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2016 1st International Electrical Engineering Congress (IEEC 2016)
May. 13-14, 2016 in IEP Centre, Karachi, Pakistan
1
I. INTRODUCTION
The ever-increasing variety of voltage steadiness
events worldwide has attracted lots of concerns on
the list of power electric operators. Substantial
development has become made within the research
around the implementation in the load dropping
schemes over the past few generations [1–2].
Among different countermeasures for preventing
the voltage lack of stability, load shedding is the
final therapy of defense travellers have the no
various other substitute to quit an impending
voltage failure [3]. Even so, inadequate fill
shedding has led to a variety of voltage failure
occurrence. This was because of the excess fill
being shed or bad load shed. Ultimately, this
problem has quizzed the capacity and reliability for
existing conventional fill shedding techniques.
Hence, alternative techniques must enhance the
actual reliability regarding today’s modern day,
complex, and huge strength systems. Considering
the complexity of a power method network,
researchers who seek to solve under voltage fill
shedding (UVLS) difficulties have directed
considerable awareness toward meta-heuristic
approaches. A meta- heuristic is some algorithmic
concepts which they can use to establish heuristic
approaches applicable to a wide number of
different troubles. In other words, a meta- heuristic
is usually a general-purpose algorithmic
framework that could be applied to be able to
different optimization difficulties with relatively
number of modifications [4]. Meta heuristic
algorithms are also an algorithms which in turn, in
order to escape from neighborhood optima, drive
Meta-heuristic optimization Methods for Under Voltage Load
Shedding Scheme (IEEC 2016)
Raja Masood Larik1, 2*
and Mohd.Wazir Mustafa1
1
Fakulti Kejuruteraan Elektrik, Universiti Teknologi Malaysia, Skudai, Johor Bahru.wazir@utm.my
2
Department of Electrical Engineering NED University of Engineering and Technology
Sindh,Pakistan.rmlarik@neduet.edu.pk * Corresponding author
Abstract: The aim of this paper is to provide a comparison of different Meta Heuristic Techniques used in Under
Voltage Load Shedding schemes in Power Systems. Voltage stability issue remains a major concern in the operation and
control of power systems. An Under Voltage Load Shedding can be used to protect the power system where voltage
collapse is expected and can potentially lead to a Blackout situation The particular reliability involving conventional
UVLS approaches becomes controversial when voltage fail in energy systems or blackouts take place. Conventional
UVLS approaches are demonstrated as unacceptable for current large as well as complex energy systems. So, the
beginning of meta- heuristic optimization techniques presents efficient coping with of this sort of modern energy
systems.Finally, all optimization approaches have its pros and cons. Nonetheless, the implementation of the
meta-heuristic strategies to UVLS can certainly decrease the prospect of power system problems and improve the
dependability of energy system. On the other hand, further development of such techniques is essential for feasible
practical use appropriate for online as well as real-time applications.
Keywords: Under voltage load shedding, Meta Heuristic, Voltage stability, Voltage collapse, Blackout.
1111
some essential heuristic, which can be either any
constructive heuristic originating in a null option
and adding elements to make a very good complete
a single, or a neighborhood search heuristic
originating in a complete solution and iteratively
modifying some of its elements to get a much
better one. The meta- heuristic element permits the
actual low-level heuristic to obtain solutions a lot
better than those it could possibly have achieved
alone, even if iterated. Also, the voltage profile in
the system improves as a result of efficient fill
shedding since voltage breathing difficulties are a
key pont for dropping load.
Table 1 shows a comaprision between
conventional and computational techniques which
clearly shows the differnce.Figure1 shows the flow
chart for conventional load shedding techniques
which are unable to estimate the accurate power
imbalance and take decision accordingly,while
Meta-herustic do accordingly.
This paper aims to review some
Meta-heuristic methods, In section II such as
genetic algorithm (GA) its advantages and
applications to UVLS problem.While Section III
outlines particle swarm optimization (PSO)
technique and its application in UVLS,next session
shows Ant colony optimization (ACO), section
VI fuzzy logic command (FLC), and finally the
last section discuss Big-Bang Big crunch (BB-BC)
optimization thus protecting the electricity system
by power outage situations[5].A comparision is
made in table form to summarize tha advantages
and drawbacks of discussed techniques.
Figure1. Flow chart of conventional load
shedding techniques
Table 1 Comparison features of Conventional
and Meta-Heuristic Techniques
No Feature Conventional
Technique
Meta-Heuristic
Techniques
1 Optimum
Load
shedding
Do not give
otimum load
shedding
Provide
optimum load
shedding
2 Complex
and large
Power
system
Cannot face
efficiently
with large and
complex
power
systems
Deal efficiently
with all size
and type of
Power system
3 Calculation
of Power
Imbalance
It works1112
on predefined
thershold
values only
It effectly deal
with power
imbalnce by
calculating it
accurately.
II. GENETIC ALGORITHM
Genetic algorithm (GA) application in
load shedding is global otimization technique for
solving non-linear,multi-objective problems
introduced by John Henery Holland at University
of Michigan in 1975 [6].GA involves three types
of operators namely ,sleection,crossover and
mutation.GA also has some application in load
shedding problems. Sanaye-Pasand and
Davarpanah [7] applied a genetic algorithm for
load shedding applications in power systems. The
database for load shedding problems was obtained
from a power flow study and was successfully
implemented on the IEEE 30-bus system. Another
GA based load shedding technique that considers
the load shedding from each bus is proposed in [8].
The implementation of GA to solve UVLS in [9]
considered the load shed at each of the bus
voltages in the IEEE 30-bus test system. Alongside
GA, PSO is applied to solve generator outage and
line outage cases for result validation .However,
the study found that PSO has faster Computation
time than GA in finding the solution for the
optimum amount of load to shed, but the fewer
loads to shed in abnormal cases and produced more
accurate results in all cases by using GA
Technique. The main drawback of genetic
algorithms which restricts its implementation in
real-time application is its slow response.
III. PARTICLE SWARM OPTIMIZATION
Kennedy and Eberhart introduced the
PSO technique in 1995, inspired by the social
behavior of organisms as birds flocking and
fish schooling [10].PSO has been proved as a
robust and fast technique in solving non-linear,
multi-objective problems. PSO has been well
implemented in UVLS Studies with an
objective function of identifying the Maximum
loading point or collapse point, aside from the
minimization of the service interruption cost
[11]. This approach is based on the concept of
the static stability margin and its sensitivity
value at the maximum loading point. The
voltage stability criterion is modeled as a soft
constraint into the load shedding scheme. This
method was implemented on the IEEE 14-bus
system.PSO can identify the global optimum
solution more quickly its convergence time is
less so more suitable for on line applications
IV. ANT COLONY OPTIMIZATION
ACO [12] is a meta-heuristic way of
solving tough combinatorial optimization
problems. This pheromone traillaying and
following habits of actual ants, designed to use
1113
pheromones as being a communication choice,
inspired the development associated with ACO. In
an analogy to the biological case in point, ACO
will depend on indirect communication within a
colony associated with simple providers, called
(artificial) ants, mediated by means of (artificial)
pheromone hiking trails. The pheromone hiking
trails in ACO work as distributed numerical data,
in that your ants are used to assemble probabilistic
methods to the difficulty being sorted out and
adapt because of their search practical knowledge
during algorithm execution [13].
V. BIG BANG BIG CRUNCH FOR
UVLS
Newly come forth optimization te
chnique known as the BB-BC algorithm is just
like the GA because it creates a preliminary
population randomly [14]. The creation from th
e initial population is known as the big-bang p
hase. In this specific phase, the candidate solut
ions tend to be spread uniformly above the sea
rch living space. The big-bang phase is then t
he big-crunch phase. The big-crunch can be a
convergence operator containing several advices
but one output as well as center involving m
ass. The idea of “mass” identifies the inverse f
rom the fitness functionality value.
In reference [15], optimal dimensions of Acco
mmodating AC Transmissions (FACTS) to furt
her improve the voltage stability limit in additi
on to voltage user profile, as well concerning
minimize real power deficits are confirmed. Th
e voltage stability limit development and real p
ower damage minimization tend to be tested fo
r the standard IEEE 30-bus method under stan
dard and N-1 line outage contingency conditio
ns.
VI. FUZZY LOGIC BASED FOR
UVLS
Fuzzy Logic (FL) is a mathematical tool
befitting modeling a system that will be too
complicated and vaguely described by
mathematical formulation. FL may be widely
employed in nearly all part of your power
technique. Many experts have employed FLC
intended for load reducing application. A unclear
controller may be used intended for intelligent
weight shedding to produce vulnerability control
inside a grid-connected power system [16]. The
FLC done accurate weight shedding on the IEEE
300-bus check system throughout contingencies.
The fuzzy reason application intended for
preventing voltage fall by reducing weak weight
buses will be presented throughout [17]. The
technique was tested on the Ward-Hale 6-bus
system and the IEEE 15, 30, along with 57-bus
methods. The simulation final results show the
FLC technique is usually implemented on the
system associated with any sizing. Sallam along
with Khafaga [18] employed FLC intended for
load shedding to obtain voltage stability in the
IEEE 14-bus technique. Simulation final results
show in which load shedding with all the fuzzy
reason controller stabilized the device and
refurbished the voltage to your nominal worth.
Table 2 advantages and disadvantages of
Meta-Heruistic Techniques
S.NO Technique Advantages Disadvantages
1 GA GA is global
optimization
technique for
solving
non-linear
multi-objective
problems
GA respose is
slow
2 PSO PSO is faster
and have the
ability to find
optimum value
PSO is easily
interrupted by
partial
optimization
3 FLC FLC may be
used on large
power systems
The membership
parameters of
FLC require prior
information
4 BB-BC Ability to
solve probles
that depends
on large
number of
variables
It is
nature-inspired
algorithm
5 ACO Can be use in
Dynamic
applications,its
convergence is
guranteed
Time of
convergence is
uncertain.very
complicated
coding
ACKNOWLEDGMENT
The authors would like to thanks NED University
of Engineering and Technology Sindh, Pakistan.
For providing financial support and Universiti
Teknologi Malaysia for providing Research
facilities.
VI. CONCLUSIONS
Load shedding schemes are initiated in order to
relieve system overload and correct the declining
system voltage. With the numerous developments
of meta- heuristics methods for the purpose of
finding optimized load shed amount signifies its
importance for the stable and reliable power
system operations globally. More advanced
simulations are required in order to further prove
the comparison studies of the proposed methods
for a large power system network. It can be
concluded that implementation of meta heuristic
methods for UVLS can reduce the possibility of
Blackouts, and enhance the power system’s
reliability. It is clear from table2 that each
technique have some advantages and some
drawbacks. However further development for
hybridization of these techniques will assured the
Power System security .The under voltage problem
can be reformulated in the future by other UVLS
techniques implemented by optimization methods
REFERENCES
[1] Taylor, C.W., Erickson, E.C., Martin, K.E., Wilson,
R.E. Ventakatasubramaniam, “WASC- wide area
stability and voltage control system: R&D and online
demonstration”, Proc. IEEE,2005, 93, pp. 892- 906
[2] Gao, B., Morison, G.K., Kundur, P.: ‘Voltage
stability evaluation Using modal analysis’, IEEE Trans.
Power Syst., 1992, 7, pp. 529–1542.
[3] Cutsem, T.V. Voltage instability: phenomena,
countermeasures and analysis methods”, Proc. IEEE,
2000, 88, pp. 208–227.
[4] M. Dorigo, luca M. G., " Ant Colony system: A
Cooperative learning approach to the Travelling
Salesman Problem”,IEEE transaction on evolutionary
computation, Vol. 1, No. 1, 1997.
1115
[5] R. Verayiah, A. Mohamed, H.Shareef, I. Z. Abidin,
“Review of Under-voltage Load Shedding Schemes in
Power System Operation” PRZEGLĄD
ELEKTROTECHNICZNY, 2014, 90, pp.99 -103
[6] Holland John Henery.Application in natural and
artifical systems:an introductory anaylsis with
application to bilology control and artifical
intelligence.5th ed.United States of America:University
of Michigan Press;1975
[7] Sanaye-Pasand M, Davarpanah M. A new adaptive
multidimensional load shedding scheme using genetic
algorithm. Canadian Conf on Electr Comput Eng
2005:1974–7.
[8] Rad BF, Abedi M. An optimal load-shedding scheme
during contingency situations using meta-heuristics
algorithms with application of AHP method. Int Conf
Optimiz Electr Electron Equip 2008:167–73.
[9] B. F. Rad and M. Abedi, "An optimal load-shedding
scheme during contingency situations using
meta-heuristics algorithms with application of AHP
method," in 11th International Conference on
Optimization of Electrical and Electronic Equipment,
OPTIM 2008, pp. 167-173.
[10] Kennedy J, Eberhart R. Particle swarm
optimization. IEEE Int Conf Neural
Networks 1995:1942–8.
[11] Amraee, T. Mozafari, B., Ranjbar, A.M., “An
improved model for optimal under voltage load
shedding: particle swarm approach”, in IEEE Power
India Conference, India, 2006.
[12] M. Dorigo and G. Di Caro. The Ant Colony
Optimization metaheuristic. New Ideas in Optimization,
pages 11–32: McGraw Hill, London, UK, 1999).
[13] M. Dorigo, L. M. Gambardella, M. Middendorf, T.
St¨utzle, “ Ant Algorithms and Swarm Intelligence”,
Special issue on IEEE Transactions on Evolutionary
Computation, 2002.
[l4] Erol OK, Eksin I, “A new optimization method: Big
Bang-Big Crunch.”, Adv Eng Softw 2006; vol
37:106–11.
[15] S. Sakthivel , D. Mary. “Big Bang-Big Crunch
Algorithm for Voltage Stability Limit Improvement by
Coordinated Control of SVC Settings”, Research
Journal of Applied Sciences, Engineering and
Technology, vol 6(7): 1209-1217, 2013.
[16] Haidar AMA, Mohamed A, Hussain A.
“Vulnerability control of large scale interconnected
power system using neuro-fuzzy load leadding
approach”, Exp Syst Appl 2010;37:3171–6.
[17] Sasikala J, Ramaswamy M., “Fuzzy based load
shedding strategies for avoiding voltage collapse”, Appl
Soft Comput 2011; vol 11:3179–85.
[18] Sallam AA, Khafaga AM. Fuzzy expert system
using load shedding for voltage instability control. Eng
Syst Conf Power Eng 2002:125–32.

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Meta-heuristic optimization Methods for Under Voltage Load Shedding Scheme (IEEC 2016)

  • 1. 2016 1st International Electrical Engineering Congress (IEEC 2016) May. 13-14, 2016 in IEP Centre, Karachi, Pakistan 1 I. INTRODUCTION The ever-increasing variety of voltage steadiness events worldwide has attracted lots of concerns on the list of power electric operators. Substantial development has become made within the research around the implementation in the load dropping schemes over the past few generations [1–2]. Among different countermeasures for preventing the voltage lack of stability, load shedding is the final therapy of defense travellers have the no various other substitute to quit an impending voltage failure [3]. Even so, inadequate fill shedding has led to a variety of voltage failure occurrence. This was because of the excess fill being shed or bad load shed. Ultimately, this problem has quizzed the capacity and reliability for existing conventional fill shedding techniques. Hence, alternative techniques must enhance the actual reliability regarding today’s modern day, complex, and huge strength systems. Considering the complexity of a power method network, researchers who seek to solve under voltage fill shedding (UVLS) difficulties have directed considerable awareness toward meta-heuristic approaches. A meta- heuristic is some algorithmic concepts which they can use to establish heuristic approaches applicable to a wide number of different troubles. In other words, a meta- heuristic is usually a general-purpose algorithmic framework that could be applied to be able to different optimization difficulties with relatively number of modifications [4]. Meta heuristic algorithms are also an algorithms which in turn, in order to escape from neighborhood optima, drive Meta-heuristic optimization Methods for Under Voltage Load Shedding Scheme (IEEC 2016) Raja Masood Larik1, 2* and Mohd.Wazir Mustafa1 1 Fakulti Kejuruteraan Elektrik, Universiti Teknologi Malaysia, Skudai, Johor Bahru.wazir@utm.my 2 Department of Electrical Engineering NED University of Engineering and Technology Sindh,Pakistan.rmlarik@neduet.edu.pk * Corresponding author Abstract: The aim of this paper is to provide a comparison of different Meta Heuristic Techniques used in Under Voltage Load Shedding schemes in Power Systems. Voltage stability issue remains a major concern in the operation and control of power systems. An Under Voltage Load Shedding can be used to protect the power system where voltage collapse is expected and can potentially lead to a Blackout situation The particular reliability involving conventional UVLS approaches becomes controversial when voltage fail in energy systems or blackouts take place. Conventional UVLS approaches are demonstrated as unacceptable for current large as well as complex energy systems. So, the beginning of meta- heuristic optimization techniques presents efficient coping with of this sort of modern energy systems.Finally, all optimization approaches have its pros and cons. Nonetheless, the implementation of the meta-heuristic strategies to UVLS can certainly decrease the prospect of power system problems and improve the dependability of energy system. On the other hand, further development of such techniques is essential for feasible practical use appropriate for online as well as real-time applications. Keywords: Under voltage load shedding, Meta Heuristic, Voltage stability, Voltage collapse, Blackout.
  • 2. 1111 some essential heuristic, which can be either any constructive heuristic originating in a null option and adding elements to make a very good complete a single, or a neighborhood search heuristic originating in a complete solution and iteratively modifying some of its elements to get a much better one. The meta- heuristic element permits the actual low-level heuristic to obtain solutions a lot better than those it could possibly have achieved alone, even if iterated. Also, the voltage profile in the system improves as a result of efficient fill shedding since voltage breathing difficulties are a key pont for dropping load. Table 1 shows a comaprision between conventional and computational techniques which clearly shows the differnce.Figure1 shows the flow chart for conventional load shedding techniques which are unable to estimate the accurate power imbalance and take decision accordingly,while Meta-herustic do accordingly. This paper aims to review some Meta-heuristic methods, In section II such as genetic algorithm (GA) its advantages and applications to UVLS problem.While Section III outlines particle swarm optimization (PSO) technique and its application in UVLS,next session shows Ant colony optimization (ACO), section VI fuzzy logic command (FLC), and finally the last section discuss Big-Bang Big crunch (BB-BC) optimization thus protecting the electricity system by power outage situations[5].A comparision is made in table form to summarize tha advantages and drawbacks of discussed techniques. Figure1. Flow chart of conventional load shedding techniques
  • 3. Table 1 Comparison features of Conventional and Meta-Heuristic Techniques No Feature Conventional Technique Meta-Heuristic Techniques 1 Optimum Load shedding Do not give otimum load shedding Provide optimum load shedding 2 Complex and large Power system Cannot face efficiently with large and complex power systems Deal efficiently with all size and type of Power system 3 Calculation of Power Imbalance It works1112 on predefined thershold values only It effectly deal with power imbalnce by calculating it accurately. II. GENETIC ALGORITHM Genetic algorithm (GA) application in load shedding is global otimization technique for solving non-linear,multi-objective problems introduced by John Henery Holland at University of Michigan in 1975 [6].GA involves three types of operators namely ,sleection,crossover and mutation.GA also has some application in load shedding problems. Sanaye-Pasand and Davarpanah [7] applied a genetic algorithm for load shedding applications in power systems. The database for load shedding problems was obtained from a power flow study and was successfully implemented on the IEEE 30-bus system. Another GA based load shedding technique that considers the load shedding from each bus is proposed in [8]. The implementation of GA to solve UVLS in [9] considered the load shed at each of the bus voltages in the IEEE 30-bus test system. Alongside GA, PSO is applied to solve generator outage and line outage cases for result validation .However, the study found that PSO has faster Computation time than GA in finding the solution for the optimum amount of load to shed, but the fewer loads to shed in abnormal cases and produced more accurate results in all cases by using GA Technique. The main drawback of genetic algorithms which restricts its implementation in real-time application is its slow response. III. PARTICLE SWARM OPTIMIZATION Kennedy and Eberhart introduced the PSO technique in 1995, inspired by the social behavior of organisms as birds flocking and fish schooling [10].PSO has been proved as a robust and fast technique in solving non-linear, multi-objective problems. PSO has been well implemented in UVLS Studies with an objective function of identifying the Maximum loading point or collapse point, aside from the minimization of the service interruption cost [11]. This approach is based on the concept of the static stability margin and its sensitivity value at the maximum loading point. The voltage stability criterion is modeled as a soft constraint into the load shedding scheme. This method was implemented on the IEEE 14-bus system.PSO can identify the global optimum solution more quickly its convergence time is less so more suitable for on line applications IV. ANT COLONY OPTIMIZATION ACO [12] is a meta-heuristic way of solving tough combinatorial optimization problems. This pheromone traillaying and following habits of actual ants, designed to use
  • 4. 1113 pheromones as being a communication choice, inspired the development associated with ACO. In an analogy to the biological case in point, ACO will depend on indirect communication within a colony associated with simple providers, called (artificial) ants, mediated by means of (artificial) pheromone hiking trails. The pheromone hiking trails in ACO work as distributed numerical data, in that your ants are used to assemble probabilistic methods to the difficulty being sorted out and adapt because of their search practical knowledge during algorithm execution [13]. V. BIG BANG BIG CRUNCH FOR UVLS Newly come forth optimization te chnique known as the BB-BC algorithm is just like the GA because it creates a preliminary population randomly [14]. The creation from th e initial population is known as the big-bang p hase. In this specific phase, the candidate solut ions tend to be spread uniformly above the sea rch living space. The big-bang phase is then t he big-crunch phase. The big-crunch can be a convergence operator containing several advices but one output as well as center involving m ass. The idea of “mass” identifies the inverse f rom the fitness functionality value. In reference [15], optimal dimensions of Acco mmodating AC Transmissions (FACTS) to furt her improve the voltage stability limit in additi on to voltage user profile, as well concerning minimize real power deficits are confirmed. Th e voltage stability limit development and real p ower damage minimization tend to be tested fo r the standard IEEE 30-bus method under stan dard and N-1 line outage contingency conditio ns. VI. FUZZY LOGIC BASED FOR UVLS Fuzzy Logic (FL) is a mathematical tool befitting modeling a system that will be too complicated and vaguely described by mathematical formulation. FL may be widely employed in nearly all part of your power technique. Many experts have employed FLC intended for load reducing application. A unclear controller may be used intended for intelligent weight shedding to produce vulnerability control inside a grid-connected power system [16]. The FLC done accurate weight shedding on the IEEE 300-bus check system throughout contingencies. The fuzzy reason application intended for preventing voltage fall by reducing weak weight buses will be presented throughout [17]. The technique was tested on the Ward-Hale 6-bus system and the IEEE 15, 30, along with 57-bus methods. The simulation final results show the FLC technique is usually implemented on the system associated with any sizing. Sallam along with Khafaga [18] employed FLC intended for load shedding to obtain voltage stability in the IEEE 14-bus technique. Simulation final results show in which load shedding with all the fuzzy reason controller stabilized the device and refurbished the voltage to your nominal worth.
  • 5. Table 2 advantages and disadvantages of Meta-Heruistic Techniques S.NO Technique Advantages Disadvantages 1 GA GA is global optimization technique for solving non-linear multi-objective problems GA respose is slow 2 PSO PSO is faster and have the ability to find optimum value PSO is easily interrupted by partial optimization 3 FLC FLC may be used on large power systems The membership parameters of FLC require prior information 4 BB-BC Ability to solve probles that depends on large number of variables It is nature-inspired algorithm 5 ACO Can be use in Dynamic applications,its convergence is guranteed Time of convergence is uncertain.very complicated coding ACKNOWLEDGMENT The authors would like to thanks NED University of Engineering and Technology Sindh, Pakistan. For providing financial support and Universiti Teknologi Malaysia for providing Research facilities. VI. CONCLUSIONS Load shedding schemes are initiated in order to relieve system overload and correct the declining system voltage. With the numerous developments of meta- heuristics methods for the purpose of finding optimized load shed amount signifies its importance for the stable and reliable power system operations globally. More advanced simulations are required in order to further prove the comparison studies of the proposed methods for a large power system network. It can be concluded that implementation of meta heuristic methods for UVLS can reduce the possibility of Blackouts, and enhance the power system’s reliability. It is clear from table2 that each technique have some advantages and some drawbacks. However further development for hybridization of these techniques will assured the Power System security .The under voltage problem can be reformulated in the future by other UVLS techniques implemented by optimization methods REFERENCES [1] Taylor, C.W., Erickson, E.C., Martin, K.E., Wilson, R.E. Ventakatasubramaniam, “WASC- wide area stability and voltage control system: R&D and online demonstration”, Proc. IEEE,2005, 93, pp. 892- 906 [2] Gao, B., Morison, G.K., Kundur, P.: ‘Voltage stability evaluation Using modal analysis’, IEEE Trans. Power Syst., 1992, 7, pp. 529–1542. [3] Cutsem, T.V. Voltage instability: phenomena, countermeasures and analysis methods”, Proc. IEEE, 2000, 88, pp. 208–227. [4] M. Dorigo, luca M. G., " Ant Colony system: A Cooperative learning approach to the Travelling Salesman Problem”,IEEE transaction on evolutionary computation, Vol. 1, No. 1, 1997.
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