Automatic generation control of multi area thermal system using Bat algorithm optimized PD–PID cascade controller

•PD–PID Cascade controller for the first time in AGC.•BAT algorithm for optimization of controller’s parameters.•Performances of several controllers are evaluated with SLP and random load pattern.•Comparison revels that PD–PID Cascade is best.•Sensitivity analysis reveals the robustness of the optimum gains.

This article presents automatic generation control (AGC) of an interconnected multi area thermal system. The control areas are provided with single reheat turbine and generation rate constraints of 3%/min. A maiden attempt has been made to apply a Proportional derivative–Proportional integral derivative (PD–PID) cascade controller in AGC. Controller gains are optimized simultaneously using more recent and powerful evolutionary computational technique Bat algorithm (BA). Performance of classical controllers such as Proportional Integral (PI) and Proportional Integral Derivative (PID) controller are investigated and compared with PD–PID cascade controller. Investigations reveal that PI, and PID provide more or less same response where as PD–PID cascade controller provides much better response than the later. Dynamic analysis has also been carried out for the controllers in presence of random load pattern, which reveals the superior performance of the PD–PID cascade controller. Sensitivity analysis reveals that the BA optimized PD–PID Cascade controller parameters obtained at nominal condition of loading, size and position of disturbance and system parameter (Inertia constant, H) are robust and need not be reset with wide changes in system loading, size, position of disturbance and system parameters. The system dynamic performances are studied with 1% step load perturbation in Area1.

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