Recent events worldwide have brought the startling realization that civil infrastructure power systems are vulnerable to assault by small organized groups with malicious intent. Whereas power systems have traditionally been designed with a focus on protecting them from routine component failures and atypical user demand, we now also confront the fact that deliberate attack intended to cause maximum disruption is a real possibility.In response to this changing environment, new concepts and tools have emerged that address many of the issues facing power system operation today. This book is aimed at introducing these ideas to practicing power systems engineers, control systems engineers interested in power systems, and graduate students in these areas.The author focuses on two main themes: the nonlinear dynamics of power systems, and the discrete-event mechanisms that are a dominant factor in power system operations. Stability, voltage collapse, power transfer limits, power flow oscillations, and other important aspects of power systems behavior have been elucidated through the application of advances in dynamical systems and nonlinear control theory. The interaction of discrete protection systems and control actions are central to the behavior of power systems, especially during emergencies. New methods of modeling, analysis, and design of such hybrid systems continue to be a central theme of present-day control systems research. In this work, these ideas are examined with an emphasis on how they can be applied to improve our understanding of power system behavior and help design better control systems. The book is supplemented by a Mathematica package enabling readers to work out nontrivial examples and problems. Also included is a set of Mathematica tutorial notebooks providing detailed solutions of the worked examples in the text. In addition to Mathematica, simulations are carried out using Simulink with Stateflow.
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