CHAPTER 5 CONCLUSIONS AND FUTURE WORK
5.2 Future work
The future work along this direction includes the following major tasks:
1. Consider both the node (substation) capacity and line limits during cascading failure process and visualize the failure propagation in large scale power grid, which consists of thousands of substations and transmission lines. In addition, the
cascading model could be improved by introducing dynamic condition of the power system.
2. Simulate the cascading failure phenomenon using the developed testbed in real time. The effect of multi-node attack could be simulated in proposed testbed and evaluate the damage, as well as defense the attack for preventing failure propagation.
3. Integration of distributed energy resources like solar, wind and storage devices (battery) in real-time CPS platform for investigating the systems’ reliability during unplanned outages and malicious attacks.
In general, all these works are expected to enhance the smart grid security against potential attacks and failures.
LITERATURE CITED
[1] Energy in brief, U.S. Energy Informaiton Administration. [Online]. Available:
http://www.eia.gov/energy in brief/article/power grid.cfm.
[2] J Berst, “Electronomics: Why we need smart grid technology and infrastructure
today”. [Online]. Available:
http://www.xconomy.com/seattle/2009/02/12/electronomics-why-we-need-smart- grid-technology-and-infrastructure-today.
[3] A Systems View of the Modern Grid, National Energy Technology Laboratory
(NETL), U.S. Department of Energy (DOE), 2007.
[4] B. Tang, “New approaches to smart grid security with scada systems,” PhD thesis,
Louisiana State University, 2014.
[5] North American Electric Reliability Corporation (NERC), “System Operating
Limits Methodology for the Operations Horizon”. [Online]. Available: http://www.nerc.com/files/FAC-011-2.pdf.
[6] J. Bennett, “The agency of assemblages and the north american blackout,” Public
Culture, vol. 17, no. 3, p. 445, 2005.
[7] BBC, “Bid to overhaul Europe power grid”. [Online]. Available:
http://news.bbc.co.uk/2/hi/6117880.stm.
[8] NDTV, “Blackout for 19 states, more than 600 million Indians”. [Online].
Available: http://www.ndtv.com/india-news/blackout-for-19-states-more-than- 600-million-indians-494955.
[9] P. Kundur, N. J. Balu, and M. G. Lauby, Power system stability and control.
McGraw-hill New York, 1994, vol. 7.
[10] C. M. Davis and T. J. Overbye, “Multiple element contingency screening,” Power
Systems, IEEE Transactions on, vol. 26, no. 3, pp. 1294–1301, 2011.
[11] B. Chen, S. Mashayekh, K. L. Butler-Purry, and D. Kundur, “Impact of cyber
attacks on transient stability of smart grids with voltage support devices,” in Proc. 2013 IEEE/PES General Meeting, 2013.
[12] L. Xie, Y. Mo, and B. Sinopoli, “Integrity data attacks in power market
operations,” Smart Grid, IEEE Transactions on, vol. 2, no. 4, pp. 659–666, 2011.
[13] National SCADA Testbed Program, “Idaho National Laboratory,” [Online].
Available: https://www.inl.gov/.
[14] U.S. Department of Energy, “Smart grid: An Introduction”. [Online]. Available:
https://www.smartgrid.gov/the smart grid/smart grid.html.
[15] M. Amin, “Guaranteeing the security of an increasingly stressed grid,” IEEE
[16] The Federal Bureau of Investigation, Attacks on arkansas power grid. [Online]. Available: https://www.fbi.gov/news/stories/2015/august/attacks-on-arkansas- power-grid/attacks-on-arkansas-power-grid.
[17] The Wall Street Journal, Assault on california power station raises alarm on
potential for terrorism. [Online]. Available: http://www.wsj.com/articles.
[18] Utility Dive, Could terrorist really blackout the power grid. [Online]. Available:
http://www.utilitydive.com/news/could-terrorists-really-black-out-the-power- grid/241192/.
[19] S. N. Talukdar, J. Apt, M. Ilic, L. B. Lave, and M. G. Morgan, “Cascading
failures: Survival versus prevention,” The Electricity Journal, vol. 16, no. 9, pp. 25–31, 2003.
[20] P. Pourbeik, P. S. Kundur, and C. W. Taylor, “The anatomy of a power grid
blackout,” IEEE Power and Energy Magazine, vol. 4, no. 5, pp. 22–29, 2006.
[21] M. Vaiman, K. Bell, Y. Chen, B. Chowdhury, I. Dobson, P. Hines, M. Papic,
S. Miller, and P. Zhang, “Risk assessment of cascading outages: Methodologies and challenges,” Power Systems, IEEE Transactions on, vol. 27, no. 2,
pp. 631–641, 2012.
[22] U.S. Canada Power System Outage Task Force, “Final report on the august 14,
2003 blackout in the United States and Canada: Causes and Recommendation,” April 2004.
[23] G. Hug and J. A. Giampapa, “Vulnerability assessment of ac state estimation with
respect to false data injection cyber-attacks,” Smart Grid, IEEE Transactions on, vol. 3, no. 3, pp. 1362–1370, 2012.
[24] X. Li, X. Liang, R. Lu, X. Shen, X. Lin, and H. Zhu, “Securing smart grid: Cyber
attacks, countermeasures, and challenges,” Communications Magazine, IEEE, vol. 50, no. 8, pp. 38–45, 2012.
[25] T. M. Chen, J. C. Sanchez-Aarnoutse, and J. Buford, “Petri net modeling of
cyber-physical attacks on smart grid,” Smart Grid, IEEE Transactions on, vol. 2, no. 4, pp. 741–749, 2011.
[26] E. Bompard, D. Wu, and F. Xue, “Structural vulnerability of power systems: A
topological approach,” Electric Power Systems Research, vol. 81, no. 7, pp. 1334–1340, 2011.
[27] J.-W. Wang and L.-L. Rong, “Cascade-based attack vulnerability on the us power
grid,” Safety Science, vol. 47, no. 10, pp. 1332–1336, 2009.
[28] D Dagur, M Parimi, and S. Wagh, “Prediction of cascade failure using
probabilistic approach with ac load flow,” in Innovative Smart Grid Technologies-Asia (ISGT Asia), 2014 IEEE, IEEE, 2014, pp. 542–547.
[29] J. Yan, H. He, and Y. Sun, “Integrated security analysis on cascading failure in complex networks,” Information Forensics and Security, IEEE Transactions on, vol. 9, no. 3, pp. 451–463, 2014.
[30] L. Wehenkel, “Machine-learning approaches to power-system security
assessment,” IEEE Intelligent Systems, no. 5, pp. 60–72, 1997.
[31] V. Golovko, L. U. Vaitsekhovich, P. Kochurko, U. S. Rubanau, et al.,
“Dimensionality reduction and attack recognition using neural network approaches,” in Neural Networks, 2007. IJCNN 2007. International Joint Conference on, IEEE, 2007, pp. 2734–2739.
[32] S. Liu, B. Chen, T. Zourntos, D. Kundur, and K. Butler-Purry, “A coordinated
multi-switch attack for cascading failures in smart grid,” IEEE Transactions on Smart Grid, vol. 5, no. 3, pp. 1183–1195, 2014.
[33] Y. Zhu, J. Yan, Y. Sun, and H. He, “Risk-aware vulnerability analysis of electric
grids from attacker’s perspective,” in Innovative Smart Grid Technologies (ISGT), 2013 IEEE PES, IEEE, 2013, pp. 1–6.
[34] M Boudour and A Hellal, “Combined use of unsupervised and supervised learning
for large scale power system static security mapping,” in Industrial Electronics, 2004 IEEE International Symposium on, IEEE, vol. 2, 2004, pp. 1321–1326.
[35] S. Khaitan and D McCalley, “System topology based identification of high risk nk
contingencies,” Iowa State University, 2006.
[36] R. Albert, I. Albert, and G. L. Nakarado, “Structural vulnerability of the north
american power grid,” Physical review E, vol. 69, no. 2, p. 025 103, 2004.
[37] M. Rosas-Casals, S. Valverde, and R. V. Sol´e, “Topological vulnerability of the
european power grid under errors and attacks,” International Journal of Bifurcation and Chaos, vol. 17, no. 07, pp. 2465–2475, 2007.
[38] J. Yan, Y. Zhu, H. He, and Y. Sun, “Multi-contingency cascading analysis of smart
grid based on self-organizing map,” Information Forensics and Security, IEEE Transactions on, vol. 8, no. 4, pp. 646–656, 2013.
[39] E. Bompard, D. Wu, and F. Xue, “Structural vulnerability of power systems: A
topological approach,” Electric Power Systems Research, vol. 81, no. 7, pp. 1334
–1340, 2011,ISSN: 0378-7796.DOI: http://dx.doi.org/10.1016/j.epsr.2011.01.021.
[Online]. Available:
http://www.sciencedirect.com/science/article/pii/S0378779611000332.
[40] W. Wang, Q. Cai, Y. Sun, and H. He, “Risk-aware attacks and catastrophic
cascading failures in us power grid,” in Global Telecommunications Conference (GLOBECOM 2011), 2011 IEEE, IEEE, 2011, pp. 1–6.
[41] M. Schl¨apfer and J. L. Shapiro, “Analyzing failure propagation in complex engineering networks,” Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol. 5, pp. 2127–2138, 2009.
[42] S. Jonnavithula and R. Billinton, “Topological analysis in bulk power system
reliability evaluation,” IEEE Transactions on Power Systems, vol. 12, no. 1,
pp. 456–463, 1997,ISSN: 0885-8950.DOI: 10.1109/59.575784.
[43] P. Hines, E. Cotilla-Sanchez, and S. Blumsack, “Do topological models provide
good information about electricity infrastructure vulnerability?” Chaos: An interdisciplinary journal of nonlinear science, vol. 20, no. 3, p. 033 122, 2010.
[44] W. O. Committee et al., “Western systems coordinating council disturbance report
for the power system outages that occurred on the western interconnection on july 2, 1996 and july 3, 1996,” Western Systems Coordinating Council, Tech. Rep, 1996.
[45] I. Dobson, B. A. Carreras, V. E. Lynch, and D. E. Newman, “Complex systems
analysis of series of blackouts: Cascading failure, critical points, and
self-organization,” Chaos: An Interdisciplinary Journal of Nonlinear Science, vol. 17, no. 2, p. 026 103, 2007.
[46] J. Song, E. Cotilla-Sanchez, G. Ghanavati, and P. D. Hines, “Dynamic modeling
of cascading failure in power systems,” ArXiv preprint arXiv:1411.3990, 2014.
[47] R. Kinney, P. Crucitti, R. Albert, and V. Latora, “Modeling cascading failures in
the north american power grid,” The European Physical Journal B-Condensed Matter and Complex Systems, vol. 46, no. 1, pp. 101–107, 2005.
[48] D. Greene, P. Cunningham, and R. Mayer, “Unsupervised learning and clustering,”
in Machine learning techniques for multimedia, Springer, 2008, pp. 51–90.
[49] K. Wagstaff, C. Cardie, S. Rogers, S. Schr¨odl, et al., “Constrained k-means
clustering with background knowledge,” in ICML, vol. 1, 2001, pp. 577–584.
[50] T. Kohonen, “The self-organizing map,” Proceedings of the IEEE, vol. 78, no. 9,
pp. 1464–1480, 1990.
[51] I. T. Institute, Illinois center for a smarter electric grid (icseg),
http://publish.illinois.edu/smartergrid/ieee-39-bus-system/, [Online; accessed 03-Nov-2015], 2013.
[52] R. D. Zimmerman, C. E. Murillo-S´anchez, and R. J. Thomas, “Matpower:
Steady-state operations, planning, and analysis tools for power systems research and education,” Power Systems, IEEE Transactions on, vol. 26, no. 1, pp. 12–19, 2011.
[53] K. H. LaCommare and J. H. Eto, “Cost of power interruptions to electricity
consumers in the united states (us),” Energy, vol. 31, no. 12, pp. 1845–1855, 2006.
[54] P. Zhang, F. Li, and N. Bhatt, “Next-generation monitoring, analysis, and control
for the future smart control center,” Smart Grid, IEEE Transactions on, vol. 1, no. 2, pp. 186–192, 2010.
[55] J. Xiao, G. Zu, X. Gong, and F. Li, “Observation of security region boundary for
smart distribution grid,” IEEE Transactions on Smart Grid, vol. PP, no. 99,
pp. 1–8, 2016,ISSN: 1949-3053.DOI: 10.1109/TSG.2015.2505325.
[56] P. Hines, J. Apt, and S. Talukdar, “Large blackouts in north america: Historical
trends and policy implications,” Energy Policy, vol. 37, no. 12, pp. 5249–5259, 2009.
[57] H. Qi, X. Wang, L. M. Tolbert, F. Li, F. Z. Peng, P. Ning, and M. Amin, “A
resilient real-time system design for a secure and reconfigurable power grid,”
IEEE Transactions on Smart Grid, vol. 2, no. 4, pp. 770–781, 2011,ISSN:
1949-3053. DOI: 10.1109/TSG.2011.2159819.
[58] J Srivani and K. Swarup, “Power system static security assessment and evaluation
using external system equivalents,” International Journal of Electrical Power & Energy Systems, vol. 30, no. 2, pp. 83–92, 2008.
[59] NERC, System operating limits methodology for the operations horizon, [Online
Available: http://www.nerc.com/files/FAC-011-2.pdf], 2013.
[60] G. Ejebe and B. Wollenberg, “Automatic contingency selection,” Power
Apparatus and Systems, IEEE Transactions on, no. 1, pp. 97–109, 1979.
[61] G. Irisarri and A. Sasson, “An automatic contingency selection method for on-line
security analysis,” IEEE Power Engineering Review, vol. 4, no. PER-1, p. 55, 1981.
[62] R. Baldick, “Variation of distribution factors with loading,” Power Systems, IEEE
Transactions on, vol. 18, no. 4, pp. 1316–1323, 2003.
[63] F Albuyeh, A Bose, and B Heath, “Reactive power considerations in automatic
contingency selection,” Power Apparatus and Systems, IEEE Transactions on, no. 1, pp. 107–112, 1982.
[64] J. W. Nims, A. El-Keibb, and R. Smith, “Contingency ranking for voltage stability
using a genetic algorithm,” Electric power systems research, vol. 43, no. 1, pp. 69–76, 1997.
[65] J Hazra and A. Sinha, “A risk based contingency analysis method incorporating
load and generation characteristics,” International Journal of Electrical Power & Energy Systems, vol. 32, no. 5, pp. 433–442, 2010.
[66] C. Davis and T. Overbye, “Linear analysis of multiple outage interaction,” in System Sciences, 2009. HICSS’09. 42nd Hawaii International Conference on, IEEE, 2009, pp. 1–8.
[67] K. S. Turitsyn and P. Kaplunovich, “Fast algorithm for n-2 contingency problem,”
in System Sciences (HICSS), 2013 46th Hawaii International Conference on, IEEE, 2013, pp. 2161–2166.
[68] M. J. Eppstein and P. D. Hines, “A “random chemistry” algorithm for identifying
collections of multiple contingencies that initiate cascading failure,” Power Systems, IEEE Transactions on, vol. 27, no. 3, pp. 1698–1705, 2012.
[69] S. Zonouz, C. M. Davis, K. R. Davis, R. Berthier, R. B. Bobba, and W. H. Sanders,
“Socca: A security-oriented cyber-physical contingency analysis in power
infrastructures,” Smart Grid, IEEE Transactions on, vol. 5, no. 1, pp. 3–13, 2014.
[70] P. Kaplunovich and K. Turitsyn, “Fast and reliable screening of n-2
contingencies,” Power Systems, IEEE Transactions on, vol. PP, no. 99, pp. 1–10,
2016, ISSN: 0885-8950.DOI: 10.1109/TPWRS.2015.2510586.
[71] F. L. Alvarado, “Computational complexity in power systems,” Power Apparatus
and Systems, IEEE Transactions on, vol. 95, no. 4, pp. 1028–1037, 1976.
[72] A. J. Wood and B. F. Wollenberg, Power generation, operation, and control. John
Wiley & Sons, 2012.
[73] H. Liu, A. Bose, and V. Venkatasubramanian, “A fast voltage security assessment
method using adaptive bounding,” Power Systems, IEEE Transactions on, vol. 15, no. 3, pp. 1137–1141, 2000.
[74] J. Zhong, E. Nobile, A. Bose, and K. Bhattacharya, “Localized reactive power
markets using the concept of voltage control areas,” Power Systems, IEEE Transactions on, vol. 19, no. 3, pp. 1555–1561, 2004.
[75] K. Nagananda, “Electrical structure-based pmu placement in electric power
systems,” ArXiv preprint arXiv:1309.1300, 2013.
[76] E. Cotilla-Sanchez, P. D. Hines, C. Barrows, and S. Blumsack, “Comparing the
topological and electrical structure of the north american electric power infrastructure,” Systems Journal, IEEE, vol. 6, no. 4, pp. 616–626, 2012.
[77] P Lagonotte, J. Sabonnadiere, J. Leost, and J. Paul, “Structural analysis of the
electrical system: Application to secondary voltage control in france,” Power Systems, IEEE Transactions on, vol. 4, no. 2, pp. 479–486, 1989.
[78] V. V. Williams, “Multiplying matrices in o (n2. 373) time,” 2014.
[80] P. Hines and S. Blumsack, “A centrality measure for electrical networks,” in Hawaii International Conference on System Sciences, Proceedings of the 41st Annual, IEEE, 2008, pp. 185–185.
[81] I. T. Institute, Illinois center for a smarter electric grid (icseg),
http://publish.illinois.edu/smartergrid/ieee-39-bus-system/, [Online; accessed 03-Nov-2015], 2013.
[82] J. D. Glover, M. Sarma, and T. Overbye, Power System Analysis & Design, SI
Version. Cengage Learning, 2015.
[83] T. Van Cutsem and C. Vournas, Voltage stability of electric power systems.
Springer Science & Business Media, 1998, vol. 441.
[84] W. Wang and Z. Lu, “Cyber security in the smart grid: Survey and challenges,”
Computer Networks, vol. 57, no. 5, pp. 1344–1371, 2013.
[85] Idaho National Laboratory (INL). Common Cyber Security Vulnerabilities Ob-
served in Control System Assessments by the INL NSTB Program,November 2008.
[86] Idaho National Laboratory (INL). NSTB Assessments Summary Report: Common
Industrial Control System Cyber Security Weaknesses,May 2010.
[87] Jointly-Commissioned Summary Report of the North American Electric
Reliability Corporation and the U.S. Department of Energy. High-Impact,
Low-Frequency Event Risk to the North American Bulk Power System,Nov. 2009.
[88] G. N. Ericsson, “Cyber security and power system communication—essential
parts of a smart grid infrastructure,” IEEE Transactions on Power Delivery, vol. 25, no. 3, pp. 1501–1507, 2010.
[89] Y. Liu, P. Ning, and M. K. Reiter, “False data injection attacks against state
estimation in electric power grids,” ACM Transactions on Information and System Security (TISSEC), vol. 14, no. 1, p. 13, 2011.
[90] S. Liu, X. P. Liu, and A. El Saddik, “Denial-of-service (dos) attacks on load
frequency control in smart grids,” in Innovative Smart Grid Technologies (ISGT), 2013 IEEE PES, IEEE, 2013, pp. 1–6.
[91] M McDonald, J. Mulder, B Richardson, R Cassidy, A. Chavez, N Pattengale,
G Pollock, J Urrea, M Schwartz, W Atkins, et al., “Modeling and simulation for cyber-physical system security research, development and applications,” Sandia National Laboratories, Tech. Rep. Sandia Report SAND2010-0568, 2010.
[92] M. Mallouhi, Y. Al-Nashif, D. Cox, T. Chadaga, and S. Hariri, “A testbed for
analyzing security of scada control systems (tasscs),” in Innovative Smart Grid Technologies (ISGT), 2011 IEEE PES, IEEE, 2011, pp. 1–7.
[93] U. Adhikari, T. H. Morris, N. Dahal, S. Pan, R. L. King, N. H. Younan, and V. Madani, “Development of power system test bed for data mining of
synchrophasors data, cyber-attack and relay testing in rtds,” in Power and Energy Society General Meeting, 2012 IEEE, IEEE, 2012, pp. 1–7.
[94] U. Adhikari, T. H. Morris, and S. Pan, “A cyber-physical power system test bed
for intrusion detection systems,” in PES General Meeting— Conference & Exposition, 2014 IEEE, IEEE, 2014, pp. 1–5.
[95] C. Queiroz, A. Mahmood, and Z. Tari, “Scadasim—a framework for building
scada simulations,” Smart Grid, IEEE Transactions on, vol. 2, no. 4, pp. 589–597, 2011.
[96] M. J. Stanovich, I. Leonard, K Sanjeev, M. Steurer, T. P. Roth, S. Jackson, and
M. Bruce, “Development of a smart-grid cyber-physical systems testbed,” in Innovative Smart Grid Technologies (ISGT), 2013 IEEE PES, IEEE, 2013, pp. 1–6.
[97] A. Stefanov and C.-C. Liu, “Cyber-physical system security and impact analysis,”
in World Congress, vol. 19, 2014, pp. 11 238–11 243.
[98] R. Liu, C. Vellaithurai, S. S. Biswas, T. T. Gamage, and A. K. Srivastava,
“Analyzing the cyber-physical impact of cyber events on the power grid,” Smart Grid, IEEE Transactions on, vol. 6, no. 5, pp. 2444–2453, 2015.
[99] A. Hahn, A. Ashok, S. Sridhar, and M. Govindarasu, “Cyber-physical security
testbeds: Architecture, application, and evaluation for smart grid,” Smart Grid, IEEE Transactions on, vol. 4, no. 2, pp. 847–855, 2013.
[100] B. Chen, K. L. Butler-Purry, A. Goulart, and D. Kundur, “Implementing a
real-time cyber-physical system test bed in rtds and opnet,” in North American Power Symposium (NAPS), 2014, IEEE, 2014, pp. 1–6.
[101] A. Ashok, P. Wang, M. Brown, and M. Govindarasu, “Experimental evaluation of
cyber attacks on automatic generation control using a cps security testbed,” in Power & Energy Society General Meeting, 2015 IEEE, IEEE, 2015, pp. 1–5.
[102] N. Komninos, E. Philippou, and A. Pitsillides, “Survey in smart grid and smart
home security: Issues, challenges and countermeasures,” Communications Surveys & Tutorials, IEEE, vol. 16, no. 4, pp. 1933–1954, 2014.
[103] D. Kundur, X. Feng, S. Liu, T. Zourntos, and K. L. Butler-Purry, “Towards a
framework for cyber attack impact analysis of the electric smart grid,” in Smart Grid Communications (SmartGridComm), 2010 First IEEE International Conference on, IEEE, 2010, pp. 244–249.
[104] Z. Ni, Y. Tang, H. He, and J. Wen, “Multi-machine power system control based on
dual heuristic dynamic programming,” in Computational Intelligence Applications in Smart Grid (CIASG), 2014 IEEE Symposium on, IEEE, 2014, pp. 1–7.
[105] W. Jansen, Directions in security metrics research. Diane Publishing, 2010.
[106] Opal-RT, “RT Lab Real Time Simulation Software,” [Online]. Available:
http://www.opal-rt.com/products/rt-lab-professional.
[107] P. M. Anderson and A. A. Fouad, Power system control and stability. John Wiley
& Sons, 2008.
[108] J. L. Blackburn and T. J. Domin, Protective relaying: Principles and applications.
CRC press, 2015.
[109] Schweitzer Engineering Laboratories, “SEL 351s Manual,” [Online]. Available:
https://selinc.com/.
[110] H. Kaur, Y. Brar, and J. S. Randhawa, “Optimal power flow using power world
simulator,” in Electric Power and Energy Conference (EPEC), 2010 IEEE, IEEE, 2010, pp. 1–6.
[111] PowerWorld Corporation, “Optimal Power flow with load dispatch,” [Online].
Available: http://www.powerworld.com/knowledge-base/optimal-power-flow- with-load-dispatch.