The emergence of synchronization in a network of coupled oscillators is a fascinating subject of multidisciplinary research. This survey reviews the vast literature on the theory and the applications ...of complex oscillator networks. We focus on phase oscillator models that are widespread in real-world synchronization phenomena, that generalize the celebrated Kuramoto model, and that feature a rich phenomenology. We review the history and the countless applications of this model throughout science and engineering. We justify the importance of the widespread coupled oscillator model as a locally canonical model and describe some selected applications relevant to control scientists, including vehicle coordination, electric power networks, and clock synchronization. We introduce the reader to several synchronization notions and performance estimates. We propose analysis approaches to phase and frequency synchronization, phase balancing, pattern formation, and partial synchronization. We present the sharpest known results about synchronization in networks of homogeneous and heterogeneous oscillators, with complete or sparse interconnection topologies, and in finite-dimensional and infinite-dimensional settings. We conclude by summarizing the limitations of existing analysis methods and by highlighting some directions for future research.
Motivated by recent interest for multiagent systems and smart grid architectures, we discuss the synchronization problem for the network-reduced model of a power system with nontrivial transfer ...conductances. Our key insight is to exploit the relationship between the power network model and a first-order model of coupled oscillators. Assuming overdamped generators (possibly due to local excitation controllers), a singular perturbation analysis shows the equivalence between the classic swing equations and a nonuniform Kuramoto model. Here, nonuniform Kuramoto oscillators are characterized by multiple time constants, nonhomogeneous coupling, and nonuniform phase shifts. Extending methods from transient stability, synchronization theory, and consensus protocols, we establish sufficient conditions for synchronization of nonuniform Kuramoto oscillators. These conditions reduce to necessary and sufficient tests for the standard Kuramoto model. Combining our singular perturbation and Kuramoto analyses, we derive concise and purely algebraic conditions that relate synchronization in a power network to the underlying network parameters. PUBLICATION ABSTRACT
The emergence of synchronization in a network of coupled oscillators is a fascinating topic in various scientific disciplines. A widely adopted model of a coupled oscillator network is characterized ...by a population of heterogeneous phase oscillators, a graph describing the interaction among them, and diffusive and sinusoidal coupling. It is known that a strongly coupled and sufficiently homogeneous network synchronizes, but the exact threshold from incoherence to synchrony is unknown. Here, we present a unique, concise, and closed-form condition for synchronization of the fully nonlinear, nonequilibrium, and dynamic network. Our synchronization condition can be stated elegantly in terms of the network topology and parameters or equivalently in terms of an intuitive, linear, and static auxiliary system. Our results significantly improve upon the existing conditions advocated thus far, they are provably exact for various interesting network topologies and parameters; they are statistically correct for almost all networks; and they can be applied equally to synchronization phenomena arising in physics and biology as well as in engineered oscillator networks, such as electrical power networks. We illustrate the validity, the accuracy, and the practical applicability of our results in complex network scenarios and in smart grid applications.
Motivated by the recent and growing interest in smart grid technology, we study the operation of DC/AC inverters in an inductive microgrid. We show that a network of loads and DC/AC inverters ...equipped with power-frequency droop controllers can be cast as a Kuramoto model of phase-coupled oscillators. This novel description, together with results from the theory of coupled oscillators, allows us to characterize the behavior of the network of inverters and loads. Specifically, we provide a necessary and sufficient condition for the existence of a synchronized solution that is unique and locally exponentially stable. We present a selection of controller gains leading to a desirable sharing of power among the inverters, and specify the set of loads which can be serviced without violating given actuation constraints. Moreover, we propose a distributed integral controller based on averaging algorithms, which dynamically regulates the system frequency in the presence of a time-varying load. Remarkably, this distributed-averaging integral controller has the additional property that it preserves the power sharing properties of the primary droop controller. Our results hold for any acyclic network topology, and hold without assumptions on identical line admittances or voltage magnitudes.
The celebrated Kuramoto model captures various synchronization phenomena in biological and man-made dynamical systems of coupled oscillators. It is well known that there exists a critical coupling ...strength among the oscillators at which a phase transition from incoherency to synchronization occurs. This paper features four contributions. First, we characterize and distinguish the different notions of synchronization used throughout the literature and formally introduce the concept of phase cohesiveness as an analysis tool and performance index for synchronization. Second, we review the vast literature providing necessary, sufficient, implicit, and explicit estimates of the critical coupling strength in the finite- and infinite-dimensional cases and for both first-order and second-order Kuramoto models. Third, we present the first explicit necessary and sufficient condition on the critical coupling strength to achieve synchronization in the finite-dimensional Kuramoto model for an arbitrary distribution of the natural frequencies. The multiplicative gap in the synchronization condition yields a practical stability result determining the admissible initial and the guaranteed ultimate phase cohesiveness as well as the guaranteed asymptotic magnitude of the order parameter. For supplementary results, we provide a statistical comparison of our synchronization condition with other conditions proposed in the literature, and we show that our results also hold for switching and smoothly time-varying natural frequencies. Fourth and finally, we extend our analysis to multirate Kuramoto models consisting of second-order Kuramoto oscillators with inertia and viscous damping together with first-order Kuramoto oscillators with multiple time constants. We prove that such a heterogeneous network is locally topologically conjugate to a first-order Kuramoto model with scaled natural frequencies. Finally, we present necessary and sufficient conditions for almost global phase synchronization and local frequency synchronization in the multirate Kuramoto model. Interestingly, our provably correct synchronization conditions do not depend on the inertial coefficients which contradicts prior observations on the role of inertial effects in synchronization of second-order Kuramoto oscillators.
Voltage collapse in complex power grids Simpson-Porco, John W; Dörfler, Florian; Bullo, Francesco
Nature communications,
02/2016, Letnik:
7, Številka:
1
Journal Article
Recenzirano
Odprti dostop
A large-scale power grid's ability to transfer energy from producers to consumers is constrained by both the network structure and the nonlinear physics of power flow. Violations of these constraints ...have been observed to result in voltage collapse blackouts, where nodal voltages slowly decline before precipitously falling. However, methods to test for voltage collapse are dominantly simulation-based, offering little theoretical insight into how grid structure influences stability margins. For a simplified power flow model, here we derive a closed-form condition under which a power network is safe from voltage collapse. The condition combines the complex structure of the network with the reactive power demands of loads to produce a node-by-node measure of grid stress, a prediction of the largest nodal voltage deviation, and an estimate of the distance to collapse. We extensively test our predictions on large-scale systems, highlighting how our condition can be leveraged to increase grid stability margins.
Many of today's most used online social networks such as Instagram, YouTube, Twitter, or Twitch are based on User-Generated Content (UGC). Thanks to the integrated search engines, users of these ...platforms can discover and follow their peers based on the UGC and its quality. Here, we propose an untouched meritocratic approach for directed network formation, inspired by empirical evidence on Twitter data: actors continuously search for the best UGC provider. We theoretically and numerically analyze the network equilibria properties under different meeting probabilities: while featuring common real-world networks properties, e.g., scaling law or small-world effect, our model predicts that the expected in-degree follows a Zipf's law with respect to the quality ranking. Notably, the results are robust against the effect of recommendation systems mimicked through preferential attachment based meeting approaches. Our theoretical results are empirically validated against large data sets collected from Twitch, a fast-growing platform for online gamers.
Social networks emerge as a result of actors' linking decisions. We propose a game-theoretical model of socio-strategic network formation on directed weighted graphs, in which every actors' benefit ...is a parametric trade-off between centrality measure, brokerage opportunities, clustering coefficient, and sociological network patterns. We use two different stability definitions to infer individual behavior of homogeneous, rational agents from network structure, and to quantify the impact of cooperation. Our theoretical analysis confirms results known for specific network motifs studied previously in isolation, yet enables us to precisely quantify the trade-offs in the space of user preferences. To deal with complex networks of heterogeneous and irrational actors, we construct a statistical behavior estimation method using Nash equilibrium conditions. We provide evidence that our results are consistent with empirical, historical, and sociological observations on real-world data-sets. Furthermore, our method offers sociological and strategic interpretations of random networks models, such as preferential attachment and small-world networks.
The behavioral approach to systems theory, put forward 40 years ago by Jan C. Willems, takes a representation-free perspective of a dynamical system as a set of trajectories. Till recently, it was an ...unorthodox niche of research but has gained renewed interest for the newly emerged data-driven paradigm, for which it is uniquely suited due to the representation-free perspective paired with recently developed computational methods. A result derived in the behavioral setting that became known as the fundamental lemma started a new class of subspace-type data-driven methods. The fundamental lemma gives conditions for a non-parametric representation of a linear time-invariant system by the image of a Hankel matrix constructed from raw time series data. This paper reviews the fundamental lemma, its generalizations, and related data-driven analysis, signal processing, and control methods. A prototypical signal processing problem, reviewed in the paper, is missing data estimation. It includes simulation, state estimation, and output tracking control as special cases. The direct data-driven control methods using the fundamental lemma and the non-parametric representation are loosely classified as implicit and explicit approaches. Representative examples are data-enabled predictive control (an implicit method) and data-driven linear quadratic regulation (an explicit method). These methods are equally amenable to certainty-equivalence as well as to robust control. Emphasis is put on the robustness of the methods under noise. The methods allow for theoretical certification, they are computationally tractable, in comparison with machine learning methods require small amount of data, and are robustly implementable in real-time on complex physical systems.
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