Details

Resilient Control Architectures and Power Systems

IEEE Press Series on Power and Energy Systems 1. Aufl.

von: Craig Rieger, Ronald Boring, Brian Johnson, Timothy McJunkin
114,99 €
Verlag:	Wiley
Format:	EPUB
Veröffentl.:	02.12.2021
ISBN/EAN:	9781119660422
Sprache:	englisch
Anzahl Seiten:	336

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Titelbeschreibung

Master the fundamentals of resilient power grid control applications with this up-to-date resource from four industry leaders Resilient Control Architectures and Power Systems delivers a unique perspective on the singular challenges presented by increasing automation in society. In particular, the book focuses on the difficulties presented by the increased automation of the power grid. The authors provide a simulation of this real-life system, offering an accurate and comprehensive picture of a how a power control system works and, even more importantly, how it can fail. The editors invite various experts in the field to describe how and why power systems fail due to cyber security threats, human error, and complex interdependencies. They also discuss promising new concepts researchers are exploring that promise to make these control systems much more resilient to threats of all kinds. Finally, resilience fundamentals and applications are also investigated to allow the reader to apply measures that ensure adequate operation in complex control systems. Among a variety of other foundational and advanced topics, you'll learn about: <ul> <li>The fundamentals of power grid infrastructure, including grid architecture, control system architecture, and communication architecture</li> <li>The disciplinary fundamentals of control theory, human-system interfaces, and cyber security</li> <li>The fundamentals of resilience, including the basis of resilience, its definition, and benchmarks, as well as cross-architecture metrics and considerations</li> <li>The application of resilience concepts, including cyber security challenges, control challenges, and human challenges</li> <li>A discussion of research challenges facing professionals in this field today</li> </ul> Perfect for research students and practitioners in fields concerned with increasing power grid automation, Resilient Control Architectures and Power Systems also has a place on the bookshelves of members of the Control Systems Society, the Systems, Man and Cybernetics Society, the Computer Society, the Power and Energy Society, and similar organizations.

Inhaltsverzeichnis

Foreword xv Preface xvii Acknowledgments xxiii Editors Biography xxv List of Contributors xxvii Part I Introduction 1 1 Basis, Definition, and Application 3 Craig Rieger 1.1 Introduction 3 1.2 Definition and Application 3 References 6 2 General Use Case Introduction 7 Brian Johnson 2.1 Introduction 7 2.2 Importance of Resilient Controls for Power Systems 7 2.3 Power Systems Operations and Control 7 2.4 Summary 9 References 9 Part II Infrastructure Fundamentals 11 3 Power Grid Architecture 13 Brian Johnson and Rômulo Bainy Objectives 13 3.1 Introduction 13 3.2 Classical Power System Architectures 14 3.3 Emerging Architecture Trends 17 3.3.1 Smart Grids 17 3.3.2 Microgrids 20 3.4 Power Systems Operations and Control 22 3.5 Power Systems Planning 24 3.5.1 Modeling and Simulation 25 3.6 Measures of Performance 26 3.7 Summary 29 Further Reading 30 References 31 4 Control System Architecture 33 Thomas Baldwin Objectives 33 4.1 Introduction 33 4.1.1 Background 33 4.1.2 Basic Generator Control Loops 34 4.1.3 Load Frequency Control 35 4.1.4 The Generator 35 4.1.5 The Load 36 4.1.6 The Turbine-Based Prime Mover 37 4.1.7 The Speed Governor 38 4.1.8 The Load Frequency Control Loop 39 4.1.9 Multiple Generators Operating with LFC 40 4.2 Automatic Generation Control 42 4.2.1 Background 42 4.2.2 The AGC in Single Area Systems 42 4.2.3 The AGC in Multi-Area Systems 43 4.2.4 The Tie Line 43 4.2.5 Tie Line Control 47 4.2.6 AGC with Generation Allocation 47 4.3 Reactive Power and Voltage Control 49 4.3.1 Background 49 4.3.2 Voltage Sensor 51 4.3.3 Amplifier 51 4.3.4 Exciter 51 4.3.5 Generator 51 4.3.6 The Voltage Control Loop 52 4.4 Excitation System Stabilizer 52 4.4.1 Rate Feedback Method 52 4.4.2 PID Controller 54 4.5 Summary 55 Further Reading 56 5 Communication Architecture 57 Chris Dyer Objectives 57 5.1 Introduction 57 5.2 Communication Media 58 5.2.1 Copper Wire 59 5.2.1.1 Telecommunication Industry Association (TIA)/Electronic Industries Association (EIA) RS- 232 59 5.2.1.2 Twisted Pair (TIA RS-485) 59 5.2.1.3 Twisted Pair (Ethernet [10Base-T]) 60 5.2.2 Fiber-Optic Cable 60 5.2.2.1 Optical Ground Wire (OPGW) 61 5.2.2.2 All-Dielectric Self-Supporting (ADSS) Cables 62 5.2.2.3 Underground Cables 62 5.2.2.4 Splice Box 63 5.2.2.5 Fiber-optic Terminations 63 5.2.3 Patch Panel 65 5.2.3.1 Patch Cables 65 5.2.3.2 Fiber-optic Loss Calculations 66 5.2.4 Radio-Frequency (RF) Communications 66 5.2.4.1 Microwave 66 5.2.4.2 VHF/UHF Radio 68 5.2.4.3 Spread-Spectrum Communication 68 5.2.4.4 Mesh Communication Networks 68 5.2.4.5 Radio Propagation and Path Studies 68 5.2.5 Local Area Networks 68 5.2.5.1 Business Enterprise Networks 69 5.2.5.2 Operational Enterprise Networks 69 5.2.5.3 Remote Outstation Networks 73 5.2.6 Backhaul Communications 78 5.2.7 Emerging Technologies and Other Considerations 79 5.3 Summary 80 References 81 Part III Disciplinary Fundamentals 83 6 Introducing Interdisciplinary Studies 85 Craig Rieger Objectives 85 6.1 Introduction 85 6.2 The Pathway to an Interdisciplinary Team 86 Further Reading 87 7 Cybersecurity 89 Daniel Conte de Leon, Georgios M. Makrakis, and Constantinos Kolias Objectives 89 7.1 Introduction 89 7.2 Systems and Control Systems 90 7.2.1 Systems, Subsystems, and Analysis Boundaries 90 7.2.2 System Subjects and Objects 90 7.2.3 Subject Communication and Cyber Systems 90 7.3 Fundamental Cybersecurity Objectives: The CIA Triad 91 7.3.1 Confidentiality 91 7.3.2 Integrity 92 7.3.3 Availability 93 7.4 Fundamental Cybersecurity Techniques 93 7.4.1 Cryptography 93 7.4.1.1 Symmetric Encryption 94 7.4.1.2 Asymmetric Encryption 94 7.4.1.3 Digital Signatures 95 7.4.2 Authentication and Identity 95 7.4.3 Authorization and Access Control 96 7.4.4 Accountability 97 7.4.5 Redundancy and Replication 97 7.5 Threats, Vulnerabilities, and Attacks 97 7.5.1 Definitions 97 7.5.2 Common Types of ICS Vulnerabilities 98 7.5.2.1 Human Related 98 7.5.2.2 Software or Firmware Based 99 7.5.2.3 Policies and Procedures 99 7.5.3 Attack Stages and the Cyber Kill Chain 100 7.5.3.1 Reconnaissance 100 7.5.3.2 Weaponization 100 7.5.3.3 Delivery 101 7.5.3.4 Exploitation 101 7.5.3.5 Installation 101 7.5.3.6 Command and Control 101 7.5.3.7 Actions on Objectives 101 7.5.3.8 ICS Cyber Kill Chain 101 7.6 Secure System Design Principles 102 7.6.1 Continuous Improvement 102 7.6.2 Defense in Depth 102 7.6.3 Least Privilege 103 7.6.4 Validated Design and Implementation 103 7.6.5 Fail-safe Defaults 103 7.6.6 Separation of Duties 104 7.6.7 Psychological Acceptability 104 7.6.8 Modularization 104 7.6.9 Accountability 104 7.7 Approaches for Threat and Risk Assessment and Mitigation 105 7.7.1 Risk Framing, Legal, and Compliance 105 7.7.2 Risk Assessment 106 7.7.3 Risk Response or Treatment 106 7.7.4 Risk Monitoring 106 7.7.5 Security Management and Continuous Improvement 107 7.8 Approaches for Incident Detection and Response 107 7.8.1 Incident and Intrusion Detection 107 7.8.1.1 Host-Based IDS 108 7.8.1.2 Network-Based IDS 108 7.8.1.3 Distributed or Hybrid IDS 108 7.8.1.4 Signature Detection 108 7.8.1.5 Anomaly Detection 108 7.8.2 Incident Response 109 7.9 Summary 109 7.10 Thoughtful Questions to Ensure Comprehension 109 Further Reading 110 References 110 8 Control Theory 113 Desineni S. Naidu Objectives 113 8.1 Introduction 113 8.1.1 Formal Statement of Optimal Control Problem 114 8.2 Deterministic Linear Systems 114 8.2.1 Open-Loop Optimal Control of Linear Systems 114 8.2.2 Closed-Loop Optimal Control of Linear Systems 115 8.2.3 Finite-Time Linear Quadratic Regulator: Time-Varying Case 116 8.2.4 Infinite-Interval Regulator System: Time-Invariant Case 116 8.2.5 Linear Quadratic Tracking System: Finite-Time Case 117 8.2.6 Gain Margin and Phase Margin 118 8.2.7 Gain Margin 118 8.2.8 Phase Margin 118 8.3 Pontryagin Principle and HJB Equation 119 8.3.1 The Hamilton–Jacobi–Bellman (HJB) Equation 119 8.4 Stochastic Linear Systems 120 8.4.1 Optimal Estimation 120 8.4.2 Optimal Control 121 8.5 Deterministic Nonlinear Systems 121 8.5.1 Finite-Horizon Regulation and Tracking for Nonlinear Systems 122 8.5.2 Finite-Horizon Regulator 122 8.5.3 Finite-Horizon Tracking for Nonlinear Systems 123 8.6 Summary 124 8.7 Thoughtful Questions to Ensure Comprehension 124 Further Reading 125 References 125 9 Human System Interfaces 127 Ronald Boring Objectives 127 9.1 Introduction 127 9.1.1 Control Systems 127 9.1.2 History of Humans and Control Systems 128 9.1.3 Common Elements of Control System HSIs 128 9.1.4 Consequences of Poor HSIs in Control Systems 129 9.2 Basic Methods 131 9.2.1 Introduction to User-Centered Design 131 9.2.2 Design Planning 133 9.2.3 Prototyping Process 134 9.2.4 Evaluation Process 135 9.2.5 Validation versus Verification 138 9.3 Summary 140 Further Reading 142 References 142 Part IV Metrics Fundamentals 145 10 Differentiating Resilience 147 Jeffrey D. Taft Objectives 147 10.1 Introduction 147 10.2 Conventional Views of Grid Resilience 150 10.3 Grid Characteristics 151 10.4 Grid Resilience and the Relationship to Electric Reliability 152 10.5 Characterization of Resilience 155 10.5.1 Stress and Stressors 156 10.5.2 Physical Scale 156 10.5.3 Temporal Scale 157 10.5.4 Strain 157 10.5.5 Resilience Domains 157 10.5.5.1 Stress Avoidance 157 10.5.5.2 Stress Resistance 158 10.5.5.3 Strain Adjustment 159 10.5.6 Foundational Support 160 10.6 Architectural Principles and Concepts for Resilience 160 10.6.1 All Hazards Approach 162 10.6.2 Situational Awareness 162 10.6.3 ULS Normal Failures Approach 162 10.6.4 System Hardness 162 10.6.5 Flexibility 162 10.6.6 Extensibility 163 10.6.7 Agility 163 10.6.8 Distributed Versus Centralized Systems 163 10.6.9 Buffering 163 10.6.10 Structural Resilience 163 10.6.11 Redundancy 164 10.7 Structural Resilience Quantification and Valuation 164 10.8 Summary 166 Further Reading 167 References 167 11 Cross-architecture Metrics 169 Timothy McJunkin Objectives 169 11.1 Definition of Resilience 169 11.2 Notional Capture of Resilience Adaptive Capacity 173 11.3 Response Epoch: Adaptive Capacity on an Asset-Level Development 174 11.4 Adaptive Capacity on an Aggregated-Level Development 176 Exercises 178 Exercises 178 11.5 Cybersecurity Considerations 179 11.6 Consideration of Resist Epoch (Inertia) 182 11.7 Consideration of Recover and Restore Epochs 183 References 184 Part V Resilience Application 185 12 Introducing the Grid Game 187 Timothy McJunkin Objectives 187 12.1 Introduction 187 12.2 Download/Install the Game 187 12.3 Play the Grid Game 188 12.4 Fundamentals 194 12.5 Evaluate the Grid Game and Players (Yourself and Others) 196 12.6 Play Together 198 12.7 Improve the Game 198 References 198 13 Cybersecurity and Resilience for the Power Grid 201 xi Qin, Kelvin Mai, Neil Ortiz, Keerthi Koneru, and Alvaro A. Cardenas Objectives 201 13.1 Introduction 201 13.2 Operation Technologies in the Power Grid 201 13.3 Cyberattacks to the Power Grid 206 13.3.1 Attacks in Ukraine 206 13.3.2 Other Potential Attacks 208 13.4 Research Efforts 208 13.4.1 Classical Power Grid Systems 208 13.4.2 Smart Grid Systems 209 13.4.3 Grid Simulator 211 13.5 Summary 211 13.6 Thoughtful Questions to Ensure Comprehension 211 Further Reading 212 References 212 14 Control Challenges 215 Quanyan Zhu Objectives 215 14.1 Introduction 215 14.2 Resiliency Challenges in Control Systems 216 14.3 Resiliency Design Framework 217 14.3.1 Control of Autonomous Systems in Adversarial Environment 218 14.3.2 Cross-Layer Defense for Cloud-Enabled Internet of Controlled Things 219 14.4 Resiliency for Decentralized Control Systems 221 14.5 Summary 223 14.6 Thoughtful Questions to Ensure Comprehension 223 Further Reading 224 References 225 15 Human Challenges 231 Anshul Rege Objectives 231 15.1 Introduction 231 15.2 Experiential Learning and the Multidisciplinary Grid Game 232 15.2.1 Grid Game Case Study 232 15.2.2 Grid Operations and Cybersecurity 233 15.2.2.1 Grid Operations 233 15.2.2.2 Microgrid Stability and Generation Control System 233 15.2.2.3 Generator Inertia 233 15.2.2.4 Energy Storage 234 15.2.3 Cyber Adversarial Decision-Making 234 15.2.4 Cyber Defender Decision-Making 236 15.2.4.1 Group Dynamics and Divisions of Labor 236 15.2.4.2 Cybersecurity Preparations 236 15.2.4.3 Response to Cyberattacks 237 15.2.5 Cyber-Field Research 237 15.2.5.1 Designing and Conducting Research 237 15.2.5.2 Weaving Multiple Methods in Real Time 237 15.2.5.3 Exposure to All Phases of Research 238 15.3 Benefits of Gamifying Cybersecurity 239 15.3.1 Discipline-Specific Benefits 239 15.3.2 Challenges 239 15.4 Summary 239 Further Reading 241 References 241 Part VI Additional Design Considerations 243 16 Interdependency Analysis 245 Ryan Hruska Objectives 245 16.1 Introduction 245 16.1.1 Dependencies and Interdependencies 245 16.1.2 Electric-Grid System Dependencies 246 16.2 Approaches to Infrastructure Dependency Analysis 247 16.2.1 Engineering Models 247 16.2.2 Systems Engineering 248 16.2.3 Geospatial Modeling 248 16.2.4 All-Hazards Analysis 249 16.3 Bulk Power Systems Interdependency Case Studies 249 16.3.1 Natural Gas Expansion 249 16.3.1.1 Natural Gas Interdependencies for Electric Generation 251 16.3.1.2 Seasonal Impacts 252 16.3.2 Water Interdependencies 253 16.4 Summary 256 Further Reading 256 References 257 17 Multi-agent Control Systems 259 Craig Rieger Objectives 259 17.1 Introduction 259 17.1.1 What Is an Agent? 259 17.1.2 Intelligent Agent 259 17.1.3 Resilient Agent 260 17.1.4 Multi-agents and Benefit to Resilience 260 17.2 Control System Design 261 17.2.1 Tiers of Control 261 17.2.2 Decomposition of Operational Philosophy into Management and Coordination Layers 261 17.2.3 Decomposition of Operational Philosophy into Execution Layer 263 17.2.4 Data-driven Methodology for Application of Tiered Control 264 17.2.5 Cyber–Physical Degradation Assessment 264 17.3 Control System Application 267 17.3.1 Human Decision Integration into Management and Execution Layers 267 17.3.2 Distributed Control and the Execution Layer Formulation 268 17.3.3 Domain Application 269 17.4 Summary 272 Further Reading 273 An overview of a HMADS for power system applications: 273 References 273 18 Other Examples of Resilience Application 275 Meghan G. Sahakian and Eric D. Vugrin Objectives 275 18.1 Introduction 275 18.2 Resilient Design Capacities 276 18.3 Anticipative Capacity 276 18.4 Absorptive Capacity 277 18.5 Adaptive Capacity 278 18.6 Restorative Capacity 279 18.7 Considerations for Resilient Design 279 18.8 System of Interest 280 18.9 Threat Space 281 18.10 Operational Constraints 282 18.11 Summary 282 Further Reading 283 References 283 Part VII Conclusions 285 19 Summary and Challenge for the Future 287 Craig Rieger 19.1 Introduction 287 19.2 Resilience is not a Design Layer, It is a Philosophy 287 19.3 Resilience and the Road to Autonomous Systems 288 References 288 Index 289

Autorenportrait

Craig Rieger, PhD, is Chief Control Systems Research Engineer at the Idaho National Laboratory. His research focus is on next generation resilient control systems. Ronald Boring, PhD, is Researcher and Principal Investigator at Idaho National Laboratory. His primary research foci are on human reliability, human factors, and human-computer interaction forums. Brian Johnson, PhD, is University Distinguished Professor and Schweitzer Engineering Laboratories Endowed Chair in Power Engineering in the Department of Electrical and Computer Engineering at the University of Idaho. Timothy McJunkin is an Electrical Engineer at the Idaho National Laboratory. His primary research foci are on the development of interest resilient control of critical infrastructure, Smart Grid for renewable energy integration, and design of zero carbon microgrids.

Back cover copy

Master the fundamentals of resilient power grid control applications with this up-to-date resource from four industry leaders Resilient Control Architectures and Power Systems delivers a unique perspective on the singular challenges presented by increasing automation in society. In particular, the book focuses on the difficulties presented by the increased automation of the power grid. The authors provide a simulation of this real-life system, offering an accurate and comprehensive picture of a how a power control system works and, even more importantly, how it can fail. The editors invite various experts in the field to describe how and why power systems fail due to cyber security threats, human error, and complex interdependencies. They also discuss promising new concepts researchers are exploring that promise to make these control systems much more resilient to threats of all kinds. Finally, resilience fundamentals and applications are also investigated to allow the reader to apply measures that ensure adequate operation in complex control systems. Among a variety of other foundational and advanced topics, you’ll learn about: <ul><li>The fundamentals of power grid infrastructure, including grid architecture, control system architecture, and communication architecture</li> <li>The disciplinary fundamentals of control theory, human-system interfaces, and cyber security</li> <li>The fundamentals of resilience, including the basis of resilience, its definition, and benchmarks, as well as cross-architecture metrics and considerations</li> <li>The application of resilience concepts, including cyber security challenges, control challenges, and human challenges</li> <li>A discussion of research challenges facing professionals in this field today</li></ul> Perfect for research students and practitioners in fields concerned with increasing power grid automation, Resilient Control Architectures and Power Systems also has a place on the bookshelves of members of the Control Systems Society, the Systems, Man and Cybernetics Society, the Computer Society, the Power and Energy Society, and similar organizations.