Cyber Physical Systems Approach to Smart Electric Power Grid

391 Pages·2015·27.796 MB·English

by  Siddhartha Kumar Khaitan, James D. McCalley, Chen Ching Liu (eds.)

Power Systems
Siddhartha Kumar Khaitan
James D. McCalley
Chen-Ching Liu E ditors
Cyber Physical
Systems
Approach to
Smart Electric
Power Grid
Power Systems
Moreinformationaboutthisseriesathttp://www.springer.com/series/4622
·
Siddhartha Kumar Khaitan James D. McCalley
Chen-Ching Liu
Editors
Cyber Physical Systems
Approach to Smart
Electric Power Grid
ABC
Editors
SiddharthaKumarKhaitan Chen-ChingLiu
ElectricalandComputerEngineering EnergySystemsandInnovationCenter
IowaStateUniversity (ESIC)
AmesIowa WashingtonStateUniversity
USA Pullman
Washington
JamesD.McCalley USA
ElectricalandComputerEngineering
IowaStateUniversity
AmesIowa
USA
ISSN1612-1287 ISSN1860-4676 (electronic)
PowerSystems
ISBN978-3-662-45927-0 ISBN978-3-662-45928-7 (eBook)
DOI10.1007/978-3-662-45928-7
LibraryofCongressControlNumber:2014958754
SpringerHeidelbergNewYorkDordrechtLondon
(cid:2)c Springer-VerlagBerlinHeidelberg2015
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Preface
Cyber-physicalsystems(CPSs)aretheclassofsystemsthatoffercloseinteraction
betweencyberandphysicalcomponents.Duetodeepintertwiningofphysicaland
softwarecomponents,CPSsfeaturehighdegreeofautomation,integrationatmul-
tiple temporal and spatial scales and reconfiguring dynamics. CPSs are expected
to play a major role in the developmentof next-generationsystems ranging from
handhelddevicestowarehouse-scalesystems.Forthisreason,CPSshavebeenac-
tivelyresearchedintherecentyears.Thisbookbringstogethertherecentadvance-
ments,implementationandfuturedirectionsinthefieldofcyberphysicalsystems.
ThebookcoversseveralaspectsrelatedtoCPSs,suchasmodelingandsimulation,
resiliency, security, design of network infrastructure and the application of cyber-
physicaldesignparadigmindomainsofpracticalinterest,suchaspowersystem.
Followingisabriefintroductiontothechaptersinthebook.
The chapter entitled, “Modeling and Simulation of Network Aspects for Dis-
tributed Cyber-PhysicalEnergy Systems” presents an aspect-oriented approachto
modelingsmartgridcommunication,faultmodelingandtimingconcernsonadis-
tributedstateestimationapplicationstudy.Theprototypingoftheapproachisper-
formedusingtheheterogeneousmodelingenvironmentPtolemyII.Thesimulation
resultshighlightthebenefitsofaspect-orientedmodelsfornetworkandmiddleware
scalabilityincyber-physicalenergysystemmodels.
Thechapterentitled,“AService-Oriented,Cyber-PhysicalReferenceModelfor
Smart Grid” presents a cyber-physical reference model for smart grid. The pro-
posed reference model is based on service-oriented computing paradigm and is
alsocapableofhandlingthehardreal-timeaspectsofsmartgrid.Thechapteralso
presentsthedevelopmentstepsofasmartgridapplicationaccordingtotheproposed
referencemodel.
Thechapterentitled,“RealTimeModelingandSimulationofCyber-PowerSys-
tem” discusses the challenges in the development of cyber-power testbed. It also
presents realization of a cyber-power testbed by integration of Real Time Digital
Simulator (RTDS) and Network Simulator3 (NS3).The studies conductedon the
testbedhelpinunderstandingthecomplexrelationshipbetweencyberandphysical
domains,andtheimpactsofanattackonthecyber-physicalpowersystem.
VI Preface
Thechapterentitled,“CyberphysicalApproachtoHVDCgridcontrol”presents
acyber-physicalapproachtodesignofHVDC(highvoltagedirectcurrent)control
system architectures. It further describes the communication system architectures
neededforcentralizedanddistributedoperationandcontrolofHVDCgrids.Italso
describestwoapplicationsfordistributedcontrolofDCgridswhichutilizethecon-
ceptspresentedinthechapter.
Thechapterentitled,“SmartBuildingsintheSmartGrid:Contract-BasedDesign
ofanIntegratedEnergyManagementSystem”,presentsacompositionalframework
for implementing an optimal supply-followingstrategy in a cyber-physicalpower
gridsupplyingservicesforanHVAC(heating,ventilationandairconditioning)sys-
tem for a building.It uses the conceptof assume-guaranteecontractsto formalize
therequirementsofthegridandthebuildingsubsystem.Usingthis,anoptimalcon-
trolschemeforboththegridandthebuildingcanbeformulated.
Thechapterentitled,“Decision-SupportToolsforRenewables-RichPowerSys-
tems:AStochasticFuturesApproach”presentsaframeworkandalgorithmsetfor
day-ahead generation scheduling which utilizes the coupling between cyber- and
physical-resourcesinthepowersystem.Italsopresentsamethodforunitschedul-
ingfortheday-aheadmarketbasedontheprobabilisticrenewableenergygeneration
futures.
Thechapterentitled,“Cybersecurityofsmartgridcommunications:riskanalysis
andexperimentaltesting”presentsacyber-securityevaluationofactivedistribution
gridswhich feature a high levelpenetrationof distributed renewable sources. The
chapterfocusesonvoltagecontrolin mediumvoltagegridsconnectingdistributed
energyresourceswiththeaimofanalyzingthemostrelevantsecurityscenariosofa
systemwhichimplementssuchcontrolapplication.
Thechapterentitled,“ReliableandScalableCommunicationforthePowerGrid”
presentsmethodsfordevelopingnetworktopologiesofsmartdevicesforenabling
multi-route discovery in a power grid. Since multi-route pathways ensure timely
deliveryofcriticaldata,themethodspresentedinthe chapterenablethedesignof
reliableandscalablecybernetworkstructureinapowergrid.
Thechapterentitled,“BiologicallyInspiredHierarchicalCyber-PhysicalMulti-
AgentDistributedControlFrameworkForSustainableSmartGrids”presentsahi-
erarchicalframeworkbased on flocking theory for improvingstability of a cyber-
physical smart grid. It also presents strategies for leveragingphysical coupling of
thesystemfordesigningacontrolschemewiththeaimofidentifyingandmitigat-
ingdatacorruptionandattacks.
The chapterentitled,“Cyber-PhysicalSecurityofSubstationsin a PowerGrid”
presentsanapproachtoenhancethecybersecurityofsubstationsinacyber-physical
powersystem.Usingacyber-physicalsubstationtestbed,itevaluatestheresilience
ofthesubstationstowardsvariousvulnerabilitiesandintrusionscenarios.
Thechapterentitled,“Cyber-AttacksintheAutomaticGenerationControl”ana-
lyzestheimpactofacyber-attackontheAGC(automaticgenerationcontrol)signal.
Itusesreachabilityandoptimalcontroltheorytostudythetheexistenceofanattack
patternthatcandisturbthepowersystem.DynamicsimulationsonaIEEE-118bus
networkareperformedtoshowtheperformanceoftheirmethodology.
Preface VII
The chapter entitled, “Intrusion Detection for CPS Real-Time Controllers”
presentsmechanismsfortime-basedintrusiondetectionwhichworkbydetectingthe
executionofunauthorizedinstructionsinreal-timeCPSenvironments.Thechapter
also developstechniquesto detectintrusionsin a self-checkingmannerby the ap-
plicationandthroughtheoperatingsystemscheduler.
The chapter entitled, “Against Data Attacks on Smart Grid Operations: Attack
Mechanismsand Security Measures”discusses data attack modelsand techniques
for enabling fast detection of such attacks. It also presents several cost-effective
countermeasuresusingdataencryption,accessauthenticationandmeterprotection.
Students, researchers, system-designers and professionals interested in cyber-
physicalsystemapproachtopowergridswillfindthisbookveryusefulandtimely.
We hope that this book will inspire even greater efforts in the area of design and
managementofcyber-physicalsystems.
Fall2014(USA) SiddharthaKumarKhaitan
Ames,IA,USA
JamesD.McCalley
Ames,IA,USA
Chen-ChingLiu
Ames,IA,USA
List of Contributors
Akkaya,Ilge Chen,Ying
ElectricalEngineeringandComputer DepartmentofElectricalEngineering
ScienceDepartment TsinghuaUniversity
UniversityofCalifornia,Berkeley Beijing,China
California,USA
Donde,Vaibhav
Andersson,Goran PacificGasandElectric
PowerSystemsLaboratory California,USA
ETHZurich
Zurich,Switzerland Dondossola,Giovanna
RicercasulSistemaEnergetico-RSE
Babazadeh,Davood Spa.
DepartmentofIndustrialInformation DptT&DTechnologies
andControlSystems Milan,Italy
KTH-RoyalInstituteofTechnology
Stockholm,Sweden
Esfahani,PeymanMohajerin
DepartmentofInformation
Bhat,Balasubramany TechnologyandElectrical
DepartmentofComputerScience Engineering
NorthCarolinaStateUniversity ETHZurich
NorthCarolina,USA Zurich,Switzerland
Biswas,Saugata Govindarasu,Manimaran
SchoolofElectricalEngineeringand DepartmentofElectricalandComputer
ComputerScience Engineering
WashingtonStateUniversity IowaStateUniversity
Washington,USA Iowa,USA
X ListofContributors
Grijalva,Santiago Liu,Juhua
SchoolofElectricalandComputer ABBUSCorporateResearch
Engineering NorthCarolina,USA
GeorgiaInstituteofTechnology
Georgia,USA Liu,Ren
SchoolofElectricalEngineering
Jiang,Jiayi andComputerScience
SchoolofElectricalEngineeringand WashingtonStateUniversity
ComputerScience Washington,USA
WashingtonStateUniversity
Liu,Yan
Washington,USA
ElectricalEngineeringandComputer
ScienceDepartment
Hong,Junho
UniversityofCalifornia,Berkeley
SchoolofElectricalEngineeringand
California,USA
ComputerScience
WashingtonStateUniversity Lygeros,John
Washington,USA AutomaticControlLaboratory
ETHZurich
Kim,Jinsub Zurich,Switzerland
OregonStateUniversity
Maasoumy,Mehdi
Kundur,Deepa
DepartmentofElectrical
DepartmentofElectricaland
EngineeringandComputerSciences
ComputerEngineering
UniversityofCalifornia,Berkeley
California,USA
DepartmentofElectricaland
ComputerEngineering Margellos,Kostas
UniversityofToronto DepartmentofIndustrialEngineering
Ontario,Canada andOperationsResearch
UniversityofCalifornia,Berkeley
California,USA
Lee,EdwardA.
ElectricalEngineeringand Mohan,Sibin
ComputerScienceDepartment InformationTrustInstitute
UniversityofCalifornia,Berkeley UniversityofIllinois
California,USA atUrbana-Champaign
Illinois,USA
Liu,Chen-Ching
SchoolofElectricalEngineering Mueller,Frank
andComputerScience DepartmentofComputerScience
WashingtonStateUniversity NorthCarolinaStateUniversity
Washington,USA NorthCarolina,USA