Abstract
Each hydropower system incorporates with appropriate hydro turbine, and hydro governor unit. In the current work, an Automatic Generation Control (AGC) of two equal hydropower systems with Proportional-Integral-Derivative (PID) controller was investigated. The gain values of the PID controllers were tuned using Ant Colony Optimization (ACO) technique with one percent Step Load Perturbation (1% SLP) in area 1. The Integral Square Error (ISE), Integral Time Square Error (ITSE), Integral Absolute Error (IAE) and Integral Time Absolute Error (ITAE) were chosen as the objective function in order to optimize the controller's gain values. The experimental results reported that the IAE based PID controller improved the system performance compared to other objective functions during sudden load disturbance.
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