well as its capability to track variations in solar generation and household demand., Accepted in the IEEE Trans. on Power Systems

We establish sufficient conditions for nodal price response matrix in electric power system to be symmetric and negative (semi-)definite. The results are applicable for electricity markets with nonlinear and intertemporal constraints., Paper shortened and reformatted, some explanations added

The exceptional benefits of wind power as an environmentally responsible renewable energy resource have led to an increasing penetration of wind energy in today's power systems. This trend has started to reshape the paradigms of power system operations, as dealing with uncertainty caused by the highly intermittent and uncertain wind power becomes a significant issue. Motivated by this, we present a new framework using adaptive robust optimization for the economic dispatch of power systems with high level of wind penetration. In particular, we propose an adaptive robust optimization model for multi-period economic dispatch, and introduce the concept of dynamic uncertainty sets and methods to construct such sets to model temporal and spatial correlations of uncertainty. We also develop a simulation platform which combines the proposed robust economic dispatch model with statistical prediction tools in a rolling horizon framework. We have conducted extensive computational experiments on this platform using real wind data. The results are promising and demonstrate the benefits of our approach in terms of cost and reliability over existing robust optimization models as well as recent look-ahead dispatch models., Accepted for publication at IEEE Transactions on Power Systems

We investigate group formations and strategic behaviors of renewable power producers in electricity markets. These producers currently bid into the day-ahead market in a conservative fashion because of the real-time risk associated with not meeting their bid amount. It has been suggested in the literature that producers would bid less conservatively if they can form large groups to take advantages of spatial diversity to reduce the uncertainty in their aggregate output. We show that large groups of renewable producers would act strategically to lower the aggregate output because of market power. To maximize renewable power production, we characterize the trade-off between market power and generation uncertainty as a function of the size of the groups. We show there is a sweet spot in the sense that there exists groups that are large enough to achieve the uncertainty reduction of the grand coalition, but are small enough such that they have no significant market power.We consider both independent and correlated forecast errors under a fixed real-time penalty. We also consider a real-time market where both selling and buying of energy are allowed. We validate our claims using PJM and NREL data., To appear in IEEE Transaction on Power Systems, Special Section on Wind & Solar Energy: Uncovering and Accommodating their Impacts on Electricity Markets

We consider the problem of designing (or augmenting) an electric power system at a minimum cost such that it satisfies the N-k-e survivability criterion. This survivability criterion is a generalization of the well-known N-k criterion, and it requires that at least (1- e_j) fraction of the total demand to be met after failures of up to j components, for j=1,...,k. The network design problem adds another level of complexity to the notoriously hard contingency analysis problem, since the contingency analysis is only one of the requirements for the design optimization problem. We present a mixed-integer programming formulation of this problem that takes into account both transmission and generation expansion. We propose an algorithm that can avoid combinatorial explosion in the number of contingencies, by seeking vulnerabilities in intermediary solutions and constraining the design space accordingly. Our approach is built on our ability to identify such system vulnerabilities quickly. Our empirical studies on modified instances from the IEEE 30-bus and IEEE 57-bus systems show the effectiveness of our methods. We were able to solve the transmission and generation expansion problems for k=4 under 2 minutes, while other approaches failed to provide a solution at the end of 2 hours., Comment: arXiv admin note: substantial text overlap with arXiv:1201.1530

Deregulation of energy markets, penetration of renewables, advanced metering capabilities, and the urge for situational awareness, all call for system-wide power system state estimation (PSSE). Implementing a centralized estimator though is practically infeasible due to the complexity scale of an interconnection, the communication bottleneck in real-time monitoring, regional disclosure policies, and reliability issues. In this context, distributed PSSE methods are treated here under a unified and systematic framework. A novel algorithm is developed based on the alternating direction method of multipliers. It leverages existing PSSE solvers, respects privacy policies, exhibits low communication load, and its convergence to the centralized estimates is guaranteed even in the absence of local observability. Beyond the conventional least-squares based PSSE, the decentralized framework accommodates a robust state estimator. By exploiting interesting links to the compressive sampling advances, the latter jointly estimates the state and identifies corrupted measurements. The novel algorithms are numerically evaluated using the IEEE 14-, 118-bus, and a 4,200-bus benchmarks. Simulations demonstrate that the attainable accuracy can be reached within a few inter-area exchanges, while largest residual tests are outperformed., Comment: Revised submission to IEEE Trans. on Power Systems