Computational Methods in Power System Analysis

Atlantis Studies in Scientific Computing in Electromagnetics
Series Editor: Wil Schilders

Computational
Methods in Power
System Analysis
Reijer Idema
Domenico J. P. Lahaye
Atlantis Studies in Scientic Computing
in Electromagnetics
Volume 1
Series editor
Wil Schilders, Technische Universiteit Eindhoven, Eindhoven, The Netherlands
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Atlantis Press
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Reijer Idema

Computational Methods
in Power System Analysis
Reijer Idema
Numerical Analysis
Delft University of Technology
Delft
The Netherlands
ISSN 2352-0590 ISSN 2352-0604 (electronic)
ISBN 978-94-6239-063-8 ISBN 978-94-6239-064-5 (eBook)
DOI 10.2991/978-94-6239-064-5
Library of Congress Control Number: 2013957992
Atlantis Press and the authors 2014
This book, or any parts thereof, may not be reproduced for commercial purposes in any form or by any
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Printed on acid-free paper
Preface
There are many excellent books on power systems that treat power system anal-
ysis, and its most important computational problem: the power ow problem.
Some of these books also discuss the traditional computational methods for
solving the power ow problem, i.e., Newton power ow and Fast Decoupled
Load Flow. However, information on newer solution methods is hard to nd
outside research papers.
This book aims to ll that gap, by offering a self-contained volume that treats
both traditional and newer methods. It is meant both for researchers who want to
get into the subject of power ow and related problems, and for software devel-
opers that work on power system analysis tools.
Part I of the book treats the mathematics and computational methods needed to
understand modern power ow methods. Depending on the knowledge and interest
of the reader, it can be read in its entirety or used as a reference when reading Part
II. Part II treats the application of these computational methods to the power ow
problem and related power system analysis problems, and should be considered the
meat of this publication.
This book is based on research conducted by the authors at the Delft University
of Technology, in collaboration between the Numerical Analysis group of the
Delft Institute of Applied Mathematics and the Electrical Power Systems group,
both in the faculty Electrical Engineering, Mathematics and Computer Science.
The authors would like to acknowledge Kees Vuik, the Numerical Analysis
chair, and Lou van der Sluis, the Electrical Power Systems chair, for the fruitful
collaboration, as well as all colleagues of both groups that had a part in our
research. Special thanks are extended to Robert van Amerongen, who was vital in
bridging the gap between applied mathematics and electrical engineering.
Further thanks go to Barry Smith of the Argonne National Laboratory for his
help with the PETSc package, and ENTSO-E for providing the UCTE study
model.
Delft, October 2013 Reijer Idema
v
Contents
1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Part I Computational Methods
2 Fundamental Mathematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1 Complex Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.3 Matrices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.4 Graphs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3 Solving Linear Systems of Equations. . . . . . . . . . . . . . . . . . . . . . 11
3.1 Direct Solvers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.1.1 LU Decomposition . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.1.2 Solution Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.1.3 Algorithmic Complexity . . . . . . . . . . . . . . . . . . . . . 13
3.1.4 Fill-in and Matrix Ordering . . . . . . . . . . . . . . . . . . . 13
3.1.5 Incomplete LU decomposition . . . . . . . . . . . . . . . . . 14
3.2 Iterative Solvers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.2.1 Krylov Subspace Methods . . . . . . . . . . . . . . . . . . . . 15
3.2.2 Optimality and Short Recurrences . . . . . . . . . . . . . . 16
3.2.3 Algorithmic Complexity . . . . . . . . . . . . . . . . . . . . . 16
3.2.4 Preconditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2.5 Starting and Stopping . . . . . . . . . . . . . . . . . . . . . . . 18
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4 Solving Nonlinear Systems of Equations . . . . . . . . . . . . . . . . . . . 21
4.1 NewtonRaphson Methods. . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.1.1 Inexact Newton . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.1.2 Approximate Jacobian Newton. . . . . . . . . . . . . . . . . 24
4.1.3 Jacobian-Free Newton. . . . . . . . . . . . . . . . . . . . . . . 24
vii
4.2 NewtonRaphson with Global Convergence. . . . . . . . . . . . . . 25
4.2.1 Line Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.2.2 Trust Regions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5 Convergence Theory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.1 Convergence of Inexact Iterative Methods . . . . . . . . . . . . . . . 29
5.2 Convergence of Inexact Newton Methods . . . . . . . . . . . . . . . 33
5.2.1 Linear Convergence . . . . . . . . . . . . . . . . . . . . . . . . 37
5.3 Numerical Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.4 Applications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5.4.1 Forcing Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5.4.2 Linear Solver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Part II Power System Analysis
6 Power System Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
6.1 Electrical Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
6.1.1 Voltage and Current . . . . . . . . . . . . . . . . . . . . . . . . 49
6.1.2 Complex Power . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
6.1.3 Impedance and Admittance . . . . . . . . . . . . . . . . . . . 51
6.1.4 Kirchhoffs Circuit Laws . . . . . . . . . . . . . . . . . . . . . 52
6.2 Power System Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
6.2.1 Generators, Loads, and Transmission Lines . . . . . . . . 53
6.2.2 Shunts and Transformers . . . . . . . . . . . . . . . . . . . . . 54
6.2.3 Admittance Matrix . . . . . . . . . . . . . . . . . . . . . . . . . 55
6.3 Power Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
6.4 Contingency Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
7 Traditional Power Flow Solvers . . . . . . . . . . . . . . . . . . . . . . . . . 59
7.1 Newton Power Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
7.1.1 Power Mismatch Function . . . . . . . . . . . . . . . . . . . . 60
7.1.2 Jacobian Matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7.1.3 Handling Different Bus Types . . . . . . . . . . . . . . . . . 62
7.2 Fast Decoupled Load Flow . . . . . . . . . . . . . . . . . . . . . . . . . 63
7.2.1 Classical Derivation . . . . . . . . . . . . . . . . . . . . . . . . 64
7.2.2 Shunts and Transformers . . . . . . . . . . . . . . . . . . . . . 66
7.2.3 BB, XB, BX, and XX. . . . . . . . . . . . . . . . . . . . . . . 67
7.3 Convergence and Computational Properties . . . . . . . . . . . . . . 71
7.4 Interpretation as Elementary NewtonKrylov Methods . . . . . . 71
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
viii Contents
8 NewtonKrylov Power Flow Solver . . . . . . . . . . . . . . . . . . . . . . . 73
8.1 Linear Solver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
8.2 Preconditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
8.2.1 Target Matrices . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
8.2.2 Factorisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
8.2.3 Reactive Power Limits and Tap Changing. . . . . . . . . 76
8.3 Forcing Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
8.4 Speed and Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
8.5 Robustness. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
9 Contingency Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
9.1 Simulating Branch Outages . . . . . . . . . . . . . . . . . . . . . . . . . 83
9.2 Other Simulations with Uncertainty . . . . . . . . . . . . . . . . . . . 86
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
10 Numerical Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
10.1 Factorisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
10.1.1 LU Factorisation. . . . . . . . . . . . . . . . . . . . . . . . . . . 88
10.1.2 ILU Factorisation . . . . . . . . . . . . . . . . . . . . . . . . . . 91
10.2 Forcing Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
10.3 Power Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
10.3.1 Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
10.4 Contingency Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
11 Power Flow Test Cases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
11.1 Construction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Contents ix
Chapter 1
Introduction
Electricity is a vital part of modern society. We plug our electronic devices into
wall sockets and expect them to get power. Power generation is a subject that is in
the news regularly. The issue of the depletion of natural resources and the risks of
nuclear power plants are often discussed, and developments in wind and solar power
generation, as well as other renewables, are hot topics. Much less discussed is the
transmission and distribution of electrical power, an incredibly complex task that
needs to be executed reliably and securely, and highly efciently. To achieve this,
both operation and planning require many complex computational simulations of the
power system network.
Traditionally, power generation is centralised in large plants that are connected
directly to the transmission system. The high voltage transmission system transports
the generated power to the lower voltage local distribution systems. In recent years,
decentralised power generation has been emerging, for example in the form of solar
panels on the roofs of residential houses, or small wind farms that are connected
to the distribution network. It is expected that the future will bring a much more
decentralised power system. This leads to many new computational challenges in
power system operation and planning.
Meanwhile, national power systems are being interconnected more and more, and
with it the associated energy markets. The resulting continent-wide power systems
lead to much larger power system simulations.
The base computational problem in steady-state power system simulations is the
power ow (or load ow) problem. The power ow problem is a nonlinear system of
equations that relates the bus voltages to the power generation and consumption. For
given generation and consumption, the power ow problem can be solved to reveal
the associated bus voltages. The solution can be used to assess whether the power
system will function properly. Power ow studies are the main ingredient of many
computations in power system analysis.
Contingency analysis simulates equipment outages in the power system, and
solves the associated power ow problems to assess the impact on the power system.
Contingency analysis is vital to identify possible problems, and solve them before
R. Idema and D. J. P. Lahaye, Computational Methods in Power System Analysis, 1
Atlantis Studies in Scientic Computing in Electromagnetics,
DOI: 10.2991/978-94-6239-064-5_1, Atlantis Press and the authors 2014
2 1 Introduction
they have a chance to occur. Many countries require their power system to operate
in such a way that no single equipment outage causes interruption of service.
Monte Carlo simulations, with power ow calculations for many varying gener-
ation and consumption inputs, can be used to analyse the stochastic behaviour of a
power system. This type of simulation is becoming especially important due to the
uncontrollable nature of wind and solar power.
Operation and planning of power systems further lead to many kinds of optimi-
sation problems. What power plants should be generating how much power at any
given time? Where to best build a new power plant? Which buses to connect with
a new line or cable? All these questions require the solution of some optimisation
problem, where the set of feasible solutions is determined by power ow problems,
or even contingency analysis and Monte Carlo simulations.
Traditionally, the power ow problem is solved using Newton power ow or the
Fast Decoupled Load Flow (FDLF) method. Newton power ow has the quadratic
convergence behaviour of the Newton-Raphson method, but needs a lot of compu-
tational work per iteration, especially for large power ow problems. FDLF needs
relatively little computational work per iteration, but the convergence is only linear.
In practice, Newton power ow is generally preferred because it is more robust, i.e.,
for some power ow problems FDLF fails to converge, while Newton power ow
can still solve the problem. However, neither method is viable for very large power
ow problems. Therefore, the development of fast and scalable power ow solvers
is very important for the continuous operation of future power systems.
In this book, Newton-Krylov power ow solvers are treated that are as fast as
traditional solvers for small power ow problems, and many times faster for large
problems. Further, contingency analysis is used to demonstrate howthese solvers can
be used to speed up the computation of many slightly varying power ow problems,
as found not only in contingency analysis, but also in Monte Carlo simulations and
some optimisation problems.
In Part I the relevant computational methods are treated. The theory behind
solvers for linear and nonlinear systems of equations is treated to provide a solid
understanding of Newton-Krylov methods, and convergence theory is discussed, as
it is needed to be able to make the right choices for the Krylov method, precondi-
tioning, and forcing terms, and to correctly interpret the convergence behaviour of
numerical experiments.
In Part II power system analysis is treated. The relevant power system theory is
described, traditional solvers are explained in detail, and Newton-Krylov power ow
solvers are discussed and tested, using many combinations of choices for the Krylov
method, preconditioning, and forcing terms.
It is explained that Newton power ow and FDLF can be seen as elementary
Newton-Krylov methods, indicating that the developed Newton-Krylov power ow
solvers are a direct theoretical improvement on these traditional solvers. It is shown,
both theoretically and experimentally, that well-designed Newton-Krylov power ow
solvers have no drawbacks in terms of speed and robustness, while scaling much
better in the problem size, and offering even more computational advantage when
solving many slightly varying power ow problems.
Part I
Computational Methods
Chapter 2
Fundamental Mathematics
This chapter gives a short introduction to fundamental mathematical concepts that are
used in the computational methods treated in this book. These concepts are complex
numbers, vectors, matrices, and graphs. Vectors and matrices belong to the eld of
linear algebra. For more information on linear algebra, see for example [1], which
includes an appendix on complex numbers. For more information on spectral graph
theory, see for example [2].
2.1 Complex Numbers
A complex number C, is a number
= +, (2.1)
with , R, and the imaginary unit
1
dened by
2
= 1. The quantity Re =
is called the real part of , whereas Im = is called the imaginary part of the
complex number. Note that any real number can be interpreted as a complex number
with the imaginary part equal to 0.
Negation, addition, and multiplication are dened as
( +) = , (2.2)
1
+
1
+
2
+
2
= (
1
+
2
) + (
1
+
2
) , (2.3)
(
1
+
1
) (
2
+
2
) = (
1
2

1
2
) + (
1
2
+
2
1
) . (2.4)
1
The imaginary unit is usually denoted by i in mathematics, and by j in electrical engineering
because i is reserved for the current. In this book, the imaginary unit is sometimes part of a matrix
or vector equation where i and j are used as indices. To avoid ambiguity, the imaginary unit is
therefore denoted by (iota).
6 2 Fundamental Mathematics
The complex conjugate is an operation that negates the imaginary part:
+ = . (2.5)
Complex numbers are often interpreted as points in complex plane, i.e.,
2-dimensional space with a real and imaginary axis. The real and imaginary part
are then the Cartesian coordinates of the complex point. That same point in the com-
plex plane can also be described by an angle and a length. The angle of a complex
number is called the argument, while the length is called the modulus:
arg ( +) = tan
1

, (2.6)
| +| =
_
2
+
2
. (2.7)
Using these denitions, any complex number C can be written as
= || e
, (2.8)
where = arg , and the complex exponential function is dened by
e
+
= e
(cos + sin ) . (2.9)

2.2 Vectors
A vector v K
n
is an element of the n-dimensional space of either real numbers
(K = R) or complex numbers (K = C), generally denoted as
v =
_
_
_
v
1
.
.
.
v
n
_
_
, (2.10)
where v
1
, . . . , v
n
K.
Scalar multiplication and vector addition are basic operations that are performed
elementwise. That is, for K and v, w K
n
,
v =
_
_
_
v
1
.
.
.
v
n
_
_
, v +w =
_
_
_
v
1
+w
1
.
.
.
v
n
+w
n
_
_
. (2.11)
The combined operation of the form v := v + w is known as a vector update.
Vector updates are of O(n) complexity, and are naturally parallelisable.
2.2 Vectors 7
A linear combination of the vectors v
1
, . . . , v
m
K
n
is an expression
1
v
1
+. . . +
m
v
m
, (2.12)
with
1
. . .
m
K. A set of m vectors v
1
, . . . , v
m
K
n
is called linearly inde-
pendent, if none of the vectors can be written as a linear combination of the other
vectors.
The dot product operation is dened for real vectors v, w R
n
as
v w =
n
i =1
v
i
w
i
. (2.13)
The dot product is by far the most used type of inner product. In this book, whenever
we speak of an inner product, we will be referring to the dot product unless stated
otherwise. The operation is of O(n) complexity, but not naturally parallelisable. The
dot product can be extended to complex vectors v, w C as v w =
n
i =1
v
i
w
i
.
A vector norm is a function . that assigns a measure of length, or size, to all
vectors, such that for all K and v, w K
n
v = 0 v = 0, (2.14)
v = || v, (2.15)
v +w v +w. (2.16)
Note that these properties ensure that the norm of a vector is never negative. For real
vectors v R
n
the Euclidean norm, or 2-norm, is dened as
v
2
=

v v =
_
n
i =1
v
2
i
. (2.17)
In Euclidean space of dimension n, the Euclidean normis the distance fromthe origin
to the point v. Note the similarity between the Euclidean norm of a 2-dimensional
vector and the modulus of a complex number. In this book we omit the subscripted
2 from the notation of Euclidean norms, and simply write v.
2.3 Matrices
A matrix A K
mn
is a rectangular array of real numbers (K = R) or complex
numbers (K = C), i.e.,
A =
_
_
_
a
11
. . . a
1n
.
.
.
.
.
.
.
.
.
a
m1
. . . a
mn
_
_
, (2.18)
with a
i j
K for i {1, . . . , m} and j {1, . . . , n}.
A matrix of dimension n 1 is a vector, sometimes referred to as a column vector
to distinguish it froma matrix of dimension 1n, which is referred to as a rowvector.
Note that the columns of a matrix A K
mn
can be interpreted as n (column) vectors
of dimension m, and the rows as m row vectors of dimension n.
A dense matrix is a matrix that contains mostly nonzero values; all n
2
values have
to be stored in memory. If most values are zeros the matrix is called sparse. For a
sparse matrix A, the number of nonzero values is denoted by nnz (A). With special
data structures, only the nnz (A) nonzero values have to be stored in memory.
The transpose of a matrix A K
mn
, is the matrix A
T
K
nm
with
_
A
T
i j
= (A)
j i
. (2.19)
A square matrix that is equal to its transpose is called a symmetric matrix.
Scalar multiplication and matrix addition are elementwise operations, as with
vectors. Let K be a scalar, and A, B K
mn
matrices withcolumns a
i
, b
i
K
m
respectively, then scalar multiplication and matrix addition are dened as
A =
a
1
. . . a
n
, (2.20)
A +B =
a
1
+b
1
. . . a
n
+b
n
. (2.21)
Matrix-vector multiplication is the product of a matrix A K
mn
and a vector
v K
n
, dened by
_
_
_
a
11
. . . a
1n
.
.
.
.
.
.
.
.
.
a
m1
. . . a
mn
_
_
_
_
_
v
1
.
.
.
v
n
_
_
=
_
_
_
n
i =1
a
1i
v
i
.
.
.
n
i =1
a
mi
v
i
_
_
. (2.22)
Note that the result is a vector in K
m
. An operation of the form u := Av is often
referred to as a matvec. A matvec with a dense matrix has O(n
2
) complexity, while
with a sparse matrix the operation has O(nnz (A)) complexity. Both dense and sparse
versions are naturally parallelisable.
Multiplication of matrices A K
mp
and B K
pn
can be derived as an exten-
sion of matrix-vector multiplication by writing the columns of B as vectors b
i
K
p
.
This gives
2.3 Matrices 9
_
_
_
a
11
. . . a
1n
.
.
.
.
.
.
.
.
.
a
m1
. . . a
mn
_
_
_
_
b
1
. . . b
n
_
_
=
_
_
Ab
1
. . . Ab
n
_
_
. (2.23)
The product AB is a matrix of dimension m n.
The identity matrix I is the matrix with values I
i i
= 1, and I
i j
= 0, i = j . Or,
in words, the identity matrix is a diagonal matrix with every diagonal element equal
to 1. This matrix is such, that IA = A and AI = A for any matrix A K
mn
and
identity matrices I of appropriate size.
Let A K
nn
be a square matrix. If there is a matrix B K
nn
such that
BA = I , then B is called the inverse of A. If the inverse matrix does not exist, then A
is called singular. If it does exist, then it is unique and denoted by A
1
. Calculating
the inverse has O(n
3
) complexity, and is therefore very costly for large matrices.
The column rank of a matrix A K
mn
is the number of linearly independent
column vectors in A. Similarly, the row rank is the number of linearly independent
row vectors in A. For any given matrix, the row rank and column rank are equal,
and can therefore simply be denoted as rank (A). A square matrix A K
nn
is
invertible, or nonsingular, if and only if rank (A) = n.
A matrix norm is a function . such that for all K and A, B K
mn
A 0, (2.24)
A = || A, (2.25)
A + B A +B. (2.26)
Given a vector norm ., the corresponding induced matrix norm is dened for all
matrices A K
mn
as
A = max
Av : v K
n
with v = 1
_
. (2.27)
Every induced matrix norm is submultiplicative, meaning that
AB AB for all A K
mp
, B K
pn
. (2.28)
2.4 Graphs
A graph is a collection of vertices, any pair of which may be connected by an edge.
Vertices are also called nodes or points, and edges are also called lines. The graph
is called directed if all edges have a direction, and undirected if they do not. Graphs
are often used as the abstract representation of some sort of network. For example, a
power systemnetwork can be modelled as an undirected graph, with buses as vertices
and branches as edges.
Fig. 2.1 A simple graph
1 2
3
4 5
Let V = {v
1
, . . . , v
N
} be a set of N vertices, and E = {e
1
, . . . , e
M
} a set
of M edges, where each edge e
k
=
_
v
i
, v
j
_
connects two vertices v
i
, v
j
V.
The graph G of vertices V and edges E is denoted as G = (V, E). Figure 2.1
shows a graph G = (V, E) with vertices V = {1, 2, 3, 4, 5} and edges E =
{(2, 3) , (3, 4) , (3, 5) , (4, 5)}.
The incidence matrix A of a graph G = (V, E) is an M N matrix in which
each row i represents an edge e
i
= ( p, q), and is dened as
a
i j
=
_
_
_
1 if p = v
i
,
1 if q = v
j
,
0 otherwise.
(2.29)
In other words, row i has value 1 at index p and value 1 at index q. Note that this
matrix is unique for a directed graph. For an undirected graph, some orientation has
to be chosen. For example, the matrix
A =
_
_
_
_
0 1 1 0 0
0 0 1 1 0
0 0 1 0 1
0 0 0 1 1
_
_
(2.30)
is an incidence matrix of the graph in Fig. 2.1. Such a matrix is sometimes referred to
as an oriented incidence matrix, to distinguish it fromthe unique unoriented incidence
matrix, in which all occurrences of 1 are replaced with 1. Note that some authors
dene the incidence matrix as the transpose of the matrix A dened here.
References
1. Lay, D.C.: Linear Algebra And Its Applications, 4th edn. Pearson Education, Toronto (2011)
2. Chung, F.R.K.: Spectral Graph Theory. No. 92 in CBMS Regional Conference Series. Confer-
ence Board of the Mathematical Sciences, Washington (1997)
Chapter 3
Solving Linear Systems of Equations
A linear equation in n variables x
1
, . . . , x
n
R, is an equation of the form
a
1
x
1
+ +a
n
x
n
= b, (3.1)
with given constants a
1
, . . . , a
n
, b R. If there is at least one coefcient a
i
not equal
to 0, then the solution set is an (n 1)-dimensional afne hyperplane in R
n
. If all
coefcients are equal to 0, then there is either no solution if b = 0, or the solution
set is the entire space R
n
if b = 0.
Alinear systemof equations is a collectionof linear equations inthe same variables
that have to be satised simultaneously. Any linear system of m equations in n
variables can be written as
Ax = b, (3.2)
where A R
mn
is called the coefcient matrix, b R
m
the right-hand side vector,
and x R
n
the vector of variables or unknowns.
If there exists at least one solution vector x that satises all linear equations at the
same time, then the linear system is called consistent; otherwise, it is called incon-
sistent. If the right-hand side vector b = 0, then the system of equations is always
consistent, because the trivial solution x = 0 satises all equations independent of
the coefcient matrix.
We focus on systems of linear equations with a square coefcient matrix:
Ax = b, with A R
nn
and b, x R
n
. (3.3)
If all equations are linearly independent, i.e., if rank(A) = n, then the matrix A is
invertible and the linear system (3.3) has a unique solution x = A
1
b. If not all
equations are linearly independent, i.e., if rank(A) < n, then A is singular. In this
case the system is either inconsistent, or the solution set is a subspace of dimension
n rank(A). Note that whether there is exactly one solution or not can be deduced
from the coefcient matrix alone, while both coefcient matrix and right-hand side
vector are needed to distinguish between no solutions or innitely many solutions.
12 3 Solving Linear Systems of Equations
A solver for systems of linear equations can either be a direct method, or an
iterative method. Direct methods calculate the solution to the problem in one pass.
Iterative methods start with some initial vector, and update this vector in every iter-
ation until it is close enough to the solution. Direct methods are very well-suited for
smaller problems, and for problems with a dense coefcient matrix. For large sparse
problems, iterative methods are generally much more efcient than direct solvers.
3.1 Direct Solvers
A direct solver may consist of a method to calculate the inverse coefcient matrix
A
1
, after which the solution of the linear system (3.3) can simply be found by
calculating the matvec x = A
1
b. In practice, it is generally more efcient to build
a factorisation of the coefcient matrix into triangular matrices, which can then be
used to easily derive the solution. For general matrices the factorisation of choice is
the LU decomposition.
3.1.1 LU Decomposition
The LUdecompositionconsists of a lower triangular matrix L, andanupper triangular
matrix U, such that
LU = A. (3.4)
The factors are unique if the requirement is added that all diagonal elements of either
L or U are ones.
Using the LUdecomposition, the systemof linear equations (3.3) can be written as
LUx = b, (3.5)
and solved by consecutively solving the two linear systems
Ly = b, (3.6)
Ux = y. (3.7)
Because L and U are triangular, these systems are quickly solved using forward and
backward substitution respectively.
The rows and columns of the coefcient matrix Acan be permutated freely without
changing the solution of the linear system (3.3), as long as the vectors b and x are
permutated accordingly. Using such permutations during the factorisation process is
called pivoting. Allowing only rowpermutations during factorisation is often referred
to as partial pivoting.
3.1 Direct Solvers 13
Every invertible matrix A has an LU decomposition if partial pivoting is allowed.
For some singular matrices an LU decomposition also exists, but for many there is
no such factorisation possible. In general, direct solvers have problems with solving
linear systems with singular coefcient matrices.
More information on the LU decomposition can be found in [13].
3.1.2 Solution Accuracy
Direct solvers are often said to calculate the exact solution, unlike iterative solvers,
which calculate approximate solutions. Indeed, the algorithms of direct solvers lead
to an exact solution in exact arithmetic. However, although the algorithms may be
exact, the computers that execute them are not. Finite precision arithmetic may still
introduce errors in the solution calculated by a direct solver.
During the factorisation process, rounding errors may lead to substantial inaccu-
racies in the factors. Errors in the factors, in turn, lead to errors in the solution vector
calculated by forward and backward substitution. Stability of the factorisation can
be improved by using a good pivoting strategy during the process. The accuracy of
the factors L and U can also be improved afterwards by simple iterative renement
techniques [2].
3.1.3 Algorithmic Complexity
Forward and backward substitution operations have complexity O(nnz(A)). For
dense coefcient matrices, the complexity of the LU decomposition is O(n
3
). For
sparse matrix systems, special sparse methods improve on this by exploiting the
sparsity structure of the coefcient matrix. However, in general these methods still
do not scale as well in the system size as iterative solvers can. Therefore, good
iterative solvers will always be more efcient than direct solvers for very large sparse
coefcient matrices.
To solve multiple systems of linear equations with the same coefcient matrix
but different right-hand side vectors, it sufces to calculate the LU decomposition
once at the start. Using this factorisation, the linear problem can be solved for each
unique right-hand side by forward and backward substitution. Since the factorisa-
tion is far more time consuming than the substitution operations, this saves a lot of
computational time compared to solving each linear system individually.
3.1.4 Fill-in and Matrix Ordering
In the LU decomposition of a sparse coefcient matrix A, there will be a certain
amount of ll-in. Fill-in is the number of nonzero elements in L and U, of which
the corresponding element in A is zero. Fill-in not only increases the amount of
memory needed to store the factors, but also increases the complexity of the LU
decomposition, as well as the forward and backward substitution operations.
The ordering of rows and columnscontrolled by pivotingcan have a strong
inuence on the amount of ll-in. Finding the ordering that minimises ll-in has
been proven to be NP-hard [4]. However, many methods have been developed that
quickly nd a good reordering, see for example [1, 5].
3.1.5 Incomplete LU decomposition
An incomplete LU decomposition [6, 7], or ILU decomposition, is a factorisation of
A into a lower triangular matrix L, and an upper triangular matrix U, such that
LU A. (3.8)
The aim is to reduce computational cost by reducing the ll-in compared to the
complete LU factors.
One method simply calculates the LU decomposition, and then drops all entries
that are below a certain tolerance value. Obviously, this method does not reduce
the complexity of the decomposition operation. However, the ll-in reduction saves
memory, and reduces the computational cost of forward and backward substitution
operations.
The ILU(k) method determines which entries in the factors L and U are allowed
to be nonzero, based on the number of levels of ll k N. ILU(0) is an incomplete
LU decomposition such that L + U has the same nonzero pattern as the original
matrix A. For sparse matrices, this method is often much faster than the complete
LU decomposition.
With an ILU(k) factorisation, the rowand column ordering of Amay still inuence
the number of nonzeros in the factors, although much less drastically than with the
LU decomposition. Further, it has been observed that the ordering also inuences
the quality of the approximation of the original matrix. A reordering that reduces the
ll-in often also reduces the approximation error of the ILU(k) factorisation.
It is clear that ILU factorisations are not suitable to be used in a direct solver,
unless the approximation is very close to the original. In general, there is no point
in using an ILU decomposition over the LU decomposition unless only a rough
approximation of A is needed. ILU factorisations are often used a preconditioners
for iterative linear solvers, see Sect. 3.2.4.
3.2 Iterative Solvers
Iterative solvers start with an initial iterate x
0
, and calculate a new iterate in each
step, or iteration, thus producing a sequence of iterates {x
0
, x
1
, x
2
, . . .}. The aim is
that at some iteration i , the iterate x
i
will be close enough to the solution to be used as
3.2 Iterative Solvers 15
approximation of the solution. When x
i
is close enough to the solution, the method
is said to have converged. Since the true solution is not known, x
i
cannot simply
be compared with that solution to decide if the method has converged; a different
measure of the error in the iterate x
i
is needed.
The residual vector in iteration i is dened by
r
i
= b Ax
i
. (3.9)
Let e
i
denote the difference between x
i
and the true solution. Then the norm of the
residual is
r
i
= b Ax
i
= Ae
i
= e
i
A
T
A
. (3.10)
This norm is a measure for the error in x
i
, and referred to as the residual error.
The relative residual norm
r
i
b
can be used as a measure of the relative error in the
iterate x
i
.
3.2.1 Krylov Subspace Methods
The Krylov subspace of dimension i , belonging to A and r
0
, is dened as
K
i
(A, r
0
) = span{r
0
, Ar
0
, . . . , A
i 1
r
0
, }. (3.11)
Krylov subspace methods are iterative linear solvers that generate iterates
x
i
x
0
+K
i
(A, r
0
). (3.12)
The simplest Krylov method consists of the Richardson iterations,
x
i +1
= x
i
+r
i
. (3.13)
Basic iterative methods like Jacobi, Gauss-Seidel, and Successive Over-Relaxation
(SOR) iterations, can all be seen as preconditioned versions of the Richardson iter-
ations. Preconditioning is treated in Sect. 3.2.4. More information on basic iterative
methods can be found in [2, 8, 9].
Krylov subspace methods generally have no problem nding a solution for a
consistent linear system with a singular coefcient matrix A. Indeed, the dimension
of the Krylov subspace needed to describe the full column space of A is equal to
rank(A), and is therefore lower for singular matrices than for invertible matrices.
Popular iterative linear solvers for general square coefcient matrices include
GMRES [10], Bi-CGSTAB [11, 12], and IDR(s) [13]. These methods are more
complex than the basic iterative methods, but generally converge a lot faster to
a solution. All these iterative linear solvers can also be characterised as Krylov
subspace methods. For an extensive treatment of Krylov subspace methods see [8].
3.2.2 Optimality and Short Recurrences
Two important properties of Krylov methods are the optimality property, and short
recurrences. The rst is about minimising the number of iterations needed to nd a
good approximation of the solution, while the second is about limiting the amount
of computational work per iteration.
A Krylov method is said to have the optimality property, if in each iteration the
computed iterate is the best possible approximation of the solution within current
the Krylov subspace, i.e., if the residual norm r
i
is minimised within the Krylov
subspace. An iterative solver with the optimality property, is also called a minimal
residual method.
An iterative process is said to have short recurrences if in each iteration only data
from a small xed number of previous iterations is used. If the needed amount of
data and work keeps growing with the number of iterations, the algorithm is said to
have long recurrences.
It has been proven that a Kylov method for general coefcient matrices can not
have both the optimality property and short recurrences [14, 15]. As a result, the
Generalised Minimal Residual (GMRES) method necessarily has long recurrences.
Using restarts or truncation, GMRES can be made into a short recurrence method
without optimality. Bi-CGSTAB and IDR(s) have short recurrences, but do not meet
the optimality property.
3.2.3 Algorithmic Complexity
The matrix and vector operations that are used in Krylov subspace methods are
generally restricted to matvecs, vector updates, and inner products. Of these opera-
tions, matvecs have the highest complexity with O(nnz(A)). Therefore, the complex-
ity of Krylov methods is O(nnz(A)), provided convergence is reached in a limited
number of iterations.
The computational work for a Krylov method is often measured in the number
of matvecs, vector updates, and inner products used to increase the dimension of
the Krylov subspace by one and nd the new iterate within the expanded Krylov
subspace. For short recurrence methods these numbers are xed, while for long
recurrences the computational work per iteration grows with the iteration count.
3.2.4 Preconditioning
No Krylov subspace method can produce iterates that are better than the best approx-
imation of the solution within the progressive Krylov subspaces, which are the
iterates attained by minimal residual methods. In other words, the convergence
of a Krylov subspace method is limited by the Krylov subspace. Preconditioning
uses a preconditioner matrix M to change the Krylov subspace, in order to improve
convergence of the iterative solver.
Left Preconditioning
The system of linear equations (3.3) with left preconditioning becomes
M
1
Ax = M
1
b. (3.14)
The preconditioned residual for this linear system of equations is
r
i
= M
1
(b Ax
i
) , (3.15)
and the new Krylov subspace is
K
i
(M
1
A, M
1
r
0
). (3.16)
Right Preconditioning
The system of linear equations (3.3) with right preconditioning becomes
AM
1
y = b, and x = M
1
y. (3.17)
The preconditioned residual is the same as the unpreconditioned residual:
r
i
= b Ax
i
. (3.18)
The Krylov subspace for this linear system of equations is
K
i
(AM
1
, r
0
). (3.19)
However, this Krylov subspace is used to generate iterates y
i
, which are not solution
iterates like x
i
. Solution iterates x
i
can be produced by multiplying y
i
by M
1
. This
leads to vectors x
i
that are in the same Krylov subspace as with left preconditioning.
Split Preconditioning
Split preconditioning assumes some factorisation M = M
L
M
R
of the preconditioner.
The system of linear equations (3.3) then becomes
M
1
L
AM
1
R
y = M
1
L
b, and x = M
1
R
y. (3.20)
The preconditioned residual for this linear system of equations is
r
i
= M
1
L
(b Ax
i
) . (3.21)
The Krylov subspace for the iterates y
i
now is
K
i
(M
1
L
AM
1
R
, M
1
L
r
0
). (3.22)
Transforming to solution iterates x
i
= M
1
R
y
i
, again leads to iterates in the same
Krylov subspace as with left and right preconditioning.
Choosing the Preconditioner
Note that the explanation below assumes left preconditioning, but can easily be
extended to right and split preconditioning.
To improve convergence, the preconditioner M needs to resemble the coefcient
matrix Asuchthat the preconditionedcoefcient matrix M
1
Aresembles the identity
matrix. At the same time, there should be a computationally cheap method available
to evaluate M
1
v for any vector v, because such an evaluation is needed in every
preconditioned matvec in the Krylov subspace method.
A much used method is to create an LU decomposition of some matrix M that
resembles A. In particular, an ILUdecomposition of A can be used as preconditioner.
With such a preconditioner it is important to control the ll-in of the factors, so that
the overall complexity of the method does not increase much.
Another method of preconditioning, is to use an iterative linear solver to calculate
a rough approximation of

A
1
v, and use this approximation instead of the explicit
solution of M
1
v. Here

A can be either the coefcient matrix A itself, or some
convenient approximation of A. A stationary iterative linear solver can be used to
precondition any Krylov subspace method, but nonstationary solvers require special
exible methods such as FGMRES [16].
3.2.5 Starting and Stopping
To start an iterative solver, an initial iterate x
0
is needed. If some approximation
of the solution of the linear system of equations is known, using it as initial iterate
usually leads to fast convergence. If no such approximation is known, then usually
the zero vector is chosen:
x
0
= 0. (3.23)
Another common choice is to use a random vector as initial iterate.
To stop the iteration process, some criterion is needed that indicates when to stop.
By far the most common choice is to test if the relative residual error has become
small enough, i.e., if for some choice of < 1
r
i
b
< . (3.24)
If left or split preconditioning is used, it is important to think about whether the true
residual or the preconditioned residual should be used in the stopping criterion.
References
1. Duff, I.S., Erisman, A.M., Reid, J.K.: Direct Methods for Sparse Matrices. Oxford University
Press, New York (1986)
2. Golub, G.H., van Loan, C.F.: Matrix Computations, 3rd edn. The Johns Hopkins University
Press, Baltimore (1996)
3. Horn, R.A., Johnson, C.R.: Matrix Analysis, 3rd edn. Cambridge University Press, Cambridge
(1990)
4. Yannakakis, M.: Computing the minimum ll-in is NP-complete. SIAM J. Algebraic Discrete
Meth. 2(1), 7779 (1981)
5. Davis, T.A.: Direct Methods for Sparse Linear Systems. SIAM, Philadelphia (2006)
6. Meijerink, J.A., van der Vorst, H.A.: An iterative solution method for linear systems of which
the coefcient matrix is a symmetric m-matrix. Math. Comput. 31(137), 148162 (1977)
7. Meijerink, J.A., van der Vorst, H.A.: Guidelines for the usage of incomplete decompositions
in solving sets of linear equations as they occur in practical problems. J. Comput. Phys. 44(1),
134155 (1981)
8. Saad, Y.: Iterative methods for sparse linear systems, 2nd edn. SIAM, Philadelphia (2003)
9. Varga, R.S.: Matrix Iterative Analysis, 2nd edn. Springer, New York (2000)
10. Saad, Y., Schultz, M.H.: GMRES: a generalized minimal residual algorithm for solving non-
symmetric linear systems. SIAM J. Sci. Stat. Comput. 7, 856869 (1986)
11. van der Vorst, H.A.: Bi-CGSTAB: a fast and smoothly converging variant of Bi-CGfor solution
of nonsymmetric linear systems. SIAM J. Sci. Stat. Comput. 13, 631644 (1992)
12. Sleijpen, G.L.G., van der Vorst, H.A., Fokkema, D.R.: BiCGstab() and other hybrid Bi-CG
methods. Numer. Algorithms 7, 75109 (1994)
13. Sonneveld, P., van Gijzen, M.B.: IDR(s): a family of simple and fast algorithms for solving
large nonsymmetric systems of linear equations. SIAM J. Sci. Comput. 31(2), 10351062
(2008)
14. Faber, V., Manteuffel, T.: Necessary and sufcient conditions for the existence of a conjugate
gradient method. SIAM J. Numer. Anal. 21, 352362 (1984)
15. Voevodin, V.V.: The problem of non-self-adjoint generalization of the conjugate gradient
method is closed. U.S.S.R. Comput. Math. Math. Phys. 22, 143144 (1983)
16. Saad, Y.: A exible inner-outer preconditioned GMRES algorithm. SIAM J. Sci. Comput.
14(2), 461469 (1993)
Chapter 4
Solving Nonlinear Systems of Equations
A nonlinear equation in n variables x
1
, . . . , x
n
R, is an equation
f (x
1
, . . . , x
n
) = 0, (4.1)
that is not a linear equation.
A nonlinear system of equations is a collection of equations of which at least one
equation is nonlinear. Any nonlinear system of m equations in n variables can be
written as
F(x) = 0, (4.2)
where x R
n
is the vector of variables or unknowns, and F : R
n
R
m
is a vector
of m functions in x, i.e.,
F(x) =
F
1
(x)
.
.
.
F
m
(x)
. (4.3)
A solution of a nonlinear system of equations (4.2), is a vector x
R
n
such that
F
k
(x
) = 0 for all k {1, . . . , m} at the same time. In this book, we restrict

ourselves to nonlinear systems of equations with the same number of variables as
there are equations, i.e., m = n.
It is not possible to solve a general nonlinear equation analytically, let alone a
general nonlinear system of equations. However, there are iterative methods to nd
a solution for such systems. The NewtonRaphson algorithm is the standard method
for solving nonlinear systems of equations. Most, if not all, other well-performing
methods can be derived from the NewtonRaphson algorithm. In this chapter the
NewtonRaphson method is treated, as well as some common variations.
22 4 Solving Nonlinear Systems of Equations
4.1 NewtonRaphson Methods
The NewtonRaphson method is an iterative process used to solve nonlinear systems
of equations
F(x) = 0, (4.4)
where F : R
n
R
n
is continuously differentiable. In each iteration, the method
solves a linearisation of the nonlinear problem around the current iterate, to nd an
update for that iterate. Algorithm 4.1 shows the basic NewtonRaphson process.
Algorithm 4.1 NewtonRaphson Method
1: i := 0
2: given initial iterate x
0
3: while not converged do
4: solve J(x
i
)s
i
= F(x
i
)
5: update iterate x
i +1
:= x
i
+s
i
6: i := i +1
7: end while
In Algorithm 4.1, the matrix J represents the Jacobian of F, i.e.,
J =
F
1
x
1
. . .
F
1
x
n
.
.
.
.
.
.
.
.
.
F
n
x
1
. . .
F
n
x
n
. (4.5)
The Jacobian system
J(x
i
) s
i
= F(x
i
) (4.6)
can be solved using any linear solver. When a Krylov subspace method is used, we
speak of a NewtonKrylov method.
The Newton process has local quadratic convergence. This means that if the iterate
x
I
is close enough to the solution, then there is a c 0 such that for all i I
x
i +1
x
cx
i
x
2
. (4.7)
The basic Newton method is not globally convergent, meaning that it does not
always converge to a solution fromevery initial iterate x
0
. Line search and trust region
methods can be used to augment the Newton method, to improve convergence if the
initial iterate is far away from the solution, see Sect. 4.2.
As with iterative linear solvers, the distance of the current iterate to the solution
is not known. The vector F(x
i
) can be seen as the nonlinear residual vector of
iteration i . Convergence of the method is therefore mostly measured in the residual
norm F(x
i
), or relative residual norm
F(x
i
)
F(x
0
)
.
4.1 NewtonRaphson Methods 23
4.1.1 Inexact Newton
Inexact Newton methods [1] are NewtonRaphson methods in which the Jacobian
system (4.6) is not solved to full accuracy. Instead, in each Newton iteration the
Jacobian system is solved such that
r
i
F(x
i
)

i
, (4.8)
where
r
i
= F(x
i
) + J(x
i
) s
i
. (4.9)
The values
i
are called the forcing terms.
The most common form of inexact Newton methods, is with an iterative linear
solver tosolve the Jacobiansystems. The forcingterms thendetermine the accuracyto
which the Jacobian systemis solved in each Newton iteration. However, approximate
Jacobian Newton methods and Jacobian-free Newton methods, treated in Sects. 4.1.2
and 4.1.3 respectively, can also be seen as inexact Newton methods. The general
inexact Newton method is shown in Algorithm 4.2.
Algorithm 4.2 Inexact Newton Method
1: i := 0
2: given initial solution x
0
4: solve J(x
i
)s
i
= F(x
i
) such that r
i

i
F(x
i
)
5: update iterate x
i +1
:= x
i
+s
i
6: i := i +1
7: end while
The convergence behaviour of the method strongly depends on the choice of
the forcing terms. Convergence results derived in [1] are summarised in Table 4.1.
In Chap. 5 we present theoretical results on local convergence for inexact Newton
methods, proving that for properly chosen forcing terms the local convergence factor
is arbitrarily close to
i
in each iteration. This result is reected by the nal row of
Table 4.1, where > 0 can be chosen arbitrarily small. The specic conditions under
which these convergence results hold can be found in [1] and Chap. 5 respectively.
If a forcing term is chosen too small, then the nonlinear error generally is reduced
much less than the linear error in that iteration. This is called oversolving. In general,
the closer the current iterate is to the solution, the smaller the forcing terms can
be chosen without oversolving. Over the years, a lot of effort has been invested in
nding good strategies for choosing the forcing terms, see for instance [2, 3].
Table 4.1 Local convergence
for inexact Newton methods
Forcing terms Local convergence
i
< 1 Linear
limsup
i

i
= 0 Superlinear
limsup
i
i
F
i
p
< , p (0, 1) Order at least 1 + p
Properly chosen
i
< 1 Factor (1 +)
i
4.1.2 Approximate Jacobian Newton
The Jacobian of the function F(x) is not always available in practice. For example, it
is possible that F(x) can be evaluated in any point by some method, but no analytical
formulation is known. Then it is impossible to calculate the derivatives analytically.
Or, if an analytical form is available, calculating the derivatives may simply be too
computationally expensive.
In such cases, the Newton method may be used with appropriate approximations
of the Jacobian matrices. The most widely used Jacobian matrix approximation is
based on nite differences:
J
i j
(x) =
F
i
x
j
(x)
F
i
(x +e
j
) F
i
(x)
, (4.10)
where e
j
is the vector with element j equal to 1, and all other elements equal to 0.
For small enough , this is a good approximation of the derivative.
4.1.3 Jacobian-Free Newton
In some NewtonRaphson procedures the use of an explicit Jacobian matrix can be
avoided. If done so, the method is called a Jacobian-free Newton method. Such a
method may be used if the nonlinear problem is too large for the Jacobian to be
stored in memory explicitly. Jacobian-free Newton methods can also be used as an
alternative to approximate Jacobian Newton methods, if no analytical formulation
of F(x) is known, or if the Jacobian is too computationally expensive to calculate.
Consider NewtonKrylovmethods, where the Krylovsolver onlyuses the Jacobian
in matrix-vector products of the form J(x)v. These products can be approximated
by the directional nite difference scheme
J(x)v
F(x +v) F(x)
, (4.11)
removing the need to store the Jacobian matrix explicitly.
For more information see [4], and the references therein.
4.2 NewtonRaphson with Global Convergence 25
4.2 NewtonRaphson with Global Convergence
Line search and trust region methods are iterative processes that can be used to nd
a local minimum in unconstrained optimisation. Both methods have global conver-
gence to such a minimiser.
Unconstrained optimisation techniques can also be used to nd roots of F,
which are the solutions of the nonlinear problem (4.2). Since line search and trust
region methods ensure global convergence to a local minimum of F, if all such
minima are roots of F, then these methods have global convergence to a solution of
the nonlinear problem. However, if there is a local minimumthat is not a root of F,
then the algorithm may terminate without nding a solution. In this case, the method
is usually restarted from a different initial iterate, in the hope of nding a different
local minimum that is a solution of the nonlinear system.
Near the solution, line search and trust region methods generally converge much
slower than the NewtonRaphson method, but they can be used in conjunction with
the Newton process to improve convergence farther from the solution. Both line
search and trust region methods use their own criterion that has to be satised by
the update vector. Whenever the Newton step satises this criterion then it is used
to update the iterate normally. If the criterion is not satised, an alternative update
vector is calculated that does satisfy the criterion, as detailed below.
4.2.1 Line Search
The idea behind augmenting the NewtonRaphson method with line search is simple.
Instead of updating the iterate x
i
with the Newton step s
N
i
, it is updated with some
vector s
i
=
i
s
N
i
along the Newton step direction, i.e.,
x
i +1
= x
i
+
i
s
N
i
. (4.12)
Ideally,
i
is chosen such that the nonlinear residual norm F(x
i
) +
i
s
N
i
is
minimised over all
i
. Below, a strategy is outlined for nding a good value for
i
, starting with the introduction of a convenient mathematical description of the
problem. Note that F(x
i
) = 0, as otherwise the nonlinear problem has already been
solved with solution x
i
. In the remainder of this section, the iteration index i is
dropped for readability.
Dene the positive function
f (x) =
1
2
F(x)
2
=
1
2
F(x)
T
F(x), (4.13)
and note that
f (x) = J(x)
T
F(x). (4.14)
A vector s is called a descent direction of f in x, if
f (x)
T
s < 0. (4.15)
The Newton direction s
N
= J(x)
1
F(x) is a descent direction, since
f (x)
T
s
N
= F(x)
T
J(x)J(x)
1
F(x) = F(x)
2
< 0. (4.16)
Now dene the nonnegative function
g() = f (x +s
N
) =
1
2
F(x +s
N
)
T
F(x +s
N
). (4.17)
A minimiser of g also minimises F(x +s
N
). Thus the best choice for is
= arg min
g(). (4.18)
It is generally not possible to solve the minimisation problem (4.18) analytically, but
there are plenty methods to nd a numerical approximation of

. In practice, a rough
estimate sufces.
The decrease of f is regarded as sufcient, if satises the Armijo rule [5]
f (x +s
N
) f (x) + f (x)
T
s
N
, (4.19)
where (0, 1). A typical choice that often yields good results is = 10
4
. Note
that for the Newton direction, we can also write the Armijo rule (4.19) as
F(x +s
N
)
2
(1 2) F(x)
2
. (4.20)
The common method to nd a satisfactory value for , is to start with
0
= 1, and
backtrackas long as relation (4.19) is not satisedby setting
k+1
=
k
k
,
k
[0.1, 0.5] . (4.21)
The interval restriction on
k
is called safeguarding.
Since s
N
is a descent direction, at some point the Armijo rule should be satised.
The reduction factor
k
for
k
, is chosen such that
k
= arg min
k
[0.1,0.5]
h(
k
k
), (4.22)
where h is a quadratic polynomial model of f . This model h is constructed to be a
parabola through either the values g(0), g
(0), and g(
k
), or the values g(0), g(
k1
),
and g(
k
). Note that for the Newton direction
4.2 NewtonRaphson with Global Convergence 27
g
(0) = f (x)
T
s
N
= F(x)
2
. (4.23)
Further note that the second model can only be used from the second iteration, and
1
has to be chosen without the use of the model, for example by setting
1
= 0.5.
For more information on line search methods see for example [6]. For line search
applied to inexact NewtonKrylov methods, see [7].
4.2.2 Trust Regions
Trust region methods dene a region around the current iterate x
i
that is trusted, and
require the update step s
i
to be such that the newiterate x
i +1
= x
i
+s
i
lies within this
trusted region. In this section the iteration index i is again dropped for readability.
Assume the trust region to be a hypersphere, i.e.,
s . (4.24)
The goal is to nd the best possible update within the trust region.
Finding the update that minimises F within the trust region may be as hard as
solving the nonlinear problem itself. Instead, the method searches for an update that
satises
min
s
q(s), (4.25)
with q(s) the quadratic model of F(x +s) given by
q(s) =
1
2
r
2
=
1
2
F + Js
2
=
1
2
F
T
F +
J
T
F
T
s +
1
2
s
T
J
T
Js, (4.26)
where F and J are short for F(x) and J(x) respectively.
The global minimum of the quadratic model q(s), is attained at the Newton step
s
N
= J(x)
1
F(x), with q(s
N
) = 0. Thus, if the Newton step is within the trust
region, i.e., if s
N
, then the current iterate is updated with the Newton step.
However, if the Newton step is outside the trust region, it is not a valid update step.
It has been proven that problem (4.25) is solved by
s() =
J(x)
T
J(x) +I
1
J(x)
T
F(x), (4.27)
for the unique for which s() = . See for example [6, Lemma 6.4.1], or
[8, Theorem 7.2.1].
Finding this update vector s() is difcult, but there are fast methods to get a
useful estimate, such as the hook step and the (double) dogleg step. The hook step
method uses an iterative process to calculate update steps s() until s() .
Dogleg steps are calculated by constructing a piecewise linear approximation of the
curve s(), and setting the update step s to be the point where this approximation
curve intersects the trust region boundary.
An essential part of making trust region methods work, is using suitable trust
regions. Each time a new iterate is calculated it has to be decided if it is acceptable,
and the size of the trust region has to be adjusted accordingly.
For an extensive treatment of trust regions methods see [8]. Further information
on the application of trust region methods to inexact NewtonKrylov methods can
be found in [7].
References
1. Dembo, R.S., Eisenstat, S.C., Steihaug, T.: Inexact Newton methods. SIAM J. Numer. Anal.
19(2), 400408 (1982)
2. Dembo, R.S., Steihaug, T.: Truncated-Newton algorithms for large-scale unconstrained opti-
mization. Math. Program. 26, 190212 (1983)
3. Eisenstat, S.C., Walker, H.F.: Choosing the forcing terms in an inexact Newton method. SIAM
J. Sci. Comput. 17(1), 1632 (1996)
4. Knoll, D.A., Keyes, D.E.: Jacobian-free Newton-Krylov methods: a survey of approaches and
applications. J. Comput. Phys. 193, 357397 (2004)
5. Armijo, L.: Minimization of functions having lipschitz continuous irst partial derivatives. Pacic
J. Math. 16(1), 13 (1966)
6. Dennis Jr, J.E., Schnabel, R.B.: Numerical Methods for Unconstrained Optimization and Non-
linear Equations. Prentice Hall, New Jersey (1983)
7. Brown, P.N., Saad, Y.: Hybrid Krylov methods for nonlinear systems of equations. SIAM J. Sci.
Stat. Comput. 11(3), 450481 (1990)
8. Conn, A.R., Gould, N.I.M., Toint, P.L.: Trust-Region Methods. SIAM, Philadelphia (2000)
Chapter 5
Convergence Theory
The NewtonRaphson method is usually the method of choice when solving systems
of nonlinear equations. Good convergence properties reduce the number of Newton
iterations needed to solve the problem, which is crucial for solving the problem in
as little computational time as possible. However, the computational effort may not
be the same in each Newton iteration, especially not for inexact Newton methods.
Thus there is more to minimising the computational cost, than just minimising the
number of Newton iterations.
A solid understanding of convergence behaviour is essential to the design and
analysis of iterative methods. In this chapter we explore the convergence of inexact
iterative methods in general, and inexact Newton methods in particular. A direct
relationship between the convergence of inexact Newton methods and the forcing
terms is presented, and the practical implications concerning computational effort
are discussed and illustrated through numerical experiments.
5.1 Convergence of Inexact Iterative Methods
Assume an iterative method that, given current iterate x
i
, has some way to exactly
determine a unique new iterate x
i+1
. If instead an approximation x
i+1
of the exact
iterate x
i+1
is used to continue the process, we speak of an inexact iterative method.
Inexact Newton methods (see Sect. 4.1.1) are examples of inexact iterative methods.
Figure 5.1 illustrates a single step of an inexact iterative method.
Note that
c
= x
i
x
i+1
> 0, (5.1)
n
= x
i+1
x
i+1
0, (5.2)
c
= x
i
x
> 0 (5.3)
n
= x
i+1
x
, (5.4)
= x
i+1
x
0. (5.5)
30 5 Convergence Theory
Fig. 5.1 Inexact iterative step
x
i
x
i+ 1
i+ 1
x
n

Dene as the distance of the exact iterate x
i+1
to the solution, relative to the
length
c
of the exact update step, i.e.,
=

c
> 0. (5.6)
The ratio

n
c
is a measure for the improvement of the inexact iterate x
i+1
over the
current iterate x
i
, in terms of the distance to the solution x
. Likewise, the ratio

n
c
is a measure for the improvement of the inexact iterate x
i+1
, in terms of the distance
to the exact iterate x
i+1
. As the solution is unknown, so is the ratio

n
c
. Assume,
however, that some measure for the ratio

n
c
is available, and that it can be controlled.
For example, for an inexact Newton method the forcing terms
i
can be used to
control

n
c
.
The aim is to have an improvement of the controllable error impose a similar
improvement on the distance to the solution, i.e., to have
c
(1 + )
c
(5.7)
for some reasonably small > 0.
The worst case scenario can be identied as
max

n
c
=

n
+
=

n
+
c
|1 |
c
=
1
|1 |
c
+

|1 |
. (5.8)
To guarantee that the inexact iterate x
i+1
is an improvement over x
i
, using Eq. (5.8),
it is required that
1
|1 |
c
+

|1 |
< 1

n
c
+ < |1 |

n
c
< |1 | . (5.9)
If 1 this would mean that

n
c
< 1, which is impossible. Therefore, to guarantee
a reduction of the distance to the solution, it is required that
c
< 1 2 2 < 1

n
c
<
1
2

1
2
c
. (5.10)
5.1 Convergence of Inexact Iterative Methods 31
Fig. 5.2 Number of digits
improvement
d
0 1 2 3
d
1
2
=
1
4
=
1
10
=
1
100
= 0
As a result, the absolute operators can be dropped from Eq. (5.8).
Note that if the iterative method converges to the solution superlinearly, then
goes to 0 with the same rate of convergence. Thus, at some point in the iteration
process Eq. (5.10) is guaranteed to hold. This is in particular the case for an inexact
Newton method, if it converges, as convergence is quadratic once the iterate is close
enough to the solution.
Figure 5.2 shows plots of Eq. (5.8) on a logarithmic scale for several values of .
The horizontal axis shows the number of digits improvement in the distance to the
exact iterate, and the vertical axis depicts the resulting minimum number of digits
improvement in the distance to the solution, i.e.,
d
= log

n
c
and d
= log
_
max

n
c
_
. (5.11)
For xed d
, the smaller the value of , the better the resulting d
is. For =
1
10
,
there is a signicant start-up cost on d
before d
becomes positive, and a full digit

improvement on the distance to the solution can never be guaranteed. Making more
than a 2 digit improvement in the distance to the exact iterate results in a lot of effort
with hardly any return at =
1
10
. However, when =
1
100
there is hardly any
start-up cost on d
any more, and the guaranteed improvement in the distance to the

solution can be taken up to about 2 digits.
The above mentioned start-up cost can be derived from Eq. (5.10) to be d
=
log(1 2 ), while the asymptotic value to which d
approaches is given by
d
= log (

1
) = log (
1
1), which is the improvement obtained when using

the exact iterate.
Fig. 5.3 Minimum required
value of
= 1/ 2
= 1/ 4
= 1/ 16
c
0 0.5 1
min
0
1
2
3
The value , as introduced in Eq. (5.7), is a measure of how far the graph of d
deviates from the ideal d
= d
, which is attained only in the ctitious case that

= 0. Combining Eqs. (5.7) and (5.8), the minimum value of that is needed for
Eq. (5.7) to be guaranteed to hold can be investigated:
1
1
c
+

1
= (1 +
mi n
)
c
(5.12)
1
1
+

1
_
c
_
1
= (1 +
mi n
) (5.13)
mi n
=

1
_
_
c
_
1
+ 1
_
. (5.14)
Figure 5.3 shows
mi n
as a function of

n
c
[0, 1) for several values of . Left
of the dotted line the Eq. (5.10) is satised, i.e., improvement of the distance to the
solution is guaranteed, whereas right of the dotted line this is not the case.
For given , reducing

n
c
increases
mi n
. Especially for small

n
c
, the value of
mi n
grows very rapidly. Thus, the closer the inexact iterate is brought to the exact
iterate, the less the expected relative return in the distance to the solution is. For the
inexact Newton method this translates into oversolving whenever the forcing term
i
is chosen too small.
Further, it is clear that if becomes smaller, then
mi n
is reduced also. If is
small,

n
c
can be made very small without compromising the return of investment on
the distance to the solution. However, for nearing
1
2
, or more, no choice of

n
c
can
guarantee a similar improvement, if any, in the distance to the solution. Therefore,
for such oversolving is inevitable.
5.1 Convergence of Inexact Iterative Methods 33
Recall that if the iterative method converges superlinearly, then rapidly goes to 0
also. Thus, for such a method,

n
c
can be made smaller and smaller in later iterations,
without oversolving. In other words, for any choice of > 0 and

n
c
[0, 1),
there will be some point in the iteration process from which on forward Eq. (5.7) is
satised.
When using an inexact Newton method

n
c
=
x
i+1
x
i+1
x
i
x
i+1
is not actually known,

but the relative residual error
r
i
F(x
i
)
=
J(x
i
)(x
i+1
x
i+1)
J(x
i
)(x
i
x
i+1)
, which is controlled by the
forcing terms
i
, can be used as a measure for it. In the next section, this idea is used
to proof a useful variation on Eq. (5.7) for inexact Newton methods.
5.2 Convergence of Inexact Newton Methods
Consider the nonlinear system of equations F(x) = 0, where:
there is a solution x
such that F(x
) = 0,
the Jacobian matrix J of F exists in a neighbourhood of x
,
J(x
) is continuous and nonsingular.

In this section, theory is presented that relates the convergence of the inexact
Newton method, for a problem of the above form, directly to the chosen forcing
terms. The following theorem is a variation on the inexact Newton convergence
theorem presented in [1, Thm. 2.3].
Theorem 5.1. Let
i
(0, 1) and choose > 0 such that (1 + )
i
< 1. Then
there exists an > 0 such that, if x
0
x
< , the sequence of inexact Newton

iterates x
i
converges to x
, with
J(x
)
_
x
i+1
x
_
< (1 + )
i
J(x
)
_
x
i
x
_
. (5.15)
Proof. Dene
= max[J(x
), J(x
)
1
] 1. (5.16)
Recall that J(x
) is nonsingular. Thus is well-dened and we can write

1
y J(x
)y y. (5.17)
Note that 1 because the induced matrix norm is submultiplicative.
Let

_
0,
i
5
_
(5.18)
and choose > 0 sufciently small such that if y x

2
then
J(y) J(x
) , (5.19)
J(y)
1
J(x
)
1
, (5.20)
F(y) F(x
) J(x
)
_
y x
_
y x
. (5.21)
That such an exists follows from [2, Thm. 2.3.3 & 3.1.5].
First we show that if x
i
x
<
2
, then Eq. (5.15) holds.
Write
J(x
)
_
x
i+1
x
_
=
_
I + J(x
)
_
J(x
i
)
1
J(x
)
1
__
[r
i
+
_
J(x
i
)J(x
)
_ _
x
i
x
_

_
F(x
i
)F(x
)J(x
)
_
x
i
x
___
. (5.22)
Taking norms gives
J(x
)
_
x
i+1
x
_

_
1 + J(x
)J(x
i
)
1
J(x
)
1
_
[r
i
+
J(x
i
)J(x
)x
i
x
+ F(x
i
)F(x
)J(x
)
_
x
i
x
_
,
_
1 +
_

_
r
i
+ x
i
x
+ x
i
x
_
,
_
1 +
_

_
i
F(x
i
) + 2 x
i
x
_
. (5.23)
Here the denitions of
i
(Eq. 4.8) and (Eq. 5.16) were used, together with
Eqs. (5.195.21).
Further write, using that by denition F(x
) = 0,
F(x
i
) =
_
J(x
)
_
x
i
x
__
+
_
F(x
i
) F(x
) J(x
)
_
x
i
x
__
. (5.24)
Again taking norms gives
F(x
i
) J(x
)
_
x
i
x
_
+ F(x
i
) F(x
) J(x
)
_
x
i
x
J(x
)
_
x
i
x
_
+ x
i
x
. (5.25)
Substituting Eq. (5.25) into (5.23) then leads to
J(x
)
_
x
i+1
x
(1 + )
_
i
_
J(x
)
_
x
i
x
_
+ x
i
x
_
+ 2 x
i
x
_
(1 + )
_
i
(1 + ) + 2
_
J(x
)
_
x
i
x
_
. (5.26)
Here Eq. (5.17) was used to write x
i
x
J(x
) (x
i
x
).
Finally, using that
_
0,

i
5
_
, and that both
i
< 1 and
i
< 1the latter
being a result from the requirement that (1 + )
i
< 1gives
5.2 Convergence of Inexact Newton Methods 35
(1 + )
_
i
(1 + ) + 2
_

_
1 +

i
5
_
_
i
_
1 +

i
5
_
+
2
i
5
_
=
_
_
1 +

i
5
_
2
+
_
1 +

i
5
_
2
5
_
i
=
_
1 +
2
i
5
+

2
2
i
25
+
2
5
+
2
2
i
25
_
i
<
_
1 +
2
5
+

25
+
2
5
+
2
25
_
i
< (1 + )
i
. (5.27)
Equation (5.15) follows by substituting Eq. (5.27) into Eq. (5.26).
Given that Eq. (5.15) holds if x
i
x
<
2
, we proceed to prove Theorem
5.1 by induction.
For the base case
x
0
x
<
2
. (5.28)
Thus Eq. (5.15) holds for i = 0.
The induction hypothesis that Eq. (5.15) holds for i = 0, . . . , k 1 then gives
x
k
x
J(x
)
_
x
k
x
< (1 + )
k
k1

0
J(x
)
_
x
0
x
< J(x
)
_
x
0
x

2
x
0
x
<
2
. (5.29)
Thus Eq. (5.15) also holds for i = k, completing the proof.
In words, Theorem 5.1 states that for an arbitrarily small > 0, and any choice
of forcing terms
i
(0, 1), Eq. (5.15) holds if the current iterate is close enough to
the solution.
Note that this does not mean that for a certain iterate x
i
, one can choose and
i
arbitrarily small and expect Eq. (5.15) to hold, as depends on the choice of
and
i
. On the contrary, a given iterate x
i
close enough to the solution to guarantee
convergenceimposes the restriction that, for Theorem 5.1 to hold, the forcing
terms
i
cannot be chosen too small. Recall that it was already shown in Sect. 5.1
that choosing
i
too small leads to oversolving.
If we dene oversolving as using forcing terms
i
that are too small for a certain
iterate x
i
, in the context of Theorem 5.1, then the theorem can be characterised by
saying that a convergence factor (1 + )
i
is attained if
i
is chosen such that there
is no oversolving. Using Eq. (5.18),
i
>
5
can then be seen as a theoretical bound

on the forcing terms that guards against oversolving.
Corollary 5.1. Let
i
i
< 1. Then
0
x
< , the sequence of inexact Newton

iterates x
i
converges to x
, with
J(x
)
_
x
i
x
_
< (1 + )
i
i 1

0
J(x
)
_
x
0
x
_
. (5.30)
Proof. The stated follows readily from the repeated application of Theorem 5.1.
A relation between the nonlinear residual norm F(x
i
) and the error norm
J(x
) (x
i
x
) can be derived, within the neighbourhood of the solution where

Theorem 5.1 holds.
Theorem 5.2. Let
i
i
< 1. Then
0
x
< , then
_
1

i
5
_
J(x
)
_
x
i
x
_
< F(x
i
) <
_
1 +

i
5
_
J(x
)
_
x
i
x
_
.
(5.31)
Proof. Using that F(x
) = 0 by denition, again write

F(x
i
) =
_
J(x
)
_
x
i
x
__
+
_
F(x
i
) F(x
) J(x
)
_
x
i
x
__
. (5.32)
Taking norms, and using Eqs. (5.21) and (5.17), gives
F(x
i
) J(x
)
_
x
i
x
_
+ F(x
i
) F(x
) J(x
)
_
x
i
x
J(x
)
_
x
i
x
_
+ x
i
x
J(x
)
_
x
i
x
_
+ J(x
)x
i
x
= (1 + ) J(x
)
_
x
i
x
_
. (5.33)
Similarly, it holds that
F(x
i
) J(x
)
_
x
i
x
_
F(x
i
) F(x
) J(x
)
_
x
i
x
J(x
)
_
x
i
x
_
x
i
x
J(x
)
_
x
i
x
_
J(x
)x
i
x
= (1 ) J(x
)
_
x
i
x
_
. (5.34)
The theorem now follows from Eq. (5.18).
For the nonlinear residual norm F(x
i
), a similar result can now be derived as
was presented for the error norm J(x
) (x
i
x
) in Theorem 5.1.
Theorem 5.3. Let
i
(0, 1) and choose > 0 such that (1 + 2)
i
< 1. Then
0
x
< , the sequence F(x

i
) converges
to 0, with
F(x
i+1
) < (1 + 2)
i
F(x
i
). (5.35)
5.2 Convergence of Inexact Newton Methods 37
Proof. Note that the conditions imposed in Theorem 5.3, are such that Theorems 5.1
and 5.2 hold. Dene and again as in Theorem 5.1.
Using Eq. (5.33), Theorem 5.1, and Eq. (5.34), write
F(x
i+1
) (1 + ) J(x
)
_
x
i+1
x
< (1 + ) (1 + )
i
J(x
)
_
x
i
x
(1 + )
(1 )
(1 + )
i
F(x
i
). (5.36)
Further, using Eq. (5.18), write
1 +
1
<
1 +

i
5
1

i
5
=
1

i
5
+
2
5
i
1

i
5
= 1 +
2
5
i
1

i
5
< 1 +
2
5
i
4
5
= 1 +

i
2
.
Finally, using that both
i
< 1 and 2
i
< 1the latter being a result from the
requirement that (1 + 2)
i
< 1gives
1 +
1
(1 + ) <
_
1 +

i
2
_
(1 + ) = 1 +
_
1 +

i
2
_
+
1
2
2
< 1 + 2
Substitution into Eq. (5.36) completes the proof.
Theorem 5.3 shows that the nonlinear residual norm F(x
i
) converges at similar
rate as the error normJ(x
) (x
i
x
). This is important, because Newton methods

use F(x
i
) to measure convergence of the iterate to the solution.
5.2.1 Linear Convergence
The inexact Newton method uses some iterative process to solve the linear Jacobian
system J(x
i
)s
i
= F(x
i
) up to accuracy J(x
i
)s
i
+ F(x
i
)
i
F(x
i
) in each
Newton iteration. In many practical applications, the convergence of the iterative
linear solver turns out to be approximately linear. That is, for some convergence rate
> 0
r
k
i
10
k
F(x
i
), (5.37)
where r
k
i
= F(x
i
)+J(x
i
)s
k
i
is the linear residual after k iterations of the linear solver
in Newton iteration i .
Suppose that the linear solver indeed converges linearly, with the same rate of
convergence in each Newton iteration. Let K
i
be the number of linear iterations
performed in Newton iteration i , i.e., K
i
is minimum integer such that 10
K
i

i
.
Further, let N
i
=

i 1
j =0
K
j
be the total number of linear iterations performed up to
the start of Newton iteration i . Then, using Corollary 5.1,
J(x
)
_
x
i
x
_
< (1 + )
i
i 1

0
J(x
)
_
x
0
x
= (1 + )
i
10
N
i
J(x
)
_
x
0
x
_
. (5.38)
Thus, if the linear solver converges approximately linearly, with similar rate of con-
vergence in each Newton iteration, and the forcing terms are such that there is no
oversolving, and if can be chosen small enough, i.e., the initial iterate is close
enough to the solution, then the inexact Newton method will converge approximately
linearly in the total number of linear iterations.
Note that this result is independent of the rate of convergence in the Newton
iterations. If the forcing terms are chosen constant, the method will converge linearly
in the number of Newton iterations, and linearly in the total number of linear iterations
performed throughout those Newton iterations. If the forcing terms
i
are chosen
properly, the method will converge quadratically in the Newton iterations, while
converging linearly in the linear iterations. The amount of Newton iterations needed
in these two scenarios may differ greatly, but the total amount of linear iterations
should be approximately equal.
5.3 Numerical Experiments
Both the classical NewtonRaphson convergence theory [2, 3], and the inexact
Newton convergence theory by Dembo et al. [1], require the current iterate to be close
enough to the solution. What exactly is close enough depends on the problem, and
is in practice generally too difcult to calculate. However, decades of practice have
shown that the theoretical convergence is reached within a few Newton steps for
most problems, if needed using globalisation methods as described in Sect. 4.2. Thus
the theory is not just of theoretical, but also of practical importance.
In this section, numerical experiments are presented to illustrate the practical
merit of Theorem 5.1, despite the elusive requirement that the current iterate has to
be close enough to the solution. Moreover, instead of convergence relation (5.15),
an idealised version is tested, in which the error norm is changed to the 2-norm and
is neglected:
x
i+1
x
<
i
x
i
x
. (5.39)
If relation (5.39) is satised, that means that any improvement of the linear residual
norm in a certain Newton iteration, improves the error in the nonlinear iterate by an
equal factor.
The experiments inthis sectionare performedona power owproblem. The power
ow problem, and how to solve it, is treated in Chaps. 68. The actual test case used
is the uctew032 power ow problem (see Chap. 11). The resulting nonlinear system
has approximately 256k equations, and the Jacobian matrix has around 2Mnonzeros.
The linear Jacobian systems are solved using GMRES, preconditioned with a high
quality ILU factorisation of the Jacobian.
5.3 Numerical Experiments 39
In Figs. 5.4, 5.5, 5.6, the results are presented for different amounts of GMRES
iterations per Newton iteration. In all cases, two Newton steps with just a single
GMRES iteration were performed at the start, but omitted from the gure. In each
gure the solid line represents the actual error normx
i
x
, while the dashed line

depicts the expected error norm following the idealised theoretical relation (5.39).
Figure 5.4 has a distribution of GMRES iterations that leads to a fast solution
of the problem. The practical convergence nicely follows the theory. This suggests
that the two initial Newton iterations with a single GMRES iteration each, lead to
an iterate x
2
that is close enough to the solution to use the chosen forcing terms
i
without oversolving. Note that x
2
is in actuality still very far from the solution, and
that it is unlikely that it satises the theoretical bound on the proximity to the solution
required in Theorem 5.1.
Figure 5.5 shows the convergence for a more exotic distribution of GMRES iter-
ations per Newton iteration, illustrating that practice can also follow theory nicely
for such a scenario.
Figure 5.6 illustrates the impact of oversolving. Practical convergence is nowhere
near the idealised theory because extra GMRES iterations are performed that do not
further improve the Newton error. In terms of Theorem5.1 this means that the iterates
x
i
are not close enough to the solution to be able to use forcing terms
i
as small as
they were effectively chosen in this example.
In Fig. 5.7, the convergence in the number of Newton iterations is compared with
the convergence in the number of GMRES iterations. For the uctew032 test case,
the convergence of the GMRES solves is approximately linear, with similar rate of
2 3 4 5 6 7 8
10
8
10
6
10
4
10
2
10
0
10
2
Newton iterations
N
e
w
t
o
n
e
r
r
o
r
practice
idealised theory
Fig. 5.4 GMRES iteration distribution 1, 1, 4, 6, 10, 14
2 3 4 5 6 7 8
10
8
10
6
10
4
10
2
10
0
10
2
Newton iterations
N
e
w
t
o
n
e
r
r
o
r
practice
idealised theory
Fig. 5.5 GMRES iteration distribution 1, 1, 3, 4, 6, 3, 11, 3
2 3 4 5 6 7 8
10
22
10
18
10
14
10
10
10
6
10
2
10
2
Newton iterations
N
e
w
t
o
n
e
r
r
o
r
practice
idealised theory
Fig. 5.6 GMRES iteration distribution 1, 1, 9, 19, 30
5.3 Numerical Experiments 41
2 3 4 5 6 7 8 9 10
10
6
10
4
10
2
10
0
10
2
Newton iterations
N
e
w
t
o
n
e
r
r
o
r
A: 1,1,9,19,30 B: 1,1,6,8,14 C: 1,1,3,4,5,8,11
D: 1,1,3,4,6,3,11,3 E: 1,1,3,3,3,3. . .
0 5 10 15 20 25 30 35 40
10
6
10
4
10
2
10
0
10
2
GMRES iterations
N
e
w
t
o
n
e
r
r
o
r
Fig. 5.7 Convergence in Newton and GMRES iterations
convergence in each Newton iteration. Thus Fig. 5.7 can be used to illustrate the
theory of Sect. 5.2.1.
The top gure shows the true error norm in the number of Newton iterations,
for ve different distributions of GMRES iterations per Newton iteration, i.e., for
ve different sets of forcing terms. The graphs are as expected; the more GMRES
iteration are performed per Newton iteration, the better the convergence. A naive
interpretation might conclude that option (A) is the best of the considered choices,
and that option (E) is by far the worst. However, this is too simple a conclusion, as
illustrated by the bottom gure.
The bottom gure shows the convergence of the true error in the total number
of GMRES iterations for the same ve distributions. In this gure, the convergence
of option (A) is worse than that of option (E), revealing that option (A) leads to a
lot of oversolving. Option (E) is still the worst of the options that do not oversolve
much, but not nearly as bad as suggested by the top gure. Options (B), (C), and (D)
show approximately linear convergence, as predicted by the theory of Sect. 5.2.1. As
the practical GMRES convergence is not exactly linear, nor exactly the same in each
Newton iteration, the convergence of these options is not identical, and option (E) is
still quite a bit worse. The strong inuence of the near linear GMRES convergence
is nonetheless very clear.
Neither the top nor the bottom gure in Fig. 5.7 tells the entire story on its
own. If the set-up time of a Newton iterationgenerally mostly determined by the
calculation of J and Fis very high compared to the computational cost of iterations
of the linear solver, then the top gure approximates the convergence in the solution
time. However, if these set-up costs are negligible compared to the linear solves, then
it is the bottom gure that better approximates the convergence in the solution time.
The practical truth is generally in between, but knowing which of these extremes a
certain problem is closer to, can be important to make the correct choice of forcing
terms.
5.4 Applications
In this section, ideas are presented to use the knowledge fromthe previous sections to
design better inexact Newton algorithms. First, optimising the choice of the forcing
terms is explored, and after that, possible adaptations of the linear solver within the
Newton process are treated.
5.4.1 Forcing Terms
The ideas for choosing good forcing terms
i
rely on the expectation that, in Newton
iteration i , both the unknown true error and its known measure F(x
i
) should reduce
with an approximate factor
i
, as indicated by Theorem 5.1.
5.4 Applications 43
Theoretically, this knowledge can be used to choose the forcing terms adaptively
by calculating F(x
i
+s
k
i
) in every linear iteration k, and checking whether the
reduction in the norm of F is close enough to the reduction in the linear residual.
Once the reduction in the normof Fstarts lagging that of the linear residual, the linear
solver is oversolving, and the next Newton iteration should be started. Obviously,
this adaptive method only makes sense if F(x
i
+ s
k
i
) can be evaluated cheaply
compared to the cost of doing extra linear iterations, which is often not the case.
Theorem 5.1 can also be used to set a lower bound for the forcing terms. Assume
that the aimis to solve up to F . Aforcing term
i
=

F(x
i
)
should be sufcient
to reach that target, provided that there is no oversolving. Choosing
i
signicantly
smaller than that always leads to a waste of computational effort. Therefore, it makes
sense to enforce, for some sensible choice of (0, 1]:
F(x
i
)
. (5.40)
Knowledge of the computational cost to set up a Newton iteration, and of the
convergence behaviour of the used iterative linear solver, can further help to choose
better forcing terms. If the set-up cost of a Newton iteration is high, it then makes
sense to choose smaller forcing terms to get the most out of each Newton iteration.
Similarly, if the linear solver converges superlinearly, slightly smaller forcing terms
may be preferred to maximise the benet of this superlinear convergence. On the
other hand if the set-up cost of a Newton iteration is low, then it may yield better
results to keep the forcing terms a bit larger to prevent oversolving, especially if the
linear solver does not converge superlinearly.
5.4.2 Linear Solver
Given a forcing term
i
, the choice of linear solver may be adapted to the value of
this forcing term. For example, if it is expected that only a few linear iterations are
needed, then GMRES is often the best choice due to its minimal residual property.
On the other hand, if many linear iterations are anticipated it might be better to use
Bi-CGSTAB or IDR(s). If the nonlinear problem is not too large, it may even be best
to switch to a direct solver in later iterations, when
i
becomes very small.
Instead of changing the entire linear solver between Newton iterations, it is also an
option to change just the preconditioning. For example, a higher quality type of pre-
conditioner may be advantageous in later iterations. Alternatively, the preconditioner
can be kept the same through multiple Newton iterations, depending on
i
.
References
1. Dembo, R.S., Eisenstat, S.C., Steihaug, T.: Inexact Newton methods. SIAM J. Numer. Anal.
19(2), 400408 (1982)
2. Ortega, J.M., Rheinboldt, W.C.: Iterative Solution of Nonlinear Equations in Several Variables.
Academic Press, New York (1970)
3. Dennis Jr, J.E., Schnabel, R.B.: Numerical Methods for Unconstrained Optimization and Non-
linear Equations. Prentice Hall, New Jersey (1983)
Part II
Power System Analysis
Chapter 6
Power System Analysis
A power system is a system that provides for the generation, transmission, and
distribution of electrical energy. Power systems are considered to be the largest and
most complex man-made systems. As electrical energy is vital to our society, power
systems have to satisfy the highest security and reliability standards. At the same
time, minimising cost and environmental impact are important issues. Figure 6.1
shows a schematic representation of a power system.
Thermal power plants generate electrical power using heat, mostly from the com-
bustion of fossil fuels, or from a nuclear reaction in the case of nuclear power plants.
Most thermal power stations heat water to produce steam, which is then used to
power turbines. Kinetic energy fromthese rotating devices is converted into electrical
power by means of electromagnetic induction. Hydroelectric power plants run water
through water turbines (typically located in dams), wind farms use wind turbines,
and photovoltaic plants use solar panels to generate electrical power. Hydroelectric,
wind, and solar power are examples of renewable energy, as they are generated from
naturally replenished resources.
The transmission network connects the generating plants to substations near the
consumers. It also performs the function of connecting different power pools, to
reduce cost and increase reliability. High voltage alternating current (AC) is used to
reduce voltage drops and power losses, and to increase capacity of the transmission
lines. A three-phase system is used to reduce conductor material.
The distribution network connects the transmission network to the consumers.
The distribution network operates at lower voltages than the transmission network,
supplying three-phase ACto industrial consumers, and single-phase ACfor common
household consumption.
Power systems have to operate very close to a xed frequency (50Hz in most of
the world, but typically 60Hz in the Americas). Whenever an electrical appliance is
turned on, the load on the power system increases. In the case of a thermal power
plant, the extra power is taken from the kinetic energy of a rotating device, slowing
down the rotation. Extra steam has to be fed to the turbines to keep the rotation at
the desired frequency for the power system. Automated controls make it possible
48 6 Power System Analysis
Fig. 6.1 Schematic representation of a power system [1]
for the power system to operate at near xed frequency, making steady state power
system modelswhere the frequency is regarded constanta useful approximation
of reality.
Steady state power system analysis, by means of simulations on mathematical
models, plays an important role in both operational control and planning. This chapter
6 Power System Analysis 49
rst treats the required mathematical models of electrical power and power system
components. Using these models, power ow and contingency analysis are treated.
In power ow studies, the bus voltages in the power system are calculated, given
the generation and consumption. Contingency analysis simulates equipment outages
to determine if the system can still function reliably if such a contingency were to
occur.
6.1 Electrical Power
To model a power system, models of the underlying quantities are needed, as well
as mathematical relations between these quantities. This sections treats steady state
models for the voltage, current, and power quantities, as well as quantities related
to electrical resistance. Using these quantities, Ohms law, and Kirchhoffs laws for
AC circuits are treated.
6.1.1 Voltage and Current
In a power system in steady state, the voltage and current quantities can be assumed
to be sinusoidal functions of time with constant frequency. By convention, these
quantities are described using the cosine function, i.e.,
v(t ) = V
max
cos(t +
V
) = Re(V
max
e
V
e
t
), (6.1)
i (t ) = I
max
cos(t +
I
) = Re(I
max
e
I
e
t
), (6.2)
where is the imaginary unit, and Re is the operator that takes the real part.
Since the frequency is assumed constant in a steady state power system, the
term e
t
is not needed to describe the voltage or current. The remaining complex
quantities V = V
max
e
V
and I = I
max
e
I
are independent of the time t , and
are called the phasor representation of the voltage and current respectively. These
quantities are used to represent the voltage and current in circuit theory. In power
system theory, instead the effective phasor representation is used:
V = |V| e
V
, with |V| =
V
max
2
, (6.3)
I = |I | e
I
, with |I | =
I
max
2
. (6.4)
Note that |V| and |I | are the RMS values of v(t ) and i (t ), and that the effective
phasors differ from the circuit theory phasors by a factor
2.
As this book is about steady state power system calculations, V and I are used to
denote the effective voltage and current phasors, as dened above.
6.1.2 Complex Power
Using the voltage and current Eqs. (6.1) and (6.2), the reference time can be chosen
such that the voltage can be written as v(t ) = V
max
cos(t ), and the current as
i (t ) = I
max
cos(t ). The quantity =
V

I
is called the power factor angle,
and cos the power factor.
The instantaneous power p(t ) is then given by
p(t ) = v(t )i (t )
=
2 |V| cos(t )
2 |I | cos(t )
= 2 |V| |I | cos(t ) cos(t )
= 2 |V| |I | cos(t ) [cos cos(t ) +sin sin(t )]
= |V| |I |
_
2 cos cos
2
(t ) +2 sin sin(t ) cos(t )
_
= |V| |I | cos
_
2 cos
2
(t )
_
+|V| |I | sin [2 sin(t ) cos(t )]
= |V| |I | cos [1 +cos(2t )] +|V| |I | sin [sin(2t )]
= P [1 +cos(2t )] + Q [sin(2t )] , (6.5)
where P = |V| |I | cos , and Q = |V| |I | sin .
Thus the instantaneous power is the sum of a unidirectional component that is
sinusoidal with average value P and amplitude P, and a component of alternating
direction that is sinusoidal with average 0 and amplitude Q. Note that integrating the
instantaneous power over a time period T =
2
gives
1
T
_
T
0
p(t )dt = P. (6.6)
The magnitude P is called the active power, or real power, or average power, and is
measured in W (watts). The magnitude Q is called the reactive power, or imaginary
power, and is measured in var (volt-ampere reactive).
Using the complex representation of voltage and current, we can write
P = |V| |I | cos = Re(|V| |I | e
(
V
I
)
) = Re(VI ), (6.7)
Q = |V| |I | sin = Im(|V| |I | e
(
V
I
)
) = Im(VI ), (6.8)
where I is the complex conjugate of I . Thus we can dene the complex power in
AC circuits as
6.1 Electrical Power 51
S = P +Q = VI , (6.9)
where S is measured in VA (volt-ampere).
Note that strictly speaking VA and var are the same unit as W, however it is useful
to use the different unit names to distinguish between the measured quantities.
6.1.3 Impedance and Admittance
Impedance is the extension of the notion of resistance to AC circuits. It is a measure
of opposition to a sinusoidal current. The impedance is denoted by
Z = R +X, (6.10)
and measured in ohms (). The real part Re Z = R 0 is called the resistance, and
the imaginary part Im Z = X the reactance. If X > 0 the reactance is called inductive
and we can write X = L, where L > 0 is the inductance. If X < 0 the reactance
is called capacitive and we write X =
1
C
, where C > 0 is the capacitance.
The admittance
Y = G +B (6.11)
is the inverse of the impedance and is measured in siemens (S), i.e.,
Y =
1
Z
=
R
|Z|
2

X
|Z|
2
. (6.12)
The real part G = Re Y =
R
|Z|
2
0 is called the conductance, while the imaginary
part B = ImY =
X
|Z|
2
is called the susceptance.
The voltage drop over an impedance Z is equal to V = ZI. This is the extension
of Ohms law to AC circuits. Alternatively, using the admittance, we can write
I = YV. (6.13)
Using Ohms law, we nd that the power consumed by an impedance Z is
S = VI = ZII = |I |
2
Z = |I |
2
R + |I |
2
X. (6.14)
6.1.4 Kirchhoffs Circuit Laws
Kirchhoffs circuit laws are used to calculate the voltage and current in electrical
circuits.
Kirchhoffs current law (KCL): At any point in the circuit, the sum of currents
owing towards that point is equal to the sum of currents owing away from that
point, i.e.,

k
I
k
= 0.
Kirchhoffs voltage law (KVL): The directed sum of the electrical potential differ-
ences around any closed circuit is zero, i.e.,

k
V
k
= 0.
6.2 Power System Model
Power systems are modelled as a network of buses (nodes) and branches (edges). At
each bus i , four electrical quantities are of importance:
|V
i
| : voltage magnitude,
i
: voltage phase angle,
P
i
: injected active power,
Q
i
: injected reactive power.
Each bus can hold a number of electrical devices. The bus is named according to
the electrical magnitudes specied at that bus, see Table 6.1.
Local distribution networks are usually connected to the transmission network
at a single bus. In steady state power system models, such networks generally get
aggregated in that connecting bus, which then gets assigned the total load of the
distribution network.
Further, balanced three-phase systems are represented by one-line diagrams of
equivalent single-phase systems, and voltage and current quantities are represented
in per unit (p.u.). For more details see for example [2, 3].
Table 6.1 Bus types with electrical magnitudes
Bus type Specied Unknown
Load bus or PQ bus P
i
, Q
i
|V
i
| ,
i
Generator bus or PV bus P
i
, |V
i
| Q
i
,
i
Slack bus or swing bus
i
, |V
i
| P
i
, Q
i
6.2 Power System Model 53
Fig. 6.2 Transmission line
model
i
V
i
j
V
j
y
i j
y
s
2
y
s
2
6.2.1 Generators, Loads, and Transmission Lines
A physical generator usually has P and |V| controls and thus species these magni-
tudes. Likewise, a load will have a negative injected active power P specied, as well
as a reactive power Q. However, the name of the bus does not necessarily indicate
what type of devices it consists of. A wind turbine, for example, is a generator but
does not have PV controls. Instead, it is modelled as a load bus with positive injected
active power P. When a PV generator and a PQ load are connected to the same bus,
the result is a PV bus with a voltage amplitude equal to that of the generator, and
an active power equal to the sum of the active power of the generator and the load.
Also, there may be buses without a generator or load connected, such as transmission
substations, which are modelled as loads with P = Q = 0.
In any practical power system there are system losses. These losses have to be
taken into account, but since they depend on the power ow they are not known in
advance. A generator bus has to be assigned that will compensate for the difference
between the total specied generation and the total specied load plus losses. This
bus is called the slack bus, or swing bus. Obviously it is not possible to specify
the active power P for this bus. Instead the voltage magnitude|V| and angle are
specied. Note that is merely the reference phase to which the other phase angles
are measured. As such, it is common to set = 0 for the slack bus.
Transmission lines (and cables) are represented by branches that connect the
buses in the power system. From a modelling viewpoint, branches dene how to
relate buses with Kirchhoffs circuit laws. Transmission lines generally incur losses
on the transported power and must be modelled as such.
A transmission line from bus i to bus j has some impedance. This impedance is
modelled as a single total impedance quantity z
i j
on the branch. The admittance then
is y
i j
=
1
z
i j
. Further, there is a shunt admittance from the line to the neutral ground.
This shunt admittance is modelled as a total shunt admittance quantity y
s
that is split
evenly between bus i and bus j . Figure 6.2 shows a schematic representation of the
transmission line (or cable) model.
It is usually assumed that there is no conductance from the line to the ground.
This means that the shunt admittance is due only to the electrical eld between line
Fig. 6.3 Shunt model
i
V
i
y
s
Fig. 6.4 Transformer model
i
V
i
j
V
j E
T : 1
y
i j
and ground, and is thus a capacitive susceptance, i.e., y
s
= b
s
, with b
s
0. For this
reason, the shunt admittance y
s
is also sometimes referred to as the shunt susceptance
b
s
. See also the notes about modelling shunts in Sect. 6.2.2.
6.2.2 Shunts and Transformers
Two other devices commonly found in power systems are shunts and transformers.
Shunt capacitors can be used to inject reactive power, resulting in a higher node
voltage, while shunt inductors consume reactive power, lowering the node voltage.
Transformers are used to step-up the voltage to a higher level, or step-down to a
lower level. A phase shifting transformer (PST) can also change the voltage phase
angle. Some transformers have different taps, and can use tap changing to adjust the
transformer ratio.
A shunt is modelled as a reactance z
s
= x
s
between the bus and the ground, see
Fig. 6.3. The shunt admittance thus is y
s
=
1
z
s
=
1
x
s
= b
s
. If x
s
> 0 the shunt
is inductive, if x
s
< 0 the shunt is capacitive. Note that the shunt susceptanceb
s
has
the opposite sign of the shunt reactance x
s
.
Transformers can be modelled as depicted in Fig. 6.4, where T : 1 is the trans-
former ratio. The modulus of T determines the change in voltage magnitude. This
value is usually around 1, because the better part of the differences in voltage levels
are incorporated through the per unit system. The argument of T determines the shift
of the voltage phase angle.
6.2 Power System Model 55
6.2.3 Admittance Matrix
The admittance matrix Y is a matrix that relates the injected current at each bus to
bus voltages, such that
I = YV, (6.15)
where I is the vector of injected currents at each bus, and V is the vector of bus
voltages. This is in fact Ohms law (6.13) in matrix form. As such we can dene the
impedance matrix as Z = Y
1
.
To calculate the admittance matrixY, we look at the injected current I
i
at each
bus i . Let I
i j
denote the current owing from bus i in the direction of bus j = i , or
to the ground in case of a shunt. Applying Kirchhoffs current law now gives
I
i
=
k
I
i k
. (6.16)
Let y
i j
denote the admittance of the branch between bus i and j , with y
i j
= 0 if
there is no branch between these buses. For a simple transmission line from bus i to
bus j , i.e., without shunt admittance, Ohms law states that
I
i j
= y
i j
_
V
i
V
j
_
, and I
j i
= I
i j
, (6.17)
or in matrix notation:
_
I
i j
I
j i
_
= y
i j
_
1 1
1 1
_ _
V
i
V
j
_
. (6.18)
Now suppose that there is a shunt s connected to bus i . Then, according to
Eq. (6.16), an extra term I
i s
is added to the injected current I
i
. From Fig. 6.3, it
is clear that
I
i s
= y
s
(V
i
0) = y
s
V
i
. (6.19)
This means that in the admittance matrix an extra term y
s
has to be added to Y
i i
.
Recall that y
s
= b
s
, and that the sign of b
s
depends on the shunt being inductive or
capacitive.
Knowing how to deal with shunts, it is now easy to incorporate the line shunt
model as depicted in Fig. 6.2. For a transmission line between the buses i and j , half
of the line shunt admittance of that line, i.e.,
y
s
2
, has to be added to both Y
i i
and Y
j j
in the admittance matrix. For a transmission line with shunt admittance y
s
, we thus
nd
_
I
i j
I
j i
_
=
_
y
i j
_
1 1
1 1
_
+ y
s
_
1
2
0
0
1
2
___
V
i
V
j
_
. (6.20)
The impact of a transformer between the buses i and j on the admittance matrix, can
be derived from the model depicted in Fig. 6.4.
Let E be the voltage induced by the transformer, then
V
i
= TE. (6.21)
The current owing from bus j in the direction of the transformer device (towards
bus i ) then is
I
j i
= y
i j
_
V
j
E
_
= y
i j
_
V
j

V
i
T
_
. (6.22)
Conservation of power within the transformer gives
V
i
I
i j
= EI
j i
T I
i j
= I
j i
T I
i j
= I
j i
. (6.23)
Therefore, the current owing from bus i in the direction of the transformer device
(towards bus j ) is
I
i j
=
I
j i
T
= y
i j
_
V
i
|T|
2

V
j
T
_
. (6.24)
The total contribution of a branch between bus i and bus j to the admittance matrix,
thus becomes
_
I
i j
I
j i
_
=
_
y
i j
_
1
|T|
2

1
T
1
T
1
_
+ y
s
_
1
2
0
0
1
2
_
_
_
V
i
V
j
_
, (6.25)
where T = 1 if the branch is not a transformer.
The admittance matrixY can now be constructed as follows. Start with a diagonal
matrix with the shunt admittance value on diagonal element i for each bus i that has
a shunt device, and 0 on each diagonal element for which the corresponding bus has
no shunt device. Then, for each branch add its contribution to the matrix according
to Eq. (6.25).
6.3 Power Flow
The power owproblem, or load owproblem, is the problemof computing the ow
of electrical power in a power system in steady state. In practice, this amounts to
calculating the voltage in each bus of the power system. Once the bus voltages are
known, the other electrical quantities are easy to compute. The power ow problem
has many applications in power system operation and planning, and is treated in
many books on power systems, see for example [24].
6.3 Power Flow 57
Mathematical equations for the power owproblemcan be obtained by combining
the complex power equation(6.9), with Ohms law (6.15). This gives
S
i
= V
i
I
i
= V
i
_
YV
_
i
= V
i
N
k=1
Y
i k
V
k
, (6.26)
where S
i
is the injected power at bus i , I
i
the current through bus i , V
i
the bus voltage,
Y is the admittance matrix, and N is the number of buses in the power system.
The admittance matrixY is easy to obtain, and generally very sparse. Therefore,
a formulation using the admittance matrix has preference over formulations using
the impedance matrix Z, which is generally a lot harder to obtain and not sparse.
In Chap. 7 two traditional methods to solve the power ow problem (6.26) are
treated. In Chap. 8 we investigate power owsolvers based on Newton-Krylov meth-
ods, and show that such solvers scale much better in the problem size, making them
much faster than the traditional methods for large power ow problems.
6.4 Contingency Analysis
Contingency analysis is the act of identifying changes in a power system that have
some non-negligible chance of unplanned occurrence, and analysing the impact of
these contingencies on power system operation. The contengencies most commonly
studied are single generator and branch outages.
A power system that still operates properly on the occurrence of any single con-
tingency, is called n 1 secure. In some cases n 2 security analysis is desired, i.e.,
analysis of the impact of any two contingencies happening simultaneously.
Contingency analysis generally involves solving many power ow problems,
in which the contingencies have been modelled. In Chap. 9 we investigate how
Newton-Krylov power owsolvers can be exploited to speed up contingency analysis
calculations.
References
1. Wikipedia: Electricity Grid Schematic EnglishWikipedia, the free encyclopedia (2010). http://
en.wikipedia.org/wiki/File:Electricity_Grid_Schematic_English.svg
2. Bergen, A.R., Vittal, V.: Power Systems Analysis, 2nd edn. Prentice Hall, New Jersey (2000)
3. Schavemaker, P., van der Sluis, L.: Electrical Power SystemEssentials. Wiley, Chichester (2008)
4. Powell, L.: Power System Load Flow Analysis. McGraw-Hill, USA (2004)
Chapter 7
Traditional Power Flow Solvers
As long as there have been power systems, there have been power ow studies. This
chapter discusses the two traditional methods to solve power owproblems: Newton
power ow and Fast Decoupled Load Flow (FDLF).
Newton power ow is described in Sect. 7.1. The concept of the power mismatch
function is treated, and the corresponding Jacobian matrix is derived. Further, it is
detailed how to treat different bus types within the Newton power ow method.
Fast Decoupled Load Flow is treated in Sect. 7.2. The FDLF method can be seen
as a clever approximation of Newton power ow. Instead of the Jacobian matrix, an
approximation based on the practical properties of power owproblems is calculated
once, and used throughout all iterations.
Finally, Sect. 7.3 discusses convergence and computational properties of the two
methods, and Sect. 7.4 describes how Newton power ow and FDLF can be inter-
preted as basic Newton-Krylov methods, motivating how Newton-Krylov methods
can be used to improve on these traditional power ow solvers.
7.1 Newton Power Flow
Newton power ow uses the Newton-Raphson method to solve the power ow
problem. Traditionally, a direct solver is used to solve the linear system of equa-
tions (4.6) that arises in each iteration of the Newton method [1, 2].
In order to use the Newton-Raphson method, the power ow equations have to be
written in the formF(x) = 0. The common procedure to get such a formis described
in Sect. 7.1.1. This procedure leads to a function F(x) called the power mismatch
function. The power mismatch function contains the the injected active power P
i
and
reactive power Q
i
at each bus, while the vector parameter x consists of the voltage
angles
i
and voltage magnitudes |V
i
|. Newton power ow usually uses a at start,
meaning that the initial iterate has
i
= 0 and |V
i
| = 1 for all i .
60 7 Traditional Power Flow Solvers
Another element required for the Newton-Raphson method, is the Jacobian matrix
J(x). In Sect. 7.1.2 the Jacobian matrix of the power mismatch function is derived.
Further, it is shown that this matrix can be computed cheaply fromthe building blocks
used in the evaluation of the power mismatch function.
For load buses the voltage angle
i
and voltage magnitude |V
i
| are the unknowns,
see Table 6.1 (p. 52). However, for generator buses the voltage magnitude
i
is known,
while the injected reactive power Q
i
is unknown. And for the slack bus, the entire
voltage phasor is known, while the injected power is unknown. Thus, the power
mismatch function F(x) is not simply a known function in an unknown parameter.
Section7.1.3 deals with the steps needed for each of the different bus types, to be
able to apply the Newton-Raphson method to the power mismatch function.
7.1.1 Power Mismatch Function
Recall from Sect. 6.3 that the power ow problem can be described by the power
ow equations
S
i
= V
i
N
k=1
Y
i k
V
k
. (7.1)
As it is not possible to treat the voltage phasors V
i
as variables of the problem for
the slack bus and generator buses, it makes sense to rewrite the N complex nonlinear
equations of Eq. (6.26) as 2N real nonlinear equations in the real quantities P
i
, Q
i
,
|V
i
|, and
i
.
Substituting V
i
= |V
i
| e
i
, Y = G + B, and
i j
=
i

j
into the power ow
equations (7.1) gives
S
i
= |V
i
| e
i
N
k=1
(G
i k
B
i k
) |V
k
| e
k
=
N
k=1
|V
i
| |V
k
| (cos
i k
+ sin
i k
) (G
i k
B
i k
) . (7.2)
Now dene the real vector x of voltage variables as
x = [
1
, . . . ,
N
, |V
1
| , . . . , |V
N
| ]
T
. (7.3)
For the purpose of notational comfort, further dene the matrix functions P(x) and
Q(x) with entries
P
i j
(x) = |V
i
|
V
j
G
i j
cos
i j
+ B
i j
sin
i j
, (7.4)
Q
i j
(x) = |V
i
|
V
j
G
i j
sin
i j
B
i j
cos
i j
, (7.5)
7.1 Newton Power Flow 61
and the vector functions P(x) and Q(x) with entries
P
i
(x) =
k
P
i k
(x), (7.6)
Q
i
(x) =
k
Q
i k
(x). (7.7)
Note that P
i j
(x) = Q
i j
(x) = 0 for each pair of buses i = j that is not connected by
a branch.
Using the above denitions, Eq. (7.2) can be written as
S = P(x) +Q(x). (7.8)
Now, the power mismatch function F is the real vector function
F(x) =
P P(x)
QQ(x)
, (7.9)
and the power ow problem can be written as the system of nonlinear equations
F(x) = 0. (7.10)
7.1.2 Jacobian Matrix
The Jacobian matrix J(x) of a function F(x), is the matrix of all rst order partial
derivatives of that function. The Jacobian matrix of the power mismatch function
has the following structure, where P
i
(x) and Q
i
(x) are as in Eqs. (7.6) and (7.7)
respectively:
J(x) =
_
_
_
_
_
_
_
_
_
_
_
_
P
1
1
(x) . . .
P
1
N
(x)
P
1
|V
1
|
(x) . . .
P
1
|V
N
|
(x)
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
P
N
1
(x) . . .
P
N
N
(x)
P
N
|V
1
|
(x) . . .
P
N
|V
N
|
(x)
Q
1
1
(x) . . .
Q
1
N
(x)
Q
1
|V
1
|
(x) . . .
Q
1
|V
N
|
(x)
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
Q
N
1
(x) . . .
Q
N
N
(x)
Q
N
|V
1
|
(x) . . .
Q
N
|V
N
|
(x)
_
_
. (7.11)
Note that the Jacobian matrix (7.11) consist of the negated rst order derivatives
of P
i
(x) and Q
i
(x), but that the Newton-Raphson method uses the negated Jacobian.
Therefore, the coefcient matrix of the linear systemsolved in each Newton iteration,
consists of the rst order derivatives of P
i
(x) and Q
i
(x). These partial derivatives
are derived below, where it is assumed that i = j whenever applicable.
The rst order partial derivatives of P
i
(x) and Q
i
(x) are:
P
i
j
(x) = |V
i
|
V
j
G
i j
sin
i j
B
i j
cos
i j
= Q
i j
(x), (7.12)
P
i
i
(x) =
k=i
|V
i
| |V
k
| (G
i k
sin
i k
+ B
i k
cos
i k
)
=
k=i
Q
i k
(x) = Q
i
(x) |V
i
|
2
B
i i
, (7.13)
Q
i
j
(x) = |V
i
|
V
j
G
i j
cos
i j
B
i j
sin
i j
= P
i j
(x), (7.14)
Q
i
i
(x) =
k=i
|V
i
| |V
k
| (G
i k
cos
i k
+ B
i k
sin
i k
)
=
k=i
P
i k
(x) = P
i
(x) |V
i
|
2
G
i i
, (7.15)
P
i
V
j
(x) = |V
i
|
G
i j
cos
i j
+ B
i j
sin
i j
=
P
i j
(x)
V
j
, (7.16)
P
i
|V
i
|
(x) = 2 |V
i
| G
i i
+
k=i
|V
k
| (G
i k
cos
i k
+ B
i k
sin
i k
)
= 2 |V
i
| G
i i
+
k=i
P
i k
(x)
|V
i
|
=
P
i
(x) +|V
i
|
2
G
i i
|V
i
|
, (7.17)
Q
i
V
j
(x) = |V
i
|
G
i j
sin
i j
B
i j
cos
i j
=
Q
i j
(x)
V
j
, (7.18)
Q
i
|V
i
|
(x) = 2 |V
i
| B
i i
+
k=i
|V
k
| (G
i k
sin
i k
B
i k
cos
i k
)
= 2 |V
i
| B
i i
+
k=i
Q
i k
(x)
|V
i
|
=
Q
i
(x) |V
i
|
2
B
i i
|V
i
|
. (7.19)
Observe that the Jacobian matrix entries consist of the same building blocks P
i j
and Q
i j
as the power mismatch function F. This means that whenever the power
mismatch function is evaluated, the Jacobian matrix can be calculated at relatively
little extra computational cost.
7.1.3 Handling Different Bus Types
Which of the values P
i
, Q
i
, |V
i
|, and
i
are specied, and which are not, depends on
the associated buses, see Table 6.1 (p. 52).
7.1 Newton Power Flow 63
Dealing with the fact that some elements in P and Q are not specied is easy.
The equations corresponding to these unknowns can simply be dropped from
the problem formulation. The unknown voltages in x can be calculated from the
remaining equations, after which the unknown power values follow from evaluating
the corresponding entries of P(x) and Q(x).
Dealing with specied voltage values is less straight-forward. Recall that the
Newton-Raphson method is an iterative process that, in each iteration, calculates a
vector s
i
and sets the new iterate to be x
i +1
= x
i
+s
i
. Now, if some entries of x are
knownas is the case for generator buses and the slack busthen the best value for
the corresponding entry of the update vector s
i
is clearly 0.
To ensure that the update for known voltage values is indeed 0, these entries in the
update vector, and the corresponding columns of the coefcient matrix, can simply
be dropped. Thus for every generator bus, one unknown in the update vector and one
column in the coefcient matrix are dropped, whereas for the slack bus two of each
are dropped.
The amount of nonlinear equations dropped from the problem, is always equal
to the amount of variables, and corresponding columns, that are dropped from the
linear systems. Therefore, the linear systems that are actually solved have a square
coefcient matrix of size 2N N
G
2 = 2N
L
+ N
G
, where N
L
is the number of
load buses, and N
G
is the number of generator buses in the power system.
Another method to deal with different bus types is not to eliminate any rows or
columns from the problem. Instead the linear systems are built normally, except for
the linear equations that correspond to power values that are not specied. For these
equations, the right-hand side value and all off-diagonal entries are set to 0, while
the diagonal entry is set to 1. Or, the diagonal entry can be set to some very large
number, in which case the off-diagonal entries can be kept as they would have been.
This method also ensures that the update for known voltage values is 0 in each
iteration. The linear systems that have to be solved are of size 2N, and thus larger
than in the previous method. However, the structure of the matrix can be made
independent of the bus types. This means that the matrix structure can be kept the
same between runs that change the type of one or more buses. Bus-type switching is
used for example to ensure that reactive power limits of generators are satised.
7.2 Fast Decoupled Load Flow
Fast Decoupled Load Flow(FDLF) is an approximation of Newton power ow, based
on practical properties of power ow problems. The general FDLF method is shown
in Algorithm 7.1.
The original derivation of the FDLF method is presented in Sect. 7.2.1, and
in Sect. 7.2.2 notes on dealing with shunts and transformers are added. Finally,
Sect. 7.2.3 treats different choices for the matrices B
and B
, called schemes, and

explains how the BX and XB schemes can be interpreted as an approximation
Algorithm 7.1 Fast Decoupled Load Flow
1: calculate the matrices B
and B
2: calculate LU factorisation of B
and B
3: given initial iterates and |V|

5: solve B
= P(, |V|)
6: update := +
7: solve B
|V| = Q(, |V|)

8: update |V| := |V| +|V|
9: end while
of Newton power ow using the Schur complement. The techniques described in
Sect. 7.1.3 can again be used to handle the different bus types.
7.2.1 Classical Derivation
In Fast Decoupled Load Flow, the assumption is made that for all i, j
i j
0, (7.20)
|V
i
| 1. (7.21)
In the original derivation in[3], it is further assumed that
G
i j
B
i j
. (7.22)
Using assumption(7.20), the following approximations can be made:
P
i j
(x) = |V
i
|
V
j
G
i j
cos
i j
+ B
i j
sin
i j
+|V
i
|
V
j
G
i j
, (7.23)
Q
i j
(x) = |V
i
|
V
j
G
i j
sin
i j
B
i j
cos
i j
|V
i
|
V
j
B
i j
. (7.24)
Note that for i = j these approximations are exact, since
i i
= 0.
From assumption(7.22) it then follows that
G
i j
P
i j
(x)
Q
i j
(x)
B
i j
. (7.25)
This leads to the idea of decoupling, i.e., neglecting the off-diagonal blocks of the
Jacobian matrix, which are based on G
i j
and P
i j
, as they are small compared to the
diagonal blocks, which are based on B
i j
and Q
i j
.
By the above assumptions, the rst order derivatives that constitute the Jacobian
matrix of the Newton power ow process can be approximated as follows. Note that
assumption (7.21) is used in the rst two equations, though only on
V
j
, and that it
is assumed that i = j whenever applicable.
7.2 Fast Decoupled Load Flow 65
P
i
j
(x) = Q
i j
(x) |V
i
|
V
j
B
i j
|V
i
| B
i j
, (7.26)
P
i
i
(x) =
k=i
Q
i k
(x)
k=i
|V
i
| |V
k
| B
i k
|V
i
|
k=i
B
i k
, (7.27)
Q
i
j
(x) = P
i j
(x) 0, (7.28)
Q
i
i
(x) =
k=i
P
i k
(x) 0, (7.29)
P
i
V
j
(x) =
P
i j
(x)
V
j
0, (7.30)
P
i
|V
i
|
(x) = 2 |V
i
| G
i i
+
k=i
P
i k
(x)
|V
i
|
0, (7.31)
Q
i
V
j
(x) =
Q
i j
(x)
V
j
|V
i
| B
i j
, (7.32)
Q
i
|V
i
|
(x) = 2 |V
i
| B
i i
+
k=i
Q
i k
(x)
|V
i
|
2 |V
i
| B
i i

k=i
|V
k
| B
i k
. (7.33)
The last equation(7.33) still requires some work. To this purpose, dene the
negated row sum D
i
of the imaginary part B of the admittance matrix:
D
i
=
k
B
i k
= B
i i

k=i
B
i k
. (7.34)
Note that, if the diagonal elements of B are negative and the off-diagonal elements
are nonnegative, then D
i
is the diagonal dominance of row i . In a system with only
generators, loads, and transmission lines without line shunts, D
i
= 0 for all i .
Using assumption (7.21) on Eq. (7.33) to approximate |V
k
| by |V
i
| gives
Q
i
|V
i
|
(x) 2 |V
i
| B
i i

k=i
|V
k
| B
i k
2 |V
i
| B
i i
|V
i
|
k=i
B
i k
= |V
i
|
k=i
B
i k
2 |V
i
|
_
_
B
i i
+
k=i
B
i k
_
_
= |V
i
|
k=i
B
i k
+2 |V
i
| D
i
. (7.35)
The only term left, in the approximated Jacobian matrix, that depends on the
current iterate, now is |V
i
|. Because of assumption (7.21) this term can be simply set
to 1. Another common strategy to remove the dependence on the current iterate from
the approximated Jacobian matrix, is to divide each linear equation i by |V
i
| in every
iteration of the FDLF process. In both cases, the coefcient matrices are the same
and constant throughout all iterations. The off-diagonal blocks of these matrices are
0. The upper and lower diagonal blocks are referred to as B
and B
respectively:
B
i j
= B
i j
(i = j ), (7.36)
B
i i
=
k=i
B
i k
, (7.37)
B
i j
= B
i j
(i = j ), (7.38)
B
i i
=
k=i
B
i k
+2D
i
. (7.39)
Note that, in a system with only generators, loads and transmission lines, B
is
equal to B without any line shunts incorporated, while B
is equal to B with
double line shunt values.
Summarising, the FDLF method calculates the iterate update in iteration k by
solving the following linear systems:
B
k
= P
k
, (7.40)
B
|V|
k
= Q
k
, (7.41)
with either
P
k
i
= P
i
P
i
_
k
, |V|
k
_
and Q
k
i
= Q
i
Q
i
_
k
, |V|
k
_
, (7.42)
or
P
k
i
=
P
i
P
i
k
, |V|
k
|V
i
|
and Q
k
i
=
Q
i
Q
i
k
, |V|
k
|V
i
|
. (7.43)
7.2.2 Shunts and Transformers
A few additional notes can be made with respect to shunts and transformers, the
treatment of which is different between B
and B
.
Shunts have the same inuence on the system as transmission line shunts, i.e.,
they only change the diagonal entries of the admittance matrix. Thus, shunts are left
out in B
, and doubled in B
.
The modulus |T| of the transformer ratio changes the voltage magnitude, and
is therefore generally set to 1 in the calculation of B
, which works on the voltage

phase angle. Likewise, the argument arg (T) changes the voltage phase angle, and is
usually set to 0 for the calculation of B
, which works on the voltage magnitude.

7.2.3 BB, XB, BX, and XX
The Fast Decoupled Load Flow method derived in Sect. 7.2.1 is referred to as the BB
scheme, because the susceptance values
B
i j
= Im
_
1
R
i j
+X
i j
=
X
i j
R
2
i j
+ X
2
i j
. (7.44)
are used for both B
and B
.
Stott and Alsac [3] already reported improved convergence in many power ow
problems, if the series resistance R was neglected in B
, i.e., if for B
the values
B
X
i j
= Im
_
1
X
i j
=
1
X
i j
(7.45)
are usedinsteadof the full susceptance. This methodis calledthe XBscheme, because
B
is derived fromthe reactance values X

i j
, and B
fromthe susceptance values B

i j
.
Van Amerongen [4] found that the BX scheme, where B
is derived from the

susceptance values B
i j
, and B
from the reactance values X

i j
, yields convergence
that is comparable to XB in most cases, and considerably better in some. Further, he
noted that an XX scheme is never better than the BX and XB schemes.
Monticelli et al. [5] presented mathematical support for the good results obtained
with the XB and BX schemes. Their idea is the following. Starting with assumptions
(7.20) and (7.21), the Jacobian system of the Newton power ow method can be
approximated by
B G
G B

|V|
P
Q
. (7.46)
For simplicity, the differences between the diagonals of the upper-left and lower-right
blocks, as well as those of the lower-left and upper-right blocks, are neglected.
It should be noted, that the remarks on the incorporation of line shunts described
in Sect. 7.2.1, and those on shunts and transformers described in Sect. 7.2.2, remain
useful to improve convergence.
Using downward block Gaussian elimination on the system (7.46) gives
B G
0
B +GB
1
G

|V|
P
QGB
1
P
. (7.47)
This linear system is solved in three steps, that are then combined into the two steps
of the BX scheme.
Step 1: Calculate the partial voltage angle update
k
B
from
B
k
B
= P
_
k
, |V|
k
_
k
B
= B
1
P
_
()
k
, |V|
k
_
, (7.48)
where k is the current FDLF iteration.
Step 2: Calculate the voltage magnitude update |V|
k
from
_
B +GB
1
G
_
|V|
k
Q
_
k
+
k
B
, |V|
k
_
. (7.49)
This is an approximation of the lower block of linear equations in (7.47), since the
rst order Taylor expansion can be used to write
Q
_
k
+
k
B
, |V|
k
_
Q
_
k
, |V|
k
_
+
Q
k
, |V|
k
_
k
B
Q
_
k
, |V|
k
_
GB
1
P
_
k
, |V|
k
_
. (7.50)
Here it is used that the partial derivative of Q with respect to is in the bottom-left
block of the Jacobian matrix (7.11), which is approximated by the matrix G in
accordance with Eq. (7.46).
Step 3: Calculate a second partial voltage angle update
k
G
from
B
k
G
= G|V|
k
k
G
= B
1
G|V|
k
. (7.51)
Then the solution of the upper block of equations in (7.47) is given by
k
= B
1
P
_
k
, |V|
k
_
+ B
1
G|V|
k
=
k
B
+
k
G
. (7.52)
The next step would be step 1 of the next iteration, i.e.,
k+1
B
= B
1
P
_
k+1
, |V|
k+1
_
. (7.53)
However, note that
k+1
B
+
k
G
(7.54)
= B
1
P
_
k+1
, |V|
k+1
_
+ B
1
G|V|
k
(7.55)
= B
1
_
P
_
k
+
k
B
+
k
G
, |V|
k+1
_
G|V|
k
_
(7.56)
B
1
_
P
_
k
+
k
B
, |V|
k+1
_
+ B
k
G
G|V|
k
_
(7.57)
= B
1
P
_
k
+
k
B
, |V|
k+1
_
, (7.58)
where a rst order Taylor expansion, similar to the one in Eq. (7.50), is used to go
fromEqs. (7.56) to (7.57). Thus, instead of calculating
k
G
to update the voltage angle
with it, and then calculating
k+1
B
from Eq. (7.53) to again update the voltage angle,
instead a single combined voltage angle update
k+1
B
+
k
G
can be calculated from
Eq. (7.58).
The above observations lead to the following iteration scheme:
solve B = P(, |V|),
update := +,
solve
B +GB
1
G
|V| = Q(, |V|),

update |V| := |V| +|V|.
Note that here denotes the combined update from Eq. (7.54).
It thus remains to show that the matrix
B +GB
1
G
is properly represented
in the FDLF method.
To this purpose, write B = A
T
dBAy and G = A
T
dGA, where A is the incidence
matrix of the associated graph (see Sect. 2.4) and the matrices dB and dG are the
diagonal matrices of edge susceptances and edge conductances respectively.
There are two special cases in which this notation can be used to simplify the
matrix
B +GB
1
G
. First, if the network is radial then A can be set up as a

square nonsingular matrix, see [5], and
_
B +GB
1
G
_
= A
T
dBA A
T
dGA
_
A
T
dBA
_
1
A
T
dGA
= A
T
dBA A
T
dGAA
1
dB
1
A
T
A
T
dGA
= A
T
dBA A
T
_
dG
2
dB
1
_
A. (7.59)
For the second case, note that
B
i j
=
X
i j
R
2
i j
+ X
2
i j
=
X
i j
R
i j
R
i j
R
2
i j
+ X
2
i j
=
X
i j
R
i j
G
i j
. (7.60)
Therefore, if the R/X ratio =
R
i j
X
i j
is equal on all branches of the power system,
then dB =
1
dG, and
_
B +GB
1
G
_
= A
T
dBA A
T
dGA
_
A
T
dBA
_
1
A
T
dGA
= A
T
dBA +A
T
dGA
_
A
T
dGA
_
1
A
T
dGA
= A
T
dBA +A
T
dGA
= A
T
dBA A
T
_
dG
2
dB
1
_
A. (7.61)
Both cases lead to the same result, which can be further simplied to
_
B +GB
1
G
_
= A
T
dBA A
T
_
dG
2
dB
1
_
A
= A
T
_
dB
2
+dG
2
_
dB
1
A
= A
T
_
dX
1
_
A, (7.62)
where A
T

dX
1
A is equal to the matrix B

X
, as dened in Eq. (7.45).
For general networks, if the R/X ratios do not vary a lot, the matrix constructed
from the inverse reactances X
1
i j
can therefore be used as an approximation of the
Schur complement matrix
B +GB
1
G
. This leads to the BX scheme of the Fast

Decoupled Load Flow method.
Similar to the above derivation, starting with the linear system(7.46), and applying
block Gaussian elimination upward instead of downward, the XB scheme can be
derived. However, when there are PVbuses, the convergence of this scheme becomes
less reliable than that of the BX scheme. This can be understood by analysing what
happens to the XB scheme if all buses are PV buses. In this case the vector |V| is
known, and the linear system from Eq. (7.46) reduces to
B = P. (7.63)
In the BX scheme, this is indeed the system that is solved. However, in the XB
scheme the coefcient matrix B
X
is used instead of B, leading to unnecessary
extra approximation errors.
Summarising, with the assumptions that
i j
0 and |V
i
| 1, and the assumption
that the R/X ratio does not vary too much between different branches in the network,
the BX and XB schemes of the Fast Decoupled Load Flow method can be derived.
The assumption on the R/X ratios replaces the original assumption (7.22). The BX
and XB schemes of the Fast Decoupled Load Flow method are not decoupled in the
original meaning of the term, because the off-diagonal blocks are not disregarded,
but are incorporated in the method. As such, these schemes generally have better
convergence properties than the BB scheme.
7.3 Convergence and Computational Properties 71
7.3 Convergence and Computational Properties
The convergence of Newtonpower owis generallybetter thanthat of Fast Decoupled
Load Flow, since the FDLF method is an approximation of Newton power ow.
The Newton-Raphson method has quadratic convergence when the iterate is close
enough to the solution. Fast Decoupled Load Flow often exhibits convergence that
is approximately linear. FDLF convergence may be close to the Newton power ow
convergence in early iterations, when the iterate is relatively far from the solution.
But when the iterate is closer to the solution, Newton power ow converges much
faster. Furthermore, in some cases FDLF may fail to converge, while Newton power
ow can still nd a solution.
Newton power ow and the Fast Decoupled Load Flow method both evaluate the
power mismatch function in every iteration. The FDLF method calculates the coef-
cient matrices B
and B
only once at the start. In the case of Newton power ow, the
Jacobian matrix has to be calculated in every iteration. However, the Jacobian matrix
can be computed at relatively little extra cost when evaluating the power mismatch
function, as was shown in Sect. 7.1.2. Thus, there is no signicant computational
difference in terms of the evaluation of the power mismatch and coefcient matrices.
Both algorithms traditionally use a direct method to solve the linear systems of
equations. Newton power ow needs to make an LU decomposition of the Jacobian
in each iteration. In case of the FDLF method, the LU decomposition of B
and B
can be made once at the start. Then, in every iteration, only forward and backward
substitutions are needed to solve the linear systems, reducing computational cost (see
Sect. 3.1.3). Furthermore, the FDLF coefcient matrices B
and B
each hold about

a quarter of the number of nonzeros that the Jacobian matrix has, reducing memory
requirements and computational cost compared to Newton power ow.
Summarising, the choice between Newton power ow and Fast Decoupled Load
Flow is about reducing computational and memory cost per iteration, at the cost of
convergence speed and robustness.
In practice, Newton power ow is usually preferred over FDLF because of the
improved robustness. In the discussion of [6], it was also agreed upon that for the
large complex power ow problems of the future, the focus should be on Newton
power ow, rather than Fast Decoupled Load Flow. As discussed in the remainder
of this book, both in theory and experiments, Newton-Krylov power ow methods
offer the best of both.
7.4 Interpretation as Elementary NewtonKrylov Methods
Both traditional Newton power ow and Fast Decoupled Load Flow can be seen as
simple Newton-Krylov power owsolvers, that performa single Richardson iteration
in each Newton step. In the case of Newton power ow the Richardson iteration is
preconditioned using an LU factorisation of the Jacobian matrix. In the case of Fast
Decoupled Load Flow, the preconditioner instead is an FDLF operator using LU
factorisations of B
and B
.
This interpretation shows a clear path towards improving the traditional power
ow solvers. The single Richardson iteration can be replaced by the combination of
a more efcient Krylov method, like GMRES, Bi-CGSTAB, or IDR(s), and a good
strategy for choosing the forcing terms.
For Fast Decoupled Load Flow this leads directly to a proper Newton-Krylov
method, preconditioned with the FDLF operator. Provided that the used Krylov
method converges linearly or better, the total amount of linear iterations performed
is no larger than the total amount of Richardson iterations needed for FDLF (see
Chap. 5), while the amount of nonlinear iterations goes down, and the convergence
and robustness improve to the level of Newton power ow.
Newton power ow needs some more work. Since the preconditioner is a direct
solve on the coefcient matrix, a single linear iteration leads to convergence inde-
pendent of the Krylov method and the forcing terms. Thus the preconditioner has
to be relaxed. Obvious candidates are using an incomplete LU factorisation of the
Jacobian matrix in each Newton iteration, or a single LU or ILU factorisation of the
initial Jacobian J
0
throughout all Newton iterations. A relaxed preconditioner leads
to more linear iterations being needed. However, if the calculation of the relaxed
preconditioner is sufciently faster than the direct solves of the traditional method,
the overall method will be faster.
In Chap. 8 we investigate the use of Newton-Krylov solvers for power ow prob-
lems indetail, andcompare the performance of these methods withthat of a traditional
Newton power ow implementation.
References
1. Tinney, W.F., Hart, C.E.: Power owsolutionbyNewtons method. IEEETrans. Power Apparatus
Syst. 86(11), 14491449 (1967)
2. Tinney, W.F., Walker, J.W.: Direct solutions of sparse network equations by optimally ordered
triangular factorization. Proc. IEEE 55(11), 18011809 (1967)
3. Stott, B., Alsac, O.: Fast decoupled load ow. IEEETrans. Power Apparatus Syst. 93(3), 859869
(1974)
4. van Amerongen, R.A.M.: Ageneral-purpose version of the fast decoupled loadow. IEEETrans.
Power Syst. 4(2), 760770 (1989)
5. Monticelli, A.J., Garcia, A., Saavedra, O.R.: Fast decoupled load ow: hypothesis, derivations,
and testing. IEEE Trans. Power Syst. 5(4), 14251431 (1990)
6. Dag, H., Semlyen, A.: Anewpreconditioned conjugate gradient power ow. IEEE Trans. Power
Syst. 18(4), 12481255 (2003)
Chapter 8
NewtonKrylov Power Flow Solver
Newton power ow solvers traditionally use a direct method to solve the linear
systems [1, 2] (see also Chap. 7). For large linear systems of equations with a sparse
coefcient matrix, iterative linear solvers are generally more efcient than direct
solvers (see Chap. 3). Using a Krylov method to solve the Jacobian systems in
the Newton-Raphson method, leads to a Newton-Krylov method (see Chap. 4). It
has been recognised that such solvers offer many advantages over the traditional
implementation for large power systems [310].
In this chapter, computational aspects of Newton-Krylov power ow solvers are
discussed, using the numerical experiments presented in Chap. 10 as a reference.
Sect. 8.1 focuses on which Krylov method to use, followed by a discussion on pre-
conditioning in Sect. 8.2, and different forcing term strategies in Sect. 8.3. Then,
Sect. 8.4 gives an overview of the speed and scaling of Newton-Krylov power ow
solvers, and Sect. 8.5 discusses their robustness.
We show that direct solvers, and other methods using the LU factorisation, scale
very badly in the problem size. The alternatives proposed in this chapter are faster
for all tested problems and have near linear scaling, thus being much faster for large
power ow problems. The largest test problem, with a million buses, takes over an
hour to solve using a direct solver, while a Newton-Krylov solver can solve it in less
than 30 seconds. That is 120 times faster.
8.1 Linear Solver
In every Newton iteration, a linear system has to be solved of the form
J
i
s
i
= F
i
. (8.1)
For a power ow problem, the Jacobian matrix J
i
can be calculated at very little
extra cost when evaluating the power mismatch F
i
(see Sect. 7.1.2). Therefore, there
is no need to resort to an approximate Jacobian, or Jacobian-free method.
74 8 NewtonKrylov Power Flow Solver
The linear solver considered in this chapter is preconditioned GMRES. GMRES
has the optimality property, and thus solves the linear problemin the minimal number
of iterations generallyneededbya Krylovmethod. The number of iterations neededto
converge says something about the quality of the preconditioner. Whether restarted
GMRES, or other Krylov methods, like Bi-CGSTAB or IDR(s), should also be
considered, can be derived from the performance of GMRES.
In our experiments, the best results are obtained with high quality preconditioners.
Then, only a low number of GMRES iterations is needed per Newton iteration. At
such low iteration counts there is no reason to restart GMRES, nor to drop the
optimality property for a method with short recurrences. Bi-CGSTAB is faster than
GMRES for lower quality preconditioners; however, GMRES with a high quality
preconditioner is still faster than Bi-CGSTAB with lower quality preconditioners.
IDR(s) should lead to similar results as Bi-CGSTAB.
8.2 Preconditioning
Preconditioning is essential to the performance of Krylov methods such as GMRES.
The presented Newton-Krylov power ow solvers use right preconditioning. This
means that linear systems of the form
J
i
P
1
i
z
i
= F
i
(8.2)
are solved, and that the Newton step s
i
follows from solving P
i
s
i
= z
i
. To achieve
fast convergence, the preconditioner matrix P
i
should resemble the coefcient matrix
J
i
. At the same time, a fast way to solve linear systems of the form P
i
u
i
= v
i
is
needed, as such a system has to be solved in each iteration of the linear solver.
In this book we consider preconditioners in the form of a product of a lower and
upper triangular matrix P
i
= L
i
U
i
. Any linear system with coefcient matrix P
i
can then simply be solved using forward and backward substitution. To get such a
preconditioner, we choose a target matrix Q
i
that resembles J
i
, and construct the
LU or an ILU(k) factorisation.
Other preconditioners that are known to often work well for large problems are
preconditioners based on iterative methods. Only stationary iterative methods can
be used as a preconditioner for standard implementations of GMRES, Bi-CGSTAB,
and IDR(s). Nonstationary iterative methods, like GMRES itself, can only be used
with special exible iterative methods, like FGMRES [11]. The use of FGMRES
with a GMRES based preconditioner was explored in [8, 10].
Algebraic Multigrid (AMG) methods can also be used as preconditioner. A cycle
of AMG, with a stationary solver on the coarsest grid, leads to a stationary precon-
ditioner. Such a preconditioner is very well suited for extremely large problems. For
8.2 Preconditioning 75
more information on AMG see [12, App. A]. The use of AMG as a preconditioner
for Newton-Krylov power ow was explored in [10].
8.2.1 Target Matrices
The target matrix Q
i
is the matrix from which the preconditioner is derived. There
are three common choices for the target matrix: the Jacobian matrix Q
i
= J
i
, the
initial Jacobian matrix Q
i
= J
0
, and Q
i
= , where
=
0
0 B
, (8.3)
with B
and B
as in the BX scheme of the Fast Decoupled Load Flow method.

The FDLF matrix can be seen as an approximate Schur complement of the
initial Jacobian matrix, as discussed in Sect. 7.2.3. This matrix has been shown to be
a good preconditioner [5, 9, 10]. It is a lower quality preconditioner than the initial
Jacobian matrix itself; however, it consists of two decoupled blocks with each about
a quarter of the nonzeros found in the Jacobian matrix. The structure, and the lower
nonzero count, provide benets for computing time and memory usage.
8.2.2 Factorisation
The used preconditioners are LUand ILU(k) factorisations of the target matrices. For
the LU factorisation this leads to preconditioners P
i
= L
i
U
i
= Q
i
, whereas with
ILU factorisations the preconditioners P
i
= L
i
U
i
only resemble the target matrix
Q
i
. An ILU factorisation is generally cheaper to build than the LU factorisation,
whereas the LU factorisation results in a higher quality preconditioner.
The quality of the LU preconditioner is predetermined by the target matrix, since
P
i
= Q
i
. The LU decomposition of a sparse matrix generally leads to a certain
amount of ll-in (see Sect. 3.1.4). The more the ll-in, the more memory and com-
putational time are needed for the factorisation and the forward and backward sub-
stitutions. It is therefore important to minimise the ll-in of the LU factorisation, by
choosing a proper ordering of the rows and columns of the target matrix Q
i
.
With the ILU(k) factorisation, the ll-in ratio is inuenced both by the number
of levels k, and the row and column ordering. The effect of the matrix ordering on
the ll-in is much less pronounced than with the LU decomposition; however, the
ordering also inuences the quality with which the ILU factorisation approximates
the target matrix Q
i
(see Sect. 3.1.5).
Experiments show that the Approximate Minimum Degree (AMD) [13] reorder-
ing gives the best results for power owproblems. The AMDordering takes relatively
little time to compute, while yielding the least ll-in with a full LU factorisation and
the best quality ILU factorisations at the same time. See Sect. 10.1 for an overview
of experiments that inspire these conclusions.
8.2.3 Reactive Power Limits and Tap Changing
For a practical power owsolver, it is very important to be able to efciently deal with
solution adjustments due to reactive power limits of generators or to transformer taps.
Generally speaking, all solution adjustments that can be handled using a direct solver,
can also be solved effectively using preconditioned Krylov methods by making a new
preconditioner based on the Jacobian in every iteration. However, it is often more
efcient to keep the preconditioner constant over multiple Newton iterations, as
is also clear from the numerical experiments in Sect. 10.3. Below, the options for
keeping the preconditioner constant while applying these solution adjustments, are
discussed.
Reactive power limits of generators are usually handled by checking for violations
during the Newton iterations. When a violation is detected, the representation of the
corresponding generator is changed from a PV bus to a PQ bus with reactive power
Q equal to the violated bound.
If the power owmethod is implemented to eliminate reactive power equations of
PV buses, then this bus-type switching changes the dimensions of the linear system
(see Sect. 7.1.3). It is not directly clear howto reuse the preconditioner then. However,
there are several ways to implement a power ow solver that keeps the dimensions
constant. The reactive power equations of PV buses can be kept, but with very large
values onthe correspondingdiagonal entries of the Jacobian, as alsodescribedin[14].
This may negatively impact the condition number of the Jacobian. A better method,
in the context of preconditioned Krylov methods, is to keep the diagonal elements
as-is, but set the other entries for those equations to 0, including the right-hand side
value. The resulting equations are very simple to deal with for factorisation methods,
leading to hardly any increase of computational effort compared to elimination.
Tap changing transformers can be dealt with in two ways: automatic adjustment
or error-feedback adjustment. Automatic adjustment methods change the power ow
equations to incorporate the tap settings as variables [15]. As a result, the structure
of the Jacobian changes, and it is not clear how to use an FDLF based matrix as
preconditioner. However, preconditioners based on the Jacobian itself can be applied
as normal. Error-feedback adjustments do not change the structure of the Jacobian,
but adjust the equations between Newton iterations [16]. As such, all the discussed
methods of preconditioning can be used.
8.3 Forcing Terms 77
8.3 Forcing Terms
Inexact Newton methods solve the Jacobian system in iteration i such that
F(x
i
) + J(x
i
)s
i

i
F(x
i
), (8.4)
where
i
are called the forcing terms. Choosing the forcing terms correctly is very
important, as discussed in detail in Chap. 5. Below, two strategies for choosing the
forcing terms are discussed.
The rst strategy is based on work by Dembo and Steihaug [17]:
i
= min
1
2
i
, F
i
. (8.5)
This allows for superlinear convergence when the iterate is far from the solution,
where
1
2
i
will be the smaller term. When nearing the solution, where F
i
is smaller,
this method switches to quadratic convergence.
The second strategy is by Eisenstat and Walker [18]. This method starts with some
choice of initial forcing term
0
, and for i > 0 sets
i
=
F
i
F
i 1
+ J
i 1
s
i 1
F
i 1
, (8.6)
while safeguarding from oversolving by adding the rule
if
1
2
+
1
2
5
i 1
>
1
10
, then
i
= max
i
,
1
2
+
1
2
5
i 1
. (8.7)
In our experiments
0
= 0.1 was used.
Some authors have used xed forcing terms throughout all Newton iterations
for power ow problems [35, 7]. This is generally not a good idea. If the chosen
forcing terms are small, then a lot of oversolving is done in early iterations, leading
to many extra GMRES iterations. If the forcing terms are large, then there is a lot
of undersolving in later iterations, leading to many extra Newton iterations. And
anything in between leads to both oversolving in early iterations, and undersolving
in later iterations.
The strategy by Eisenstat and Walker is successfully being used in practice on
many different types of problems, as it is able to adapt to the problem very well.
It also provides very good results for power ow problems. The method based on
the work of Dembo and Steihaug also gives good results, but generally leads to
some undersolving for the tested power ow problems. For more details see the
experiments and discussion in Sects. 10.2 and 10.3.
Table 8.1 Power ow for
small test cases
Problem uctew001 uctew002 uctew004 uctew008
Direct 0.077 0.16 0.33 0.69
LU of J
0
0.060 0.12 0.25 0.52
8.4 Speed and Scaling
This section gives an overview of the speed and scaling of Newton-Krylov power
ow solvers. The numerical experiments on which this section is based can be found
in Sect. 10.3. An explanation of the used test cases is provided in Chap. 11.
For the smaller test cases, using the LU factorisation of the J
0
target matrix leads
to the best results for both forcing term strategies. The Eisenstat and Walker forcing
terms perform slightly better than the alternative by Dembo and Steihaug. Table 8.1
compares the resulting solution times in seconds, with the solution times of the
traditional implementation with a direct solver.
Solving a single power ow problem of these small sizes is so fast, that all tested
methods are acceptable. However, when using the power owsolver as part of a larger
system that has to solve many power ow problems, as for example in contingency
analysis, using the LU factorisation of J
0
can lead to a signicant reduction of
computing time.
For the larger test cases, any method using the LU decomposition is slow due
to the bad scaling of that operation (see Sects. 10.1.1 and 10.3.1). The best results
are obtained using ILU(12) factorisations of the J
0
and target matrices. Again,
the Eisenstat and Walker forcing terms perform slightly better than the Dembo and
Steihaug strategy.
Figure 8.1 shows the solution time in seconds for LU and ILU(12) factorisations
of the J
0
and target matrices, using Eisenstat and Walker forcing terms. The bad
scaling of the LU factorisation is clearly visible. It is worse for J
0
than for the
target matrix, because the matrix consists of two independent blocks of half the
dimension, see also Sect. 10.1.1.
The ILU(12) factorisation leads to near linear scaling. Which of the target matrices
J
0
and leads to the fastest solution differs per test case. Note that this has to do
with being a bit lucky, or unlucky, at how the inexact Newton steps turn out exactly
for a certain problem and forcing terms, much more than it has to do with the quality
of the preconditioner.
8.5 Robustness 79
0 200,000 400,000 600,000 800,000 1,000,000
0
20
40
60
80
100
120
buses
s
o
l
u
t
i
o
n
t
i
m
e
direct
LU of J
0
LU of
ILU(12) of J
0
ILU(12) of
Fig. 8.1 Newton-Krylov power ow for all test cases
8.5 Robustness
This section investigates the robustness of the Newton-Krylov power owsolver, and
compares it with that of traditional Newton power ow. Convergence of exact and
inexact Newton methods are very close, provided that the forcing terms are chosen
small enough. Therefore, to compare the robustness of these methods, the linear
solvers should be compared. Direct linear solvers are very robust, thus the question
is whether the used iterative linear solver is robust.
The convergence of Krylov methods depends on the Krylov subspace, which
is determined by the coefcient matrix, the right-hand side vector, and the initial
iterate. The condition number of the coefcient matrix can give some indication on
how fast Krylov methods will converge for problems with that coefcient matrix.
The Jacobian matrices of our test cases are quite ill-conditioned. For example, the
condition number of the initial Jacobian J
0
of the uctew001 test case is 1.2 10
9
.
This is why preconditioning is such an important part of the solution process. Due
to the large condition number, low quality preconditioners lead to slow convergence.
However, with the preconditioners P
i
based on LU and ILU(12) factorisations, the
condition number of the preconditioned coefcient matrix J
i
P
1
i
drops below 10,
leading to very fast convergence.
Table 8.2 shows some test results for experiments related to solver robustness. In
these experiments, the uctew032 test case is solved at different loading levels, using
the LU factorisation of J
0
as preconditioner. Presented are the number of Newton
iterations N, the GMRES iterations (total amount and amount per Newton iteration),
and an estimate of the condition number of the preconditioned coefcient matrix
Table 8.2 Convergence at
different loading levels
Load (%) N GMRES iterations
100 6 21 [1,3,2,3,5,7] 3.5
110 6 21 [1,3,2,3,5,7] 3.5
120 6 22 [1,3,2,3,5,8] 4.1
130 7 35 [1,3,2,3,6,7,13] 4.6
140 7 37 [1,3,2,4,5,8,14] 5.4
150 7 35 [1,3,2,4,6,7,12] 6.8
160 7 34 [1,3,2,4,6,5,13] 10.4
in the nal Newton iteration. Note that the other preconditioners treated in this book
lead to very similar results.
At higher loading levels, the solution of the power ow problem with lies farther
away from the at start than with lower load. Since the preconditioner is based on
the Jacobian at the at start, at high loading levels the Jacobian near the solution
also differs more from the preconditioner. As a result the condition number of the
preconditioned coefcient matrix in the last Newton iteration goes up with the load-
ing level, as indicated by the values of . However, overall the condition number
stays very small and GMRES convergence does not deteriorate visibly. It does take
longer to solve the systems with high load, but this is due to Newton convergence
suffering, not the convergence of the linear solver, and is the same when using a
direct linear solver.
Both the Newton-Raphson method with direct solver and the Newton-Krylov
methods are able to solve the problem up to a loading level of 160%, but fail to
converge at 170%, without using line search or trust region techniques. It should be
noted that the solution of the power ow problem at the highest loading levels has
such large voltage angles not to be of practical value, indicating that the solvers can
easily handle any practical loading levels of the power system.
References
1. Tinney, W.F., Hart, C.E.: Power ow solution by Newtons method. IEEE Trans. Power Appa-
ratus and Syst. PAS 86(11), 14491449 (1967)
2. Tinney, W.F., Walker, J.W.: Direct solutions of sparse network equations by optimally ordered
triangular factorization. Proc. IEEE 55(11), 18011809 (1967)
3. Semlyen, A.: Fundamental concepts of a Krylov subspace power ow methodology. IEEE
Trans. Power Syst. 11(3), 15281537 (1996)
4. Pai, M.A., Dag, H.: Iterative solver techniques in large scale power system computation. In:
Proceedings of the 36th Conference on Decision & Control, pp. 38613866 (1997)
5. Flueck, A.J., Chiang, H.D.: Solving the nonlinear power owequations with an inexact Newton
method using GMRES. IEEE Trans. Power Syst. 13(2), 267273 (1998)
6. de Len, F., Semlyen, A.: Iterative solvers in the Newton power ow problem: precondition-
ers, inexact solutions and partial Jacobian updates. IEE Proc. Gener. Transm. Distrib 149(4),
479484 (2002)
7. Chaniotis, D., Pai, M.A.: Anewpreconditioning technique for the GMRES algorithmin power
ow and P V curve calculations. Electr. Power Energy Syst. 25, 239245 (2003)
References 81
8. Zhang, Y.S., Chiang, H.D.: Fast Newton-FGMRES solver for large-scale power ow study.
IEEE Trans. Power Syst. 25(2), 769776 (2010)
9. Idema, R., Lahaye, D.J.P., Vuik, C., van der Sluis, L.: Scalable Newton-Krylov solver for very
large power ow problems. IEEE Trans. Power Syst. 27(1), 390396 (2012)
10. Idema, R., Papaefthymiou, G., Lahaye, D.J.P., Vuik, C., van der Sluis, L.: Towards faster
solution of large power ow problems. IEEE Trans. Power Syst. 28(4), 49184925 (2013)
11. Saad, Y.: A exible inner-outer preconditioned GMRES algorithm. SIAM J. Sci. Comput.
14(2), 461469 (1993)
12. Trottenberg, U., Oosterlee, C.W., Schller, A.: Multigrid. Academic Press, New York (2001)
13. Amestoy, P.R., Davis, T.A., Duff, I.S.: An approximate minimum degree ordering algorithm.
SIAM J. Matrix Anal. Appl. 17(4), 886905 (1996)
14. Chang, S.K., Brandwajn, V.: Adjusted solutions in fast decoupled load ow. IEEETrans. Power
Syst. 3(2), 726733 (1988)
15. Peterson, N.M., Meyer, W.S.: Automatic adjustment of transformer and phase-shifter taps in
the Newton power ow. IEEE Trans. Power Apparatus Syst. PAS-90(1), 103108 (1971)
16. Mamandur, K.R.C., Berg, G.J.: Automatic adjustment of generator voltages in Newton-
Raphson method of power ow solutions. IEEE Trans. Power Apparatus Syst. PAS-101(6),
14001409 (1982)
mization. Math. Program. 26, 190212 (1983)
J. Sci. Comput. 17(1), 1632 (1996)
Chapter 9
Contingency Analysis
Secure operation of a power systemrequires not only that the systemoperates within
specied system operating conditions, but also that proper operation is maintained
when contingencies occur. Contingency analysis simulates credible contingencies to
analyse their impact on the operation of the power system.
Contingency analysis consists of three phases: denition, selection, and evalua-
tion. In the denition phase, a list of contingencies with a non-negligible chance of
occurring is constructed. These contingencies mostly consist of single or multiple
generator and branch outages. In the selection phase, fast approximation techniques
are used to cheaply identify contingency cases that will not violate system operation
conditions. These contingencies can be eliminated from the list that was made in the
denition phase. Finally, in the evaluation phase, for the remaining contingencies
the power ow problem is solved, and the solution analysed. For more information,
see for example [1].
In this book we focus on the evaluation phase. In particular, we focus on how
Newton-Krylov power ow solvers can be used to speed up the calculation of many
very similar power ow problems. Speeding up consecutive solves generally in-
volves reusing information from earlier solves. The information that can be reused
in contingency analysis, that is not available in traditional Newton power ow, is
the preconditioner. We will see that this can lead to a signicant reduction of the
computational time.
In this chapter, a methodology is presented to speed up power ow calculations
for branch outages in contingency analysis. This methodology can be used whenever
power ow problems have to be solved that only differ slightly from each other.
This includes other types of outages, Monte Carlo simulations, and optimisation
problems. Similar techniques were proposed for contingency screening in [2].
9.1 Simulating Branch Outages
A branch outage can be simulated by removing the branch from the power system
model, and then solving the associated power ow problem. In contingency analy-
sis many branch outages are simulated, leading to a large amount of power ow
84 9 Contingency Analysis
problems to be solved. Solving all these problems can take a huge computational
effort. Therefore, it is important to look at ways to speed up this process, beyond the
efforts of speeding up the power ow solver itself. The general methodology here,
is to treat the branch outages as variations of the base case, i.e., the case without any
outages, instead of treating them as independent problems.
A simple improvement that can be made, is to update the admittance matrix Y,
instead of recalculating it for each outage. Let i and j be the buses that the removed
branch used to connect. Then only the values Y
i i
, Y
i j
, Y
j i
, and Y
j j
in the admittance
matrix have to be updated.
Since power systems with a branch outage very closely resemble the base case,
it seems logical to assume that the solutions of the associated power ow problems
are relatively close to the solution of the base case. Therefore, instead of using a at
start, using the solution of the base case as initial iterate for the contingency cases
can be expected to signicantly reduce the number of Newton iterations needed to
reach convergence.
The above two techniques can be equally exploited in classical Newton power
ow, Fast Decoupled Load Flow, and Newton-Krylov power ow. Fast Decoupled
Load Flow further allows the reuse of the factorisation of the base case coefcient
matrices B
and B
for contingency cases, either through factor updating or com-

pensation techniques [35].
Newton-Krylov power ow provides extra options through preconditioning. A
single preconditioner, based on the base case, can be used for all contingency cases,
eliminating the need to perform a factorisation for each contingency. This precon-
ditioner may generally not be as good as those derived from the contingency cases
themselves, but the resulting extra GMRES iterations are relatively cheap. The base
case preconditioner can be further improved for the contingency cases, using the
same techniques that are used in Fast Decoupled Load Flow to update the coefcient
matrices for simulating branch outages.
Knowledge of the speed of convergence of the base case may also be exploited to
speed up contingency analysis, if this knowledge can be used to improve the forcing
terms for the contingency cases.
Numerical experiments, simulating branch outages using Newton-Krylov power
ow, can be found in Sect. 10.4. These experiments focus on reusing a single precon-
ditioner throughout all contingency cases. Analysis of the forcing terms yielded only
minor improvements over the Eisenstat and Walker forcing terms, as those forcing
terms already adapt to the problem very well.
Figure 9.1 gives an overviewof the results for the UCTE winter 2008 study model
(uctew001, see Chap. 11), using Eisenstat and Walker forcing terms. It shows the
time spent on LU factorisations, forward and backward substitutions, other GMRES
operations, the calculation of the Jacobian systems, and other computations.
The left three bars represent methods using a at start, while the right three bars
use the solution of the base case as initial iterate for the contingency cases. The
methods used are:
9.1 Simulating Branch Outages 85
A,at B,at C,at A,base B,base C,base
0
50
100
150
200
250
300
350
method and start
s
o
l
u
t
i
o
n
t
i
m
e
other
Jacobian systems
other GMRES
substitutions
factorisations
Fig. 9.1 Contingency analysis
A : Newton power ow with a direct linear solver,
B : Newton-GMRES with the contingency cases preconditioned with their own
initial Jacobian,
C : Newton-GMRES with the contingency cases preconditioned with the base case
Jacobian evaluated in the vector that is used as initial iterate for the contingency
cases.
Classical Newton power ow (A) serves as a reference. Method B is chosen because
it is the fastest method for solving a single uctew001 case (see Sect. 10.3). Finally,
method C illustrates the benets of using a single preconditioner for all contingency
cases.
Starting with the solution of the base case has a clear advantage over a at start
for this test case. Many fewer Newton iterations are needed when using the base case
solution as initial iterate, leading to a signicant computational speed-up.
With the classical Newton power ow (A), most of the computational effort is
spent on the LU factorisations of Jacobian matrices. Such a factorisation has to be
made in every Newton iteration. The rest of the linear solving consists of a single
forward and backward substitution per Newton iteration. With Newton-GMRES,
preconditioned with the initial Jacobian of the case that is being solved (B), only
one LU factorisation has to be made per contingency case. This comes at the cost of
some extra computational effort for the GMRES iterations (substitutions and other
GMRES operations). When preconditioning Newton-GMRES with the base case
Jacobian (C), the time spent on LU factorisations becomes negligible, at the cost of
some more GMRES iterations.
86 9 Contingency Analysis
Method Bclearly outperforms classical Newton power owwhen using a at start.
The difference is much less distinct when starting from the base case solution. Since
there are less Newton iterations needed per contingency case, the benet of doing
only a single LU factorisation per case is less pronounced. Further, using the base
case solution as initial iterate, the Newton process is started closer to the solution.
As a result the oversolving of the direct solver is less than when using a at start,
thus less effort is wasted.
The best results are obtained using the base case solution as start, and the base case
Jacobian in that solution as preconditioner for the contingency cases (C, base). This
method is about 3.8 times faster than classical Newton power ow with a at start,
and 1.7 times faster than classical Newton power ow started with the solution of
the base case. Note that the methods actually only differ in the linear solver. Looking
purely at the time spent in the linear solver, this method is 6.2 and 2.7 times faster
than classical Newton power ow with a at start, and with the base case solution
start, respectively.
9.2 Other Simulations with Uncertainty
The methodology described in Sect. 9.1 can also be used in other power ow
simulations that include some element of uncertainty, such as optimisation prob-
lems and Monte Carlo simulations.
An obvious example is dealing with uncertainty in load. This is a common prob-
lem, for example when dealing with wind turbines. Wind turbines are generally
modeled as negative loads, and have a high uncertainty in the amount of generated
power. Using Monte Carlo simulations to handle these stochastic factors requires
the solution of a lot of power ow problems with the same network topology, but
different load values. Since the load values do not inuence the Jacobian matrix, all
these power ow problems have the same initial Jacobian matrix when started with
the same initial iterate. As such, that Jacobian matrix can be expected to be a very
good preconditioner for all problems within the Monte Carlo simulation.
References
1. Stott, B., Alsac, O., Monticelli, A.J.: Security analysis and optimization. Proc. IEEE 75(12),
16231644 (1987)
2. Alves, A.B., Asada, E.N., Monticelli, A.: Critical evaluation of direct and iterative methods for
solving ax = b systems in power ow calculations and contingency analysis. IEEE Trans. Power
Syst. 14(2), 702708 (1999)
3. Tinney, W.F.: Compensation methods for network solutions by optimally ordered triangular
factorization. IEEE Trans. Power Apparatus Syst. PAS 91(1), 123127 (1972)
4. Alsac, O., Stott, B., Tinney, W.F.: Sparsity-oriented compensation methods for modied network
solutions. IEEE Trans. Power Apparatus Syst. PAS 102(5), 10501060 (1983)
5. van Amerongen, R.A.M.: A rank-oriented setup for the compensation algorithm. IEEE Trans.
Power Syst. 5(1), 283288 (1990)
Chapter 10
Numerical Experiments
In this chapter, numerical experiments with the Newton-Krylov power ow solver
are presented. Many of these experiments have been referenced and summarised in
previous chapters. Here, the full experiments are discussed in detail.
Section10.1 presents numerical experiments with LU and ILU(k) factorisations,
testing different matrix ordering methods to determine the most promising options.
Section10.2 analyses some experiments with the different forcing term strategies.
Section10.3 treats experiments with the power ow solver for all combinations of
target matrices and forcing terms. Finally, Sect. 10.4 treats experiments regarding
contingency analysis.
The Newton-Krylov power ow solver used for the experiments, is implemented
in C++ using PETSc (Portable, Extensible Toolkit for Scientic Computation) [1], a
state-of-the-art Clibrary for scientic computing. PETSc can be used both to produce
sequential programs, and to build parallel code.
All experiments are performed on one core of an Intel Core2 Duo 3GHz CPU, in
a machine with 16Gb memory, running a 64-bit Slackware 13 Linux distribution.
Table 10.1 shows the dimensions of the used power ow test cases. For detailed
information on the test set see Chap. 11. All experiments use a at start, unless stated
otherwise, and all computational times are measured in seconds.
10.1 Factorisation
This section discusses numerical experiments with LU and ILU(k) factorisations,
and different row and column ordering methods. In Sect. 10.1.1 different ordering
methods are tested for the LU decomposition, and the scaling of this factorisation
is investigated. Section10.1.2 treats the impact of matrix ordering on the ILU(k)
factorisation, and tests the speed and scaling for different levels k.
All experiments treated in this section consist of solving the Jacobian system
of the rst Newton iteration, J
0
s
0
= F
0
, using preconditioned GMRES, up to an
88 10 Numerical Experiments
Table 10.1 Power ow test cases for numerical experiments
Name Buses Branches nnz (J)
uctew001 4,253 7,191 62,654
uctew002 8,505 14,390 125,372
uctew004 17,009 28,796 250,872
uctew008 34,017 57,624 502,000
uctew016 68,033 115,312 1,004,512
uctew032 136,065 230,752 2,010,048
uctew064 272,129 461,760 4,022,144
uctew128 544,257 924,032 8,048,384
uctew256 1,088,513 1,849,088 16,104,960
Table 10.2 PETSc functions
concerning factorisation
MatGetOrdering : Matrix reordering
MatLUFactorSym : Symbolic LU factorisation
MatILUFactorSym : Symbolic ILU factorisation
MatLUFactorNum : Numeric factorisation for LU or ILU
PCSetUp : Reordering and factorisation
PCApply : Forward and backward substitution
KSPSolve : Linear solve
accuracy of 10
5
. The experiments are conducted on the uctew032 problem, but
similar results hold for the other test cases. In the scaling experiments, the entire
range of test cases is used.
The discussion of the experiments includes the computation time spent on the
relevant PETSc functions. Table 10.2 gives an overview of these PETSc functions.
Further, note that the notation nnz (L +U) is used for the number of nonzeros in the
factors L and U combined, and the term ll ratio is used for the number of nonzeros
in the factors divided by the number of nonzeros in the target matrix.
10.1.1 LU Factorisation
Table 10.3 shows the results of the direct solution of the rst Jacobian system of the
uctew032 test case. The direct solver provided in PETSc is tested together with the
following matrix ordering methods: Nested Dissection (ND), One-way Dissection
(1WD), Reverse Cuthill-McKee (RCM), Quotient Minimum Degree (QMD), and
Approximate Minimum Degree (AMD) [24]. PETSc is further used to call the
UMFPACK [5], MUMPS [6], SuperLU [7], and SuperLU_Dist [8] direct solvers,
with the provided ordering methods.
Note that with SuperLU and SuperLU_Dist the natural row ordering is used; the
alternative yields no improvement here. Further note that PETSc, UMFPACK, and
SuperLUonly provide sequential implementations of the LUfactorisation. If parallel
10.1 Factorisation 89
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0 200,000 400,000 600,000 800,000 1,000,000
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200
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buses
f
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J
Fig. 10.1 LU factorisation of J and

computing is desired, MUMPS and SuperLU_Dist can be used. For details on the
tested ordering methods, see the manuals of the respective packages.
From the ll ratio, it is clear that AMD (and related methods) provide the best
reordering in terms of ll-in. Using such a method reduces the ll ratio from a
factor 35, to around 2.3. Note that some of the reordering methods lead to a ll ratio
worse than that of the original ordering. These methods generally expect a much
more structured matrix, as arises for example from the discretisation of differential
equations on structured grids.
In terms of computational time, the PETSc solver with AMD ordering performs
the best. Note that the difference with AMD ordering of other packages may well
be due to the overhead of calling that package from PETSc. It also is possible to use
external packages for the matrix reordering only, and then solve the problem with
the PETSc solver. However, the results of using the AMD ordering within PETSc
can be assumed to be representative of what modern packages have to offer.
Figure 10.1 shows the factorisation time for the rst Jacobian matrix and the FDLF
matrix of the uctew032 test case, using the AMD reordering. The bad scaling of
the LU decomposition is clearly visible. Recall from Sect. 8.2.1, that consists
of two independent blocks with each about a quarter of the nonzeros found in the
Jacobian matrix. These blocks each have about half the dimension of the Jacobian
matrix and can be factorised independently. As a result, the LU decomposition of
scales similar to that of the Jacobian matrix of a problem of half the size.
10.1 Factorisation 91
Table 10.4 Linear solve with ILU(8) and different orderings
Ordering None ND 1WD RCM QMD AMD
MatGetOrdering 0.01 0.20 0.04 0.05 5.90 0.09
MatILUFactorSym 1.81 0.69 0.45 0.46 0.27 0.21
MatLUFactorNum 0.94 0.41 0.25 0.25 0.18 0.12
PCSetUp 2.76 1.31 0.74 0.77 6.36 0.42
PCApply 0.58 0.42 0.31 0.32 0.22 0.16
KSPSolve 3.54 2.01 1.29 1.32 6.76 0.74
GMRES iterations 12 15 13 13 11 10
nnz (L +U) 15.0M 7.62M 5.84M 5.96M 3.71M 3.56M
Fill ratio 7.47 3.79 2.90 2.97 1.85 1.77
10.1.2 ILU Factorisation
Table 10.4 shows results of numerical experiments regarding the effect of matrix
reordering on the ILU(k) factorisation method. The rst Jacobian system of the
uctew032 test case is solved using GMRES, preconditioned with the ILU(8) factori-
sation of the coefcient matrix, using different ordering methods.
The ll ratio clearly illustrates that the ordering method inuences the ll-in of
the ILU(k) factorisation much less drastically than it did for the LU decomposition.
Further note that all the tested reordering methods improve the ll-in compared
to the natural ordering, whereas with the LU factorisation some orderings led to a
higher ll ratio. However, the ordering methods that led to worse ll-in for the LU
factorisation, here need more GMRES iterations to converge. This indicates that with
these ordering methods, the ILU(8) preconditioner is of lesser quality than with the
natural ordering.
The AMD ordering again performs the best of all available methods. It leads
to the lowest ll ratio and the lowest amount of GMRES iterations at the same
time. Thus it produces the highest quality preconditioner, with the lowest amount
of nonzeros. Furthermore, both the calculation and the application of the AMD
reordered preconditioner are faster than for any of the alternatives, thus leading to
the fastest overall solution time.
Table 10.5 holds the results of numerical experiments with different ILU levels.
Again, the rst Jacobian system of the uctew032 test case is solved using ILU(k)
preconditioned GMRES. The AMD reordering is used in all cases because it gives
the best results, as was illustrated above for ILU(8) preconditioned GMRES. For
comparison, the last column holds the equivalent data for a direct solve, which is
also performed using AMD reordering.
The experiments suggest that usingless thanfour levels leads toa preconditioner of
too lowquality. The factorisation is fast and the ll ratio is low, but due to the amount
of GMRESiterations neededthe solutiontime is still muchhigher thanwithmore ILU
levels. Using more than 16 levels leads to a very high quality preconditioner. With 64
levels the factorisation even becomes practically the same as the LU decomposition.
Table 10.5 Linear solve with different factorisations using AMD
Factorisation ILU(0) ILU(2) ILU(4) ILU(8)
Mat(I)LUFactorSym 0.08 0.14 0.17 0.21
MatLUFactorNum 0.08 0.10 0.11 0.12
PCSetUp 0.24 0.33 0.37 0.42
PCApply 2.30 0.71 0.35 0.16
KSPSolve 24.94 2.94 1.28 0.74
GMRES iterations 215 55 25 10
nnz (L +U) 2.01M 2.85M 3.21M 3.56M
Fill ratio 1 1.42 1.60 1.77
Factorisation ILU(16) ILU(32) ILU(64) LU
Mat(I)LUFactorSym 0.26 0.47 0.85 0.31
MatLUFactorNum 0.14 0.26 0.31 0.13
PCSetUp 0.50 0.81 1.25 0.53
PCApply 0.09 0.07 0.04 0.04
KSPSolve 0.67 0.94 1.31 0.59
GMRES iterations 5 3 1 1
nnz (L +U) 3.93M 4.52M 4.67M 4.67M
Fill ratio 1.96 2.25 2.32 2.32
Few GMRES iterations are needed to solve the linear problem, but the factorisation
takes more time and the ll ratio is larger, making the overall solution time higher
than with 416 levels.
Figure 10.2 shows the scaling behaviour of different ILU(k) levels. The ILU(2)
and ILU(8) factorisations both scale very well in the problem size, but solving the
linear problem with ILU(8) is approximately twice as fast as with ILU(2). Higher
ILU levels start to lose the linear scaling behaviour, as illustrated by the ILU(32)
graph, which is nearing that of the LU factorisation.
Figure 10.3 inspects the scaling of ILU factorisations with around eight levels.
ILU(4), ILU(8), and ILU(12) all scale approximately linearly, with ILU(4) being
slightly slower than the other two. The graphs of ILU(8) and ILU(12) are practically
on top of each other. ILU(16) is still very fast, but no longer scales linearly. Therefore,
in the remainder of this chapter only 4, 8, and 12 levels of ILU factorisations are
considered.
10.2 Forcing Terms
In this section, the behaviour is explored of the Dembo and Steihaug [9] and the
Eisenstat and Walker [10] forcing term strategies, that were presented in Sect. 8.3.
Their performance is illustrated by analysing a representative test case, solved with
0 200,000 400,000 600,000 800,000 1,000,000
0
20
40
60
80
100
buses
s
o
l
u
t
i
o
n
t
i
m
e
ILU(2)
ILU(8)
ILU(32)
LU
Fig. 10.2 Linear solve for different problem sizes
0 200,000 400,000 600,000 800,000 1,000,000
0
2
4
6
8
10
12
14
buses
s
o
l
u
t
i
o
n
t
i
m
e
ILU(4)
ILU(8)
ILU(12)
ILU(16)
Fig. 10.3 Linear solve for different problem sizes
both forcing term strategies. To this end, the uctew032 test problem is solved using
GMRES, preconditioned with the ILU(8) factorisation of the FDLF matrix .
Figures 10.4and10.5showthe resultingnonlinear convergence inthe total number
of GMRES iterations, for Dembo and Steihaug and Eisenstat and Walker forcing
terms respectively. The legend of these gures is explained in Table 10.6.
0 10 20 30 40 50 60
10
8
10
6
10
4
10
2
10
0
10
2
10
4
GMRES iterations
n
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a
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actual
forcing
best
Fig. 10.4 Dembo and Steihaug forcing terms
0 10 20 30 40 50 60 70 80
10
8
10
6
10
4
10
2
10
0
10
2
10
4
GMRES iterations
n
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a
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best
Fig. 10.5 Eisenstat and Walker forcing terms
If the forcing residual norm is below the actual residual norm, then the method
is oversolving in that iteration. If the best residual norm is below the actual residual
norm, then the method is undersolving. Note that when there is no oversolving, the
Table 10.6 Nonlinear residual norm legend
actual : Actual nonlinear residual norm in each Newton iteration
forcing : Nonlinear residual norm resulting from multiplying the previous nonlinear residual
norm by the forcing term used in the current Newton iteration
best : Nonlinear residual norm resulting from doing a full accuracy linear solve in the
current Newton iteration
forcing residual norm is mostly on top of the actual residual norm, as expected from
the theory in Chap. 5.
Using this knowledge, the following conclusions can be drawn for the presented
experiments. The DemboandSteihaugforcingterms leadtoundersolving. The Eisen-
stat and Walker forcing terms are spot-on for the rst 4 Newton iterations, while there
is some undersolving in iteration 5, and oversolving in iteration 6. These conclusions
are consistent with the general behaviour of these two forcing terms strategies in our
power ow experiments, see Sect. 10.3.
The Eisenstat and Walker forcing terms include in their calculation the nonlinear
residual norm of the current and previous Newton iterations, and the latest linear
residual norm, all the ingredients needed to determine whether there was undersolv-
ing or oversolving in the previous iteration. Using this information, the method
tends to correct itself. If there is a lot of oversolving in the previous iteration,
then the forcing term will be chosen larger, and vice versa. Therefore, the Eisen-
stat and Walker strategy can adapt to the problem very well.
10.3 Power Flow
This section reports on numerical experiments with the Newton-Krylov power ow
solver, solving the full power ow problem. In each Newton iteration, the linear
system is solved using preconditioned GMRES. LU, ILU(4), ILU(8), and ILU(12)
factorisations of the target matrices J
i
, J
0
, and are all tested as preconditioner.
The problems are solved from a at start, up to an accuracy of 10
6
p.u. No solution
adjustments, like reactive power limits or tap changing, are used in the experiments.
Tables 10.7 and 10.8 show the results for Dembo and Steihaug forcing terms and
Eisenstat and Walker forcing terms respectively. For each experiment, the number of
Newton iterations p and GMRES iterations q are presented in the format p / q, and
the solution time is given in seconds. In both tables, the Newton iteration count and
solution time when using a direct solver are added as a reference.
For the smaller test cases, the best results are generally obtained when using an
LU decomposition of J
0
as preconditioner. For the largest problems, the LU decom-
position becomes too slow due to the bad scaling, as demonstrated in Sect. 10.1.1.
For these cases, ILU(12) factorisations of J
0
and give the best results.
T
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10.3 Power Flow 97
T
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The Eisenstat and Walker forcing terms perform slightly better than the Dembo
and Steihaug strategy. With Dembo and Steihaug forcing terms a higher amount of
Newton iterations is needed in many cases. This suggests undersolving, which was
also observed for this strategy in Sect. 10.2.
For each individual test case, the smallest solution time is obtained using some
J
0
or based preconditioner together with the Eisenstat and Walker forcing terms.
The best solution time for each test case is marked in the table with a bold numbers.
Note that in all the cases where a preconditioner based on gave the best result, this
is due to the J
0
based alternative needing one or two extra Newton iterations. As the
forcing terms are not directly dependent on the quality of the preconditioner, these
extra Newton iterations are mostly due to being a bit lucky, or unlucky, with how the
inexact Newton steps turn out exactly.
10.3.1 Scaling
The number of Newton iterations needed to solve the problem generally does not
increase much when the test case size increases, see again Tables 10.7 and 10.8. For
some combinations of preconditioner and forcing terms the largest problems require
a few more iterations, but for other combinations the number of Newton iterations
stays the same. This suggests that an increased number of iterations is more due to
getting a bit unlucky with the Newton steps, than it being a direct consequence of
the increased problem size.
Similarly, for each combination of preconditioner and forcing terms, the total
number of GMRES iterations is fairly constant for increasing problem sizes. When
a signicantly higher amount of GMRES iterations is needed, it is generally due to
an extra Newton iteration being used.
The basic operations of the Newton-Krylov power ow solver, are all vector
operations and operations on the Jacobian matrix. A larger power system has more
buses, but generallynot more connections per bus. As a result, the number of nonzeros
per row in the Jacobian matrix does not grow for larger problems. Thus the total
number of nonzeros scales linearly in the problem size, and so does the computation
time of the needed operations on the Jacobian matrix, like matvecs. The exception
is the factorisation operation, see Sect. 10.1.
When the number of Newton and GMRES iterations is constant in the problem
size, the scaling of the Newton-Krylov power ow solver can therefore be expected
to be linear, as long as the factorisation also scales linearly. If the factorisation scales
badly, as with the LU decomposition, the power ow solver also scales badly.
Figures 10.6, 10.7, and10.8showthe scalingof the computational time whenusing
different factorisations of J
i
, J
0
, and as preconditioner, respectively. Indeed, the
solver exhibits approximately linear scaling when using ILU(k) factorisations with
412 levels, which were shown to scale approximately linearly up to a million buses
in Sect. 10.1.2. Using the LU factorisation leads to bad scaling, as expected from the
results of Sect. 10.1.1.
10.3 Power Flow 99
0 200,000 400,000 600,000 800,000 1,000,000
0
20
40
60
80
buses
s
o
l
u
t
i
o
n
t
i
m
e
ILU(4)
ILU(8)
ILU(12)
direct
Fig. 10.6 Power ow with J
i
based preconditioning
0 200,000 400,000 600,000 800,000 1,000,000
0
20
40
60
80
buses
s
o
l
u
t
i
o
n
t
i
m
e
ILU(4)
ILU(8)
ILU(12)
LU
Fig. 10.7 Power ow with J
0
based preconditioning
0 200,000 400,000 600,000 800,000 1,000,000
0
20
40
60
80
buses
s
o
l
u
t
i
o
n
t
i
m
e
ILU(4)
ILU(8)
ILU(12)
LU
Fig. 10.8 Power ow with based preconditioning
10.4 Contingency Analysis
This sectiontreats numerical experiments withthe Newton-Krylovpower owsolver,
applied to the contingency analysis problem (see Sect. 6.4 and Chap. 9). The UCTE
winter 2008 study model (uctew001) is used as the base test case. The contingency
cases consist of the base case, with a single pair of buses (which were connected
in the base case) disconnected, simulating branch outages. This makes 6784 con-
tingency cases, of which 95 cases are not solved because they contain disconnected
subnetworks, leaving 6689 contingency cases. The base case power ow problem is
solved rst, after which the power ow problem of each of the contingency cases is
solved, making a total of 6690 power ow solves.
Table 10.9 presents results using Eisenstat and Walker forcing terms. Amaximum
of 12 Newton iterations is allowed per case, and no line search is used to keep results
as transparent as possible. All cases are solved up to an accuracy of 10
4
p.u.
The top half of the table uses a at start for all cases, while the bottom half solves
only the base case using a at start, and then uses the solution of the base case as
initial iterate for the contingency cases.
The left column shows the results using classical Newton power owwith a direct
linear solver.
The middle column solves each case with Newton-GMRES, preconditioned with
the LU factorisation of the initial Jacobian of that case, which was shown to be the
fastest option for the base case in Sect. 10.3.
The right column again uses the Newton-Krylov power ow solver, but precon-
ditions GMRES with the LU factorisation of the base case Jacobian evaluated in
10.4 Contingency Analysis 101
Table 10.9 Contingency analysis using Eisenstat and Walker forcing terms
Initial solution Flat start
Preconditioning Direct Own J
0
Base J
0
Count Iter Count Iter Count Iter
Converged 6665 7/7 6665 6/15 6666 6/20
Diverged 24 12/12 24 12/73 23 12/88
Count Time Count Time Count Time
PCSetUp 46948 191 6690 57.6 2 0.02
PCApply 46948 16.2 142263 48.9 176899 62.0
KSPSolve 46948 208 40287 135 40360 99.8
CalcJac 53638 98.9 46977 86.2 47050 86.2
CA 1 320 1 238 1 198
Initial solution Base case solution
Preconditioning Direct Own J
0
Base J
Count Iter Count Iter Count Iter

Converged 6666 2.2/2.2 6666 2.3/3.3 6665 2.4/6.3
Diverged 23 12/12 23 12/73 24 12/88
Count Time Count Time Count Time
PCSetUp 14975 85.0 6686 57.8 2 0.02
PCApply 14975 5.18 38335 13.2 60661 21.3
KSPSolve 14975 90.3 15472 77.6 16418 33.5
CalcJac 21665 43.0 22162 42.1 23108 43.7
CA 1 140 1 132 1 84.4
the initial iterate used for the contingency cases. With a at start, the contingency
cases are thus preconditioned with the initial Jacobian J
0
of the base case. And when
starting with the solution of the base case, they are preconditioned with the base case
Jacobian evaluated in the base case solution, denoted by J
.
The converged and diverged rows, show the number of contingency cases that
converge and diverge respectively, and the average amount of Newton iterations and
GMRES iterations per case. Diverging contingency cases is a common problem in
contingency analysis, that we will not go into further here. Note that one case is
solved with some methods, but fails to converge with others.
For an explanation of PCSetUp, PCApply, and KSPSolve see Table 10.2 (p. 88).
CalcJac stands for the calculation of the Jacobian system, i.e., the power mismatch
vector and the Jacobian matrix. The abbreviation CA is used for the computational
time of the entire contingency analysis process.
No results are presented for the Dembo and Steihaug forcing term strategy, as
the Eisenstat and Walker forcing terms perform signicantly better, especially when
using the base case solution as initial solution for the contingency cases. The adaptive
nature of the Eisenstat and Walker forcing terms makes them very well-suited to
handle the resulting varying initial residual norms.
Two ideas to improve on these forcing terms are worth mentioning. One is to
reduce the initial forcing term value of the Eisenstat and Walker strategy when using
the base case solution as initial iterate. Because this initial iterate is generally much
closer to the solution than a at start, it is expected that a greater improvement can
be attained in the rst Newton iteration than the default
0
= 0.1 that is used for the
Eisenstat and Walker strategy. The other is to log the convergence of the base case,
and use this as a model for the expected convergence of the contingency cases. For
our test cases, both methods provide only very minor improvements over using plain
Eisenstat and Walker forcing terms.
References
1. Balay, S., Buschelman, K., Eijkhout, V., Gropp, W.D., Kaushik, D., Knepley, M.G., Curfman
McInnes, L., Smith, B.F., Zhang, H.: PETSc users manual. Tech. Rep. ANL-95/11 - Revision
3.1, Argonne National Laboratory (2010). http://www.mcs.anl.gov/petsc/
2. Duff, I.S., Erisman, A.M., Reid, J.K.: Direct Methods for Sparse Matrices. Oxford University
Press, New York (1986)
3. Davis, T.A.: Direct Methods for Sparse Linear Systems. SIAM, Philadelphia (2006)
4. Amestoy, P.R., Davis, T.A., Duff, I.S.: An approximate minimum degree ordering algorithm.
SIAM J. Matrix Anal. Appl. 17(4), 886905 (1996)
5. Davis, T.A.: A column pre-ordering strategy for the unsymmetric-pattern multifrontal method.
ACM Trans. Math. Softw. 30(2), 165195 (2004)
6. Amestoy, P.R., Duff, I.S., LExcellent, J.Y., Koster, J.: A fully asynchronous multifrontal solver
using distributed dynamic scheduling. SIAM J. Matrix Anal. Appl. 23(1), 1541 (2001)
7. Demmel, J.W., Eisenstat, S.C., Gilbert, J.R., Li, X.S., Liu, J.W.H.: A supernodal approach to
sparse partial pivoting. SIAM J. Matrix Anal. Appl. 20(3), 720755 (1999)
8. Li, X.S., Demmel, J.W.: SuperLU_DIST: a scalable distributed-memory sparse direct solver
for unsymmetric linear systems. ACM Trans. Math. Softw. 29(2), 110140 (2003)
mization. Math. Prog. 26, 190212 (1983)
J. Sci. Comput. 17(1), 1632 (1996)
Chapter 11
Power Flow Test Cases
To conduct numerical experiments with power ow solvers, a test set of power ow
problems is needed. Problems with up to a few hundred buses are readily available,
but problems of realistic size are hard to come by. Transmission systems are vital
to society, and can be vulnerable to attacks if the attackers know where to strike.
Therefore, models of the actual systems are not publicly available.
For our research, we were able to use the UCTE
1
winter 2008 study model, which
consists of 4253 buses and 7191 lines. Larger test cases were constructed by copying
the model and interconnecting the copies with new transmission lines, as detailed
in Sect. 11.1. This proved to give better results than generating realistic models of
virtual power systems from scratch.
The test cases are named uctewXXX, where XXX is the number of copies of
the original problem used in the construction of the test case. Table 11.1 shows the
number of buses, branches, and nonzeros in the Jacobian matrix, for each test case.
These test cases were also used in [1, 2].
11.1 Construction
The uctew001 test case is simply the UCTE winter 2008 study model. Each next test
case is constructed by connecting two copies of the previous test case. The important
choices in this process are: which of the buses to connect, how to connect them, and
how to deal with the slack buses. Figure 11.1 shows a schematic representation of
the construction process used for our test cases.
The two network copies A and B each have their own slack bus, denoted by As
and Bs respectively. If one slack bus is simply removed, together with all branches
1
UCTE is a former association of transmission system operators in Europe. As of July 2009, the
European Network of Transmission System Operators for Electricity (ENTSO-E), a newly formed
association of 41 TSOs from 34 countries in Europe, has taken over all operational tasks of the
existing European TSO associations, including UCTE. See http://www.entsoe.eu/.
104 11 Power Flow Test Cases
Table 11.1 Power ow test cases for numerical experiments
Name Buses Branches nnz (J)
uctew001 4,253 7,191 62,654
uctew002 8,505 14,390 125,372
uctew004 17,009 28,796 250,872
uctew008 34,017 57,624 502,000
uctew016 68,033 115,312 1,004,512
uctew032 136,065 230,752 2,010,048
uctew064 272,129 461,760 4,022,144
uctew128 544,257 924,032 8,048,384
uctew256 1,088,513 1,849,088 16,104,960
A1
A2
A3
A4
As
B1
B2
B3
B4
Bs
A1
A2
A3
A4
B1
B2
B3
B4
ABs
Fig. 11.1 Test case construction process
connected to it, all the generation in that slack bus has to be provided for by the other
slack bus. Because the other slack bus is in a totally different area of the network,
this may lead to an imbalanced test case. Therefore, it is better to combine the two
slack buses into one new slack bus ABs that is connected to all the buses that either
of the old slack buses was connected to.
When existing power systems are connected in practice, the network connection
is generally made at the highest voltage level. Thus it makes sense to do the same
when constructing test cases by connecting existing networks. For our test cases, a
number of load buses at the highest voltage level is selected, approximately uniformly
distributed by bus index, with a small random element.
Connecting completely different regions of the network copies may lead to a
serious imbalance. Thus, each bus in A should be connected to a bus in B that
corresponds to a nearby bus in A. If each bus is connected directly to its corresponding
bus in the other network, no current will ow between A and B. The solution of the
newly constructed problem would simply consists of the original network solution
in both A and B. Therefore, in our test cases the buses are connected per pair A1 and
A2, close to each other, to the corresponding buses B1 and B2 in the other network,
such that A1 is connected to B2, and A2 is connected to B1.
11.1 Construction 105
The number of connecting branches between the two network copies is also of
importance. In our test cases the number of buses selected in A is 8 times the amount
of original networks incorporated in A. If too few cross branches are added, the
networks A and B are nearly decoupled. This results in an admittance matrix with
two blocks on nonzeros on the diagonal, and only a few nonzeros outside of these
blocks. This structure continues into the Jacobian matrix, and factorising such a
Jacobian is similar to factorising the two diagonal blocks independently. Any issues
with the scaling of the factorisation method would be lost for such a test case.
References
1. Idema, R., Lahaye, D.J.P., Vuik, C., van der Sluis, L.: Scalable Newton-Krylov solver for very
large power ow problems. IEEE Trans. Power Syst. 27(1), 390396 (2012)
2. Idema, R., Papaefthymiou, G., Lahaye, D.J.P., Vuik, C., van der Sluis, L.: Towards faster solution
of large power ow problems. IEEE Trans. Power Syst. 28(4), 49184925 (2013)
Index
Symbols
(ohms), 51
n 1 secure, 57
n 2 secure, 57
2-norm, 7
A
AC, see alternating current
Active power, 50, 53
Admittance, 51, 5356
Admittance matrix, 5557, 84, 105
Algebraic multigrid, see AMG
Alternating current, 47, 50, 51
AMD, 75, 90, 91
AMG, 74
Approximate Jacobian, 23, 24
Approximate minimum degree, see AMD
Argument (complex), 6
Armijo rule, 26
Automatic adjustment, 76
Average power, see active power
B
Backward substitution, 12, 71, 74, 75, 84,
85, 88
BB scheme, 67, 70
Bi-CGSTAB, 15, 72, 74
Branch, 52, 53, 55, 56, 88, 103105
Branch outage, 83, 84
Bus, 52, 53, 55, 57, 88, 98, 103, 104
Bus type, 52, 62, 63
Bus-type switching, 63, 76
BX scheme, 67, 68, 70, 75
C
Cable, 53
Capacitance, 51
Capacitive, 54, 55
Coefcient matrix, 11
Compensation, 84
Complex number, 5
Condition number, 76, 79, 80
Conductance, 51, 53
Conjugate (complex), 6
Consistent, 11
Contingency, 57, 83
Contingency analysis, 49, 57, 83, 84, 86,
100, 101
Convergence, 15, 16, 22, 23, 25, 29, 71, 72,
77, 79, 80, 84, 93, 101, 102
Current, 49, 5557
D
Dembo, 38, 77, 78, 9296, 98, 101
Dense matrix, 8, 13
Descent direction, 26
Diagonal dominance, 65
Diagonal matrix, 9
Direct method, 12
Directed graph, 9
Distribution, 47, 52
Dogleg step, 27
Dot product, 7
E
Edge (graph), 9
Effective phasor, 49, 50
Eisenstat, 77, 78, 84, 9295, 97, 98, 101, 102
Electrical power, 49
DOI: 10.2991/978-94-6239-064-5, Atlantis Press and the authors 2014
108 Index
ENTSO-E, 103
Error-feedback adjustment, 76
Euclidian norm, 7
Exponential function, 6
F
Factor updating, 84
Fast Decoupled Load Flow, see FDLF
FDLF, 59, 63, 64, 6672, 75, 76, 84
FDLF matrix, 75, 78, 90, 93, 95, 98
FGMRES, 18, 74
Fill ratio, 88, 90, 91
Fill-in, 13, 75, 90, 91
Finite differences, 24
Flat start, 59, 80, 84, 86, 87, 100, 102
Flexible, 18, 74
Forcing terms, 23, 30, 3239, 42, 43, 72, 77,
78, 84, 92, 93, 95, 98, 100, 101
Forward substitution, 12, 71, 74, 75, 84, 85,
88
Frequency, 47, 49
G
Generation, 47
Generator, 53, 63, 76
Generator bus, see PV bus
Generator outage, 83
Global convergence, 22, 25
GMRES, 15, 16, 38, 72, 74, 84, 85, 87, 91,
93, 95, 98, 100, 101
Graph, 9
Ground, 53, 55
H
Hook step, 27
I
Identity matrix, 9
IDR(s), 15, 72, 74
ILU, 14, 18, 38, 72, 74, 75, 78, 79, 87, 88,
9193, 95, 98
Imaginary power, see reactive power
Imaginary unit, 5
Impedance, 51, 53
Impedance matrix, 55, 57
Incidence matrix, 10, 69
Incomplete LU, see ILU
Inconsistent, 11
Independent, 7, 11
Induced matrix norm, 9
Inductance, 51
Inductive, 54, 55
Inexact iterative method, 29
Inexact Newton method, 23, 33
Initial iterate, 14, 18
Initial Jacobian, 72, 75, 78, 79, 85, 86, 95,
98, 100, 101
Injected current, 55
Injected power, 53, 57
Inner product, 7
Instantaneous power, 50
Inverse matrix, 9
Invertible matrix, 9, 11, 15
Iterate, 14
Iteration, 14
Iterative method, 12, 14, 22
J
Jacobian, 22, 6062, 64, 6668, 71, 72, 75,
76, 85, 86, 88, 90, 95, 98, 100,
104, 105
Jacobian-free, 23, 24
K
KCL, see Kirchhoffs current law
Kirchhoffs current law, 52, 53, 55
Kirchhoffs voltage law, 52, 53
Krylov method, 15
Krylov subspace, 15, 16
KVL, see Kirchhoffs voltage law
L
Left preconditioning, 17
Line, 53, 55
Line search, 22, 25
Linear combination, 7
Linear equation, 11
Linear system, 11
Linux, 87
Load, 53
Load bus, see PQ bus, 60
Loading level, 79, 80
Local convergence, 22
Losses, 53
LU, 12, 18, 71, 72, 74, 75, 78, 79, 8488,
9092, 95, 98, 100
M
Matrix, 7
Matrix norm, 9
Index 109
Matvec, 8, 98
Minimal residual, 16, 43
Modulus (complex), 6
Monte Carlo, 83, 86
MUMPS, 88
N
Newton method, 21, 22, 29, 59
Newton power ow, 5961, 63, 71, 72, 79,
8486, 100
NewtonKrylov method, 22, 73
NewtonKrylov power ow, 57, 7175, 77
79, 8385, 87, 95, 98, 100
NewtonRaphson, see Newton method
Nonlinear equation, 21
Nonlinear system, 21
Norm (matrix), see matrix norm
Norm (vector), see vector norm
O
Ohms law, 51, 55, 57
Optimality, 16, 74
Optimisation, 83, 86
Ordering, 14, 75, 87, 88, 90, 91
Oversolving, 23, 32, 33, 35, 38, 39, 42, 43,
77, 86, 94, 95
P
P.u., see per unit
Parallel, 88
Partial pivoting, 12
Per unit, 52, 54
Permutation, 12
PETSc, 87, 88, 90
Phase shifting transformer, 54
Phasor, 49
Pivoting, 12, 14
Power, 50, 57
Power factor, 50
Power factor angle, 50
Power ow, 49, 56, 57
Power ow equations, 57, 59, 60, 76
Power mismatch function, 5962, 71
Power system, 47, 52, 53, 56, 57, 103, 104
PQ bus, 52, 63, 76
Preconditioner, see preconditioning
Preconditioning, 14, 16, 43, 7176, 79, 80,
8487, 91, 93, 95, 98, 100
PST, see phase shifting transformer
PV bus, 52, 53, 60, 63, 70, 76
R
R/X ratio, 69, 70
Rank, 9, 11
Reactance, 51, 54
Reactive power, 50, 53, 54
Reactive power limits, 63, 76, 95
Real number, 5
Real power, see active power
Reordering, see ordering
Residual error, see residual norm
Residual norm, 15, 19, 22
Residual vector, 15, 22
Resistance, 51
Restarted GMRES, 16, 74
Richardson iteration, 15, 71, 72
Right preconditioning, 17
Right-hand side vector, 11
Robustness, 71, 72, 79
S
S (siemens), 51
Scaling, 13, 78, 87, 90, 92, 95, 98
Schur complement, 70, 75
Sequential, 87, 88
Short recurrences, 16, 74
Shunt, 5356, 66
Single-phase, 47, 52
Singular matrix, 9, 11, 15
Slack bus, 52, 53, 60, 63, 103
Solution adjustments, 76, 95
Sparse matrix, 8, 13, 57
Split preconditioning, 17
Square matrix, 8
Stationary, 18, 74
Steady state, 4850, 56
Steihaug, 77, 78, 9296, 98, 101
Submultiplicative, 9
Substation, 53
SuperLU, 88
SuperLU_Dist, 88
Susceptance, 51, 54
Swing bus, see slack bus
Symmetric matrix, 8
T
Tap changing, 54, 76, 95
Taylor expansion, 68, 69
Three-phase, 47, 52
Transformer, 54, 56, 66, 76
Transformer ratio, 54
Transmission, 47, 52
Transpose, 8
110 Index
Truncated GMRES, 16
Trust regions, 22, 25, 27
U
UCTE, 103
UctewXXX, 103
UMFPACK, 88
Uncertainty, 86
Undersolving, 77, 94, 95, 98
Undirected graph, 9
V
VA (volt-ampere), 51
Var (volt-ampere reactive), 50
Vector, 6
Vector norm, 7
Vector update, 6
Vertex (graph), 9
Voltage, 49, 5457
Voltage magnitude, 53, 54
Voltage phase angle, 53, 54
W
W (watts), 50
Walker, 77, 78, 84, 9295, 97, 98, 100102
X
XB scheme, 67, 70
XX scheme, 67

Computational Methods in Power System Analysis

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Computational Methods in Power System Analysis

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Atlantis Studies in Scientific Computing in Electromagnetics

Series Editor: Wil Schilders

(cos + sin ) . (2.9)

) = 0 for all k {1, . . . , m} at the same time. In this book, we restrict

. Likewise, the ratio

, the smaller the value of , the better the resulting d

becomes positive, and a full digit

any more, and the guaranteed improvement in the distance to the

1), which is the improvement obtained when using

deviates from the ideal d

, which is attained only in the ctitious case that

is not actually known,

such that F(x

) is continuous and nonsingular.

< , the sequence of inexact Newton

) is nonsingular. Thus is well-dened and we can write

can then be seen as a theoretical bound

< , the sequence of inexact Newton

) can be derived, within the neighbourhood of the solution where

) = 0 by denition, again write

< , the sequence F(x

). This is important, because Newton methods

, while the dashed line

, called schemes, and

3: given initial iterates and |V|

|V| = Q(, |V|)

, which works on the voltage

, which works on the voltage magnitude.

is derived fromthe reactance values X

fromthe susceptance values B

is derived from the

from the reactance values X

|V| = Q(, |V|),

. First, if the network is radial then A can be set up as a

A is equal to the matrix B

. This leads to the BX scheme of the Fast

each hold about

as in the BX scheme of the Fast Decoupled Load Flow method.

for contingency cases, either through factor updating or com-

Fig. 10.1 LU factorisation of J and

Count Iter Count Iter Count Iter

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