Decentralized Frequency Regulation by Using Novel PID Sliding Mode Structure in Multi-area Power Systems with Hydropower Turbines

Abstract

This paper introduces a novel sliding mode control (SMC) design utilizing a Proportional–Integral–Derivative (PID) sliding surface for decentralized frequency regulation in multi‑area power systems incorporating hydropower turbines. The proposed structure is crafted to robustly handle random load fluctuations, parameter uncertainties, and nonlinear dynamics inherent to hydropower-based control systems. Designed to operate locally within each area, the controller ensures rapid frequency stabilization without requiring complete knowledge of the global system state. Through extensive simulations under varying load conditions and parameter variations, the PID sliding mode structure consistently demonstrates superior performance over traditional PID and sliding mode approaches, offering faster response, reduced overshoot, and enhanced robustness against disturbances.