The estimate of amplitude and phase of harmonics in power system using the extended kalman filter

Bulletin of Electrical Engineering and Informatics
Vol. 10, No. 4, August 2021, pp. 1785~1792
ISSN: 2302-9285, DOI: 10.11591/eei.v10i4.2789 1785
Journal homepage: http://beei.org
The estimate of amplitude and phase of harmonics in power
system using the extended kalman filter
Mehrdad Ahmadi Kamarposhti1
, Ahmed Amin Ahmed Solyman2
1
Department of Electrical Engineering, Jouybar Branch, Islamic Azad University, Jouybar, Iran
2
Department of Electrical and Electronic Engineering, Istanbul Gelisim University, Avcilar, Turkey
Article Info ABSTRACT
Article history:
Received Jan 9, 2021
Revised Apr 13, 2021
Accepted May 29, 2021
Nowadays, the amplitude of the harmonics in the power grid has increased
unwittingly due to the increasing use of the nonlinear elements and power
electronics. It has led to a significant reduction in power quality indicators. As
a first step, the estimate of the amplitude, and the phase of the harmonics in
the power grid are essential to resolve this problem. We use the Kalman filter
to estimate the phase, and we use the minimal squared linear estimator to
assess the amplitude. To test the aforementioned method, we use terminal test
signals of the industrial charge consisting of the power converters and ignition
coils. The results show that this algorithm has a high accuracy and estimation
speed, and they confirm the proper performance in instantaneous tracking of
the parameters.
Keywords:
Kalman filter
Minimal squared linear
estimator
Power grid harmonic phase
Power quality This is an open access article under the CC BY-SA license.
Corresponding Author:
Mehrdad Ahmadi Kamarposhti
Department of Electrical Engineering
Jouybar Branch, Islamic Azad University, Jouybar, Iran
Emails: mehrdad.ahmadi.k@gmail.com, m.ahmadi@jouybariau.ac.ir
1. INTRODUCTION
The amplitude extension of the harmonics is one of the major concerns of the people exploiting the
modern power systems. The harmonic distortions can result in poor performance, lifetime reduction, and the
lower efficiency in the industrial equipment. The harmful effects of harmonics are clearly documented in
articles [1]-[4]. For this reason, the IEC and IEEE have developed standards for harmonics. Increasing the
use of the nonlinear elements has intensified the presence of harmonics in the power grid. To prevent the
growing trend of harmonic distortions, which are currently considered as the most important indicator of
power quality, knowing the harmonic parameters such as amplitude and phase is necessary to design suitable
filters. In other words, we need to estimate the harmonics in the system accurately in order to precisely
control the equipments. Up to now, there have been several ways to estimate harmonics that are defined as
unwanted components in an alternating waveform having distortion. For example, we can name the discrete
Fourier transform methods [5], the mode estimation techniques [6], data exploration tools [7], independent
component analysis [8], and neural networks [9]. Suresh Kumar et al. [10] we used genotype algorithms, the
minimum squared genetic algorithms, the optimization of the least squared hybrid particles an adaptive
neural network in order to estimate harmonics in the power system. The article shows that if the neural
network method is well trained, it can provide better results than other methods. M. Gupta et al. [11], we use
the method of optimizing the congestion of particles combined with the gradient reduction method to train
the neural network weights. Because of the problems involved in training the parameters of the neural
network, we used a new and efficient method to identify the harmonic parameters.

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Bulletin of Electr Eng & Inf, Vol. 10, No. 4, August 2021 : 1785– 1792
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A rapid and reliable estimation of power system signal harmonics is highly vital for the assessment
of power quality and plays an important role in power systems. Voltage distortion and current waveforms are
severely affected by an increasing demand for non-linear loads, the large-scale use of electronic equipments
of high-power industrial and medium-power domestic loads, arc furnaces, controlled motor drives [12]. An
unexpected increase in harmonic pollution resulted from the signal circuit intereference, communications,
and electric railway systems [13], is one of the critical issues of the power quality [14] assessment and
decreases the electricity quality supplied to the consumers [15]. This is why a fast and proper component
harmonics assessment is critical.
The research on harmonic estimation suggests that the amplitude of the harmonics can be estimated
by both parametric and non-parametric methods. Kalman filter, Prony method, adaptive notch filtering,
Hilbert-Huang transform matrix pencil method, and Taylor-Fourier. are the parametric methods whereas non-
parametric algorithms are based on the discrete fourier transform (DFT) [16]. In FFT-based [17]-[19]
frequency algorithm, non-synchronous sampling produces some unavoidable defects such as spectral leakage
and picket fence effect [20]. To alleviate these shortcomings, windowed interpolation FFT (WIFFT)
algorithm [21] has been suggested. Using spectral analysis, Cheng-I Chen et al. [20] have tackled frequency
estimation for inter-harmonics and power system harmonics. Kalman filter (KF) being one of the best
methods for the estimation of the sinusoid parameters manipulated by unknown measurement noise fails to
produce exact results during nonlinearity and power system dynamics. Sub-optimal solutions comprising two
classes, that is, local approach and global approach, employ nonlinear extended kalman filter (EKF) [22] as
one of the local approach methods which yields recursive sub-optimal solutions for nonlinear dynamic
systems [23]. Although EKF is computationally efficient and linearizes the state-space model with first order
Taylor series expansion [24], this method may deviate from the correct course due to model nonlinearity and
improper initialization. Thus, to decrease such instances, unscented kalman filter (UKF) [25], has been
suggested that surpasses the conventional EKF for its capacity to diminish linearization burden for the
predicted states and achieve the second-order accuracy. Nevertheless, it does not yield the correct
second-order moments for quadratic functions [26]. Quadrature kalman filter (QKF) [27], robust kalman
filter [28], iterated kalman filter (IKF) [29] and ensemble kalman filter (EnKF) [30] have been introduced to
enhance the stability and accuracy of the estimation. Among all these KF, QKF exactly calculates the
recursive Bayesian estimation integrals based on the gaussian assumption employing the Gauss-Hermite
numerical integration rule; however, QKF is likely to diverge due to high dimensional state-space models
[23]. In this paper, the proposed method consists of the KF combination, and a linear estimator named as the
least squared (LS), therefore, we suggest LS.KF as the name for this method. This algorithm uses the KF
method to estimate the phase, and the LS method to estimate the amplitude.
2. EXTENDED KALMAN FILTER
A new version of the linear kalman filter with certain modifications called the EKF is used in
systems with measurement equations and non-linear processes. In each stage of the recursive algorithm,
using a first order Taylor series, the non-linear equations are linearized to form a linear process before the
linear Kalman filter model is employed. The EKF delineates the relationship between the states and the
measurements and the state transition function using the nonlinear functions f and h, respectively:
𝑥k+1 = 𝑓[𝑥𝑘 , 𝑘] + 𝑤𝑘 (1)
𝑧𝑘 = ℎ[𝑥𝑘 , 𝑘] + 𝑣𝑘 (2)
Where xk and zk are the state vector and the measurement at instant k, respectively; and wk and vk are the
uncertainties introduced by the measurement noise and the state transition, both with zero mean and
covariances Qk and Rk, respectively. The nonlinear functions f and h are linearized by a first-order Taylor
series as:
𝑥k+1 = 𝛷𝑘𝑥𝑘 + 𝑤𝑘
𝑧𝑘 = 𝐻𝑘𝑥𝑘 + 𝑣𝑘
𝛷𝑘 = 𝜕𝑓𝑖[𝑥𝑘, 𝑘] /𝜕𝑥𝑗
𝐻𝑘 = 𝜕ℎ𝑖 [𝑥𝑘, 𝑘]/𝜕𝑥𝑗
(3)
Where fi and hi are the ith elements of functions f and h, respectively, and Φk and Hk are the state transition
and the measurement matrices, respectively.

Bulletin of Electr Eng & Inf ISSN: 2302-9285 
The estimate of amplitude and phase of harmonics in power system … (Mehrdad Ahmadi Kamarposhti)
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The kalman filter is a two-step prediction-correction process. Starting with an initial estimate of the process
𝑥𝑘
/
, and its error covariance matrix 𝑃𝑘
/
, the measurement at instant k, zk, is used to improve the estimation. A
linear combination of the estimate and the measurement is chosen according to (4):
𝑥𝑘 = 𝑥𝑘
/
+ 𝐾𝑘(𝑧𝑘 − 𝐻𝑘𝑥𝑘
/
) = 𝑥𝑘
/
+ 𝜀𝑘 (4)
Where xk is the estimation update at instant k and Kk is the filter coefficient. εk is the residual, defined as:
𝜀𝑘 = 𝑧𝑘 − 𝐻𝑘𝑥𝑘
/
(5)
That illustrates the difference between the measurement zk and the estimation 𝑥𝑘
/
at instant k. The
state transition matrix Φk is used to project the filter ahead using the measurement at instant k+1. Kalman
filter equations can be found in [14].
3. INTRODUCING THE LS.KF METHOD
Since the maintenance of the power quality indicators to the extent-required standard is as an
important issue for the utility companies, the awareness of the parameters of the harmonics is necessary for
designing the suitable filters in order to either eliminate or reduce them. Several methods have been proposed
for the amplitude and phase harmonics assessment up to now. However, the time-based methods show better
performance at the time of noise. In the other words, the accuracy and the speed of the convergences are
higher than the frequency-based algorithms
One of the famous methods used to estimate harmonics is KF algorithm. This algorithm with
maintaining simplicity, linearity, and sustainability is able to estimate harmonic parameters even during the
noises and nonlinear factors in the main signal. This filter has been considered as one of the most successful
analytical ones. It instantly assesses the function without initial training, and optimal output is produced. The
time amplitude methods estimate the harmonic parameters in it by instantaneous sampling of the signals. The
test signal can be shown as:
𝑍𝑘 = ∑ 𝐴𝑛 𝑠𝑖𝑛( 𝜔𝑛𝑘𝑇𝑠) 𝑐𝑜𝑠( 𝜑𝑛) + 𝐴𝑛 𝑐𝑜𝑠( 𝜔𝑛𝑘𝑇)
𝑁
𝑛=1
𝑠𝑖𝑛( 𝜑𝑛) + 𝑘𝑠𝑟𝑎𝑛𝑑(𝑘) (6)
In this paper, the Kalman filter is used to estimate the phase of the harmonics. The procedure is as follows.
First, the estimated phase parameters are considered as the following vector:
𝑋 = [𝜃1, 𝜃2, . . . , 𝜃𝑛] (7)
The system dynamics is defined as a discrete time equation as:
𝑋𝐾+1,𝐾+1 = 𝜙(𝑡𝑘, 𝑡𝑘+1)𝑋𝑘+1,𝑘 + 𝑤𝑘+1 (8)
Where in 𝜑(𝑡𝑘, 𝑡𝑘+1) is a matrix of (n+1, n+1) and w is a model noise. The system mode is updated based on
the above equations, and the covariance matrix is obtained at this stage from the following equation.
𝑃𝐾+1,𝐾 = 𝜙(𝑡𝑘, 𝑡𝑘+1)𝑃𝑘,𝑘𝜙(𝑡𝑘, 𝑡𝑘+1)𝑇
(9)
According to (6), the value of ZK can be the voltage or current desired, which includes noise.
𝑍𝑘+1 = 𝐻𝑋 + 𝜎𝑉𝑟𝑎𝑛𝑑(𝑘) (10)
The kalman interest matrix is calculated as:
𝐺𝐾+1 = 𝑃𝑘+1,𝑘𝐻𝑇
(𝐻𝑃𝑘+1,𝑘𝐻𝑇
+ 𝜎𝑣
2
)−1
(11)
After obtaining the measurement values of Z, the update equations are estimated as:
𝑋𝐾+1,𝐾+1 = 𝑋𝐾+1,𝐾 + 𝐺𝐾+1[𝑍𝑘+1 − 𝐻𝑋𝑘+1,𝑘] (12)

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Moreover, the matrix P is obtained as:
𝑃𝐾+1,𝐾+1 = [𝐼 − 𝐺𝐾+1𝐻]𝑃𝐾+1,𝐾 (13)
In each replication, this algorithm is used by the KF method to estimate the phase, and the least
squares method (LS) is used to estimate the amplitude. This process is repeated until we will get an
acceptable answer. To estimate the amplitude of the signal, the discrete linear model of the sampled signal is
used as:
𝑍𝐾 = 𝐻𝐾𝐴𝐾 + 𝜀𝐾 (14)
In which Zk is measured from the sample K-signal. Hk is the matrix of system structure, Ak is the
matrix of unknown parameters to be estimated, and 𝜀𝐾 is also the input noise. To find the best estimate for
matrix A meaning Ae, we use the minimization of the following function.
(𝐽𝐴∈(𝑘)) = [𝑍𝑘 − 𝐻𝐾𝐴∈(𝑘)]𝑇[𝑍𝑘 − 𝐻𝐾𝐴∈(𝑘)] (15)
After phase estimation, KF and Hk are calculated as:
𝐻𝐾 = [
𝑠𝑖𝑛( 𝜔1𝑡1 + 𝜙1) 𝑠𝑖𝑛( 𝜔2𝑡1 + 𝜙2) ⋯ 𝑠𝑖𝑛( 𝜔𝑛𝑡1 + 𝜙𝑛)
𝑠𝑖𝑛( 𝜔1𝑡2 + 𝜙1) 𝑠𝑖𝑛( 𝜔2𝑡2 + 𝜙2) ⋯ 𝑠𝑖𝑛( 𝜔𝑛𝑡2 + 𝜙𝑛)
⋮ ⋮ ⋮ ⋮
𝑠𝑖𝑛( 𝜔1𝑡𝑘 + 𝜙1) 𝑠𝑖𝑛( 𝜔2𝑡𝑘 + 𝜙2) ⋯ 𝑠𝑖𝑛( 𝜔𝑛𝑡𝑘 + 𝜙𝑛)
] (16)
Further estimation based on LS method, it is achieved by solving the following objective function:
𝐴∈(𝑘) = [𝐻𝐾
𝑇
𝐻𝐾]−1
𝐻𝐾𝑍𝐾 (17)
By using the last sample obtained from the previous relationship, the amplitude vector is estimated by LS as:
𝜃𝐾 = [𝐴1𝑘 𝐴2𝑘 ⋯ 𝐴𝑛𝑘]𝑇
(18)
In addition, this process is repeated until the final answer is reached.
4. THE SIMULATION RESULTS
To simulate the performance of the above algorithm, a test signal has been used. This signal has a
distortion as:
𝑦(𝑡) = 1.5 𝑠𝑖𝑛( 𝜔𝑡 + 80∘
) + 0.5 𝑠𝑖𝑛( 3𝜔𝑡 + 60∘
)
+0.2 𝑠𝑖𝑛( 5𝜔𝑡 + 45∘
) + 0.15 𝑠𝑖𝑛( 7𝜔𝑡 + 36∘
)
+0.1 𝑠𝑖𝑛( 11𝜔𝑡 + 30∘
) + 𝐾𝑠𝑟𝑎𝑛𝑑(𝑡)
(19)
The test signal from the terminal of an industrial charge is sampled consisting of the power
converters and the ignition kilns. This test signal contains 5 harmonics, Gaussian noises with a mean of 0 and
variance one. The coefficient is considered equal to 0.05. To test the efficiency of the proposed algorithm,
several test signals are used as follows:
− Static test signal with the low noise
− Static test signal with the high noise
− The dynamic test signal
− The signal test with the frequency deviation
For the static signal with the low noise, the signal-to-noise ratio is SNR=20 db, and for static
signals, with high noise the signal-to-noise ratio is SNR=5 db. The results are as follows: As you can see in
Figure 1 and Figure 2, the actual values with the simulated estimated values for the static signal with the low
noise is SNR=20 db, and with the high noise is SNR=5 db. Therefore, they are hardly different from each
other. In other words, the results show the accuracy of the above method to estimate these types of signals. In
a real power system, the amplitude of the waveform of the electric waves varies with different times. The

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changes of these amplitudes depend on the types of charge. The dynamic test signal has the following
characteristics:
𝑍(𝑡) = [1.5 + 𝑎1(𝑡)] 𝑠𝑖𝑛( 𝜔𝑡 + 80∘
)
+[0.5 + 𝑎3(𝑡)] 𝑠𝑖𝑛( 3𝜔𝑡 + 60∘
)
+[0.2 + 𝑎5(𝑡)] 𝑠𝑖𝑛( 5𝜔𝑡 + 45∘
)
+0.15 𝑠𝑖𝑛( 7𝜔𝑡 + 36∘
) + 0.1 𝑠𝑖𝑛( 11𝜔𝑡 + 30∘
)
+0.5 𝑒𝑥𝑝( − 5𝑡) + 𝐾𝑠𝑟𝑎𝑛𝑑(𝑡)
𝑎1(𝑡) = 0.15 𝑠𝑖𝑛 2 𝜋𝑓1𝑡 + 0.05 𝑠𝑖𝑛 2 𝜋𝑓5𝑡
𝑎2(𝑡) = 0.05 𝑠𝑖𝑛 2 𝜋𝑓3𝑡 + 0.02 𝑠𝑖𝑛 2 𝜋𝑓5𝑡
𝑎3(𝑡) = 0.025 𝑠𝑖𝑛 2 𝜋𝑓1𝑡 + 0.005 𝑠𝑖𝑛 2 𝜋𝑓5𝑡
(20)
As indicated in Figure 3 and Figure 4, despite the change in harmonic amplitude and noise, the LS.KF
method follows the sudden changes in amplitude and phases.
Figure 1. The comparison of the actual signal with
the estimated one (SNR=20 db)
Figure 2. The comparison of the actual signal with
the estimated one (SNR=5 db)
Figure 3. Tracking the base harmonic amplitude in
dynamical condition
Figure 4. Tracking the basic harmonic phase in
dynamical conditions
In Figure 5 and Figure 6, the amplitude and phase of the third harmonic are estimated in dynamical
conditions by using the above algorithm. As you can see, the precision of the method is also used to estimate
the harmonics. Moreover, this method can also be used to estimate other harmonics in the network. Since
there is always a mechanical deviation for any power system, we test the proposed estimation against these
deviations. For this purpose, we used the mechanical deviation of ∆𝐹 = −1 𝐻𝑍.
This deviation was applied at the beginning of the second cycle, and that will be eliminated after
33 ms because the harmonics are the correct multiplication of the base frequency. Subsequently, the
deviation at the original frequency affects all the harmonics. The results of the baseline harmonic amplitude
and phase estimation are presented in Figure 7 and Figure 8.
As we can see, the estimated range of the amplitude and phase do not show much deviation, after
applying frequency deviation. In case of smaller deviations like ∆𝐹 = 0.1 𝐻𝑍 the introduced LS-KF method
can monitor the parameters almost uninterruptedly.

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Figure 5. Tracking the third harmonic amplitude in
Figure 6. Tracking the third harmonic phase in
Figure 7. Basic harmonic amplitude tracking by
frequency deviation
Figure 8. Basic harmonic phase tracking by
frequency deviation
5. THE COMPARISON OF THE ALGORITHM-LS-KF WITH DFT METHOD
To understand the efficiency of the algorithm, its performance is compared with the DFT1 fourier
transform traditional method. For this purpose, the desired signal is initially combined with the white noise
and the signal-to-noise ratio of SNR=10 db is used for modeling. The results are shown in Figure 9 and
Figure 10.
Figure 9. Signal tracking by the LS-KF method Figure 10. Signal tracking by DFT method
To compare the performance of the LS-KF algorithm with the DFT method better, we used the
following two indicators, there are; 1) the squares average of the estimated signal error, 2) the variance of the
estimated signal. Also, the results are shown in Table 1.

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Table 1. Comparison of performance indicators of LS-KF and DFT algorithms
The error variance
The square average of errors
The type of algorithm
0.1187
0.0475
0.0094
0.0055
DFT
LS.KF
6. CONCLUSION
Today, the accurate estimation of the amplitude and phase of the harmonics to design filters to
remove unwanted harmonics is essential for the proper operation of the power system. In this paper, a new
and efficient method to identify the harmonic parameters is used. The proposed method consists of a
combination of the KF filter and a linear estimator called the least squared LS. Therefore, the LS-KF name is
suggested for this method. In this algorithm, we used the KF method to estimate the phase, and we also used
the LS method to estimate the amplitude. As the results of the simulation show us that, the harmonic
parameters converge in less than one cycle to real values. The algorithm also performs well in the moment
tracking of the parameters. To show the accuracy of the proposed method, we used two indicators, one of
them was MSE, and another one was variance to test signals.
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