More information about this series at

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Siddhartha Kumar Khaitan

· James D. McCalley

Chen-Ching Liu

Editors

Cyber Physical Systems

Approach to Smart

Electric Power Grid

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Editors

Siddhartha Kumar Khaitan

Electrical and Computer Engineering Iowa State University

Ames Iowa USA

James D. McCalley

Electrical and Computer Engineering Iowa State University

Ames Iowa USA

Chen-Ching Liu

Energy Systems and Innovation Center (ESIC)

Washington State University Pullman

Washington USA

ISSN 1612-1287 ISSN 1860-4676 (electronic) Power Systems

ISBN 978-3-662-45927-0 ISBN 978-3-662-45928-7 (eBook) DOI 10.1007/978-3-662-45928-7

Library of Congress Control Number: 2014958754 Springer Heidelberg New York Dordrecht London

c

Springer-Verlag Berlin Heidelberg 2015

This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed.

The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use.

The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made.

Printed on acid-free paper

Springer-Verlag GmbH Berlin Heidelberg is part of Springer Science+Business Media (www.springer.com)

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Preface

Cyber-physical systems (CPSs) are the class of systems that offer close interaction between cyber and physical components. Due to deep intertwining of physical and software components, CPSs feature high degree of automation, integration at mul-tiple temporal and spatial scales and reconfiguring dynamics. CPSs are expected to play a major role in the development of next-generation systems ranging from handheld devices to warehouse-scale systems. For this reason, CPSs have been ac-tively researched in the recent years. This book brings together the recent advance-ments, implementation and future directions in the field of cyber physical systems. The book covers several aspects related to CPSs, such as modeling and simulation, resiliency, security, design of network infrastructure and the application of cyber-physical design paradigm in domains of practical interest, such as power system.

Following is a brief introduction to the chapters in the book.

The chapter entitled, “Modeling and Simulation of Network Aspects for Dis-tributed Cyber-Physical Energy Systems” presents an aspect-oriented approach to modeling smart grid communication, fault modeling and timing concerns on a dis-tributed state estimation application study. The prototyping of the approach is per-formed using the heterogeneous modeling environment Ptolemy II. The simulation results highlight the benefits of aspect-oriented models for network and middleware scalability in cyber-physical energy system models.

The chapter entitled, “A Service-Oriented, Cyber-Physical Reference Model for 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 also capable of handling the hard real-time aspects of smart grid. The chapter also presents the development steps of a smart grid application according to the proposed reference model.

The chapter entitled, “Real Time Modeling and Simulation of Cyber-Power Sys-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 Simulator 3 (NS3). The studies conducted on the testbed help in understanding the complex relationship between cyber and physical domains, and the impacts of an attack on the cyber-physical power system.

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VI Preface

The chapter entitled, “Cyber physical Approach to HVDC grid control” presents a cyber-physical approach to design of HVDC (high voltage direct current) control system architectures. It further describes the communication system architectures needed for centralized and distributed operation and control of HVDC grids. It also describes two applications for distributed control of DC grids which utilize the con-cepts presented in the chapter.

The chapter entitled, “Smart Buildings in the Smart Grid: Contract-Based Design of an Integrated Energy Management System”, presents a compositional framework for implementing an optimal supply-following strategy in a cyber-physical power grid supplying services for an HVAC (heating, ventilation and air conditioning) sys-tem for a building. It uses the concept of assume-guarantee contracts to formalize the requirements of the grid and the building subsystem. Using this, an optimal con-trol scheme for both the grid and the building can be formulated.

The chapter entitled, “Decision-Support Tools for Renewables-Rich Power Sys-tems: A Stochastic Futures Approach” presents a framework and algorithm set for day-ahead generation scheduling which utilizes the coupling between cyber- and physical- resources in the power system. It also presents a method for unit schedul-ing for the day-ahead market based on the probabilistic renewable energy generation futures.

The chapter entitled, “Cyber security of smart grid communications: risk analysis and experimental testing” presents a cyber-security evaluation of active distribution grids which feature a high level penetration of distributed renewable sources. The chapter focuses on voltage control in medium voltage grids connecting distributed energy resources with the aim of analyzing the most relevant security scenarios of a system which implements such control application.

The chapter entitled, “Reliable and Scalable Communication for the Power Grid” presents methods for developing network topologies of smart devices for enabling multi-route discovery in a power grid. Since multi-route pathways ensure timely delivery of critical data, the methods presented in the chapter enable the design of reliable and scalable cyber network structure in a power grid.

The chapter entitled, “Biologically Inspired Hierarchical Cyber-Physical Multi-Agent Distributed Control Framework For Sustainable Smart Grids” presents a hi-erarchical framework based on flocking theory for improving stability of a cyber-physical smart grid. It also presents strategies for leveraging cyber-physical coupling of the system for designing a control scheme with the aim of identifying and mitigat-ing data corruption and attacks.

The chapter entitled, “Cyber-Physical Security of Substations in a Power Grid” presents an approach to enhance the cyber security of substations in a cyber-physical power system. Using a cyber-physical substation testbed, it evaluates the resilience of the substations towards various vulnerabilities and intrusion scenarios.

The chapter entitled, “Cyber-Attacks in the Automatic Generation Control” ana-lyzes the impact of a cyber-attack on the AGC (automatic generation control) signal. It uses reachability and optimal control theory to study the the existence of an attack pattern that can disturb the power system. Dynamic simulations on a IEEE-118 bus network are performed to show the performance of their methodology.

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Preface VII

The chapter entitled, “Intrusion Detection for CPS Real-Time Controllers” presents mechanisms for time-based intrusion detection which work by detecting the execution of unauthorized instructions in real-time CPS environments. The chapter also develops techniques to detect intrusions in a self-checking manner by the ap-plication and through the operating system scheduler.

The chapter entitled, “Against Data Attacks on Smart Grid Operations: Attack Mechanisms and Security Measures” discusses data attack models and techniques for enabling fast detection of such attacks. It also presents several cost-effective countermeasures using data encryption, access authentication and meter protection. Students, researchers, system-designers and professionals interested in cyber-physical system approach to power grids will find this book very useful and timely. We hope that this book will inspire even greater efforts in the area of design and management of cyber-physical systems.

Fall 2014 (USA) Siddhartha Kumar Khaitan

Ames, IA, USA James D. McCalley Ames, IA, USA Chen-Ching Liu Ames, IA, USA

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List of Contributors

Akkaya, Ilge

Electrical Engineering and Computer Science Department

University of California, Berkeley California, USA

Andersson, Goran

Power Systems Laboratory ETH Zurich

Zurich, Switzerland

Babazadeh, Davood

Department of Industrial Information and Control Systems

KTH - Royal Institute of Technology Stockholm, Sweden

Bhat, Balasubramany

Department of Computer Science North Carolina State University North Carolina, USA

Biswas, Saugata

School of Electrical Engineering and Computer Science

Washington State University Washington, USA

Chen, Ying

Department of Electrical Engineering Tsinghua University

Beijing, China

Donde, Vaibhav

Pacific Gas and Electric California, USA

Dondossola, Giovanna

Ricerca sul Sistema Energetico - RSE Spa.

Dpt T&D Technologies Milan, Italy

Esfahani, Peyman Mohajerin

Department of Information Technology and Electrical Engineering

ETH Zurich Zurich, Switzerland

Govindarasu, Manimaran

Department of Electrical and Computer Engineering

Iowa State University Iowa, USA

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X List of Contributors

Grijalva, Santiago

School of Electrical and Computer Engineering

Georgia Institute of Technology Georgia, USA

Jiang, Jiayi

Hong, Junho

Kim, Jinsub

Oregon State University Kundur, Deepa

Department of Electrical and Computer Engineering

University of Toronto Ontario, Canada

Lee, Edward A.

Electrical Engineering and Computer Science Department University of California, Berkeley California, USA

Liu, Chen-Ching

School of Electrical Engineering and Computer Science Washington State University Washington, USA

Liu, Juhua

ABB US Corporate Research North Carolina, USA

Liu, Ren

School of Electrical Engineering and Computer Science Washington State University Washington, USA

Liu, Yan

Electrical Engineering and Computer Science Department

Lygeros, John

Automatic Control Laboratory ETH Zurich

Zurich, Switzerland

Maasoumy, Mehdi

Department of Electrical

Engineering and Computer Sciences University of California, Berkeley California, USA

Margellos, Kostas

Department of Industrial Engineering and Operations Research

Mohan, Sibin

Information Trust Institute University of Illinois

at Urbana-Champaign Illinois, USA

Mueller, Frank

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List of Contributors XI

Nordstrom, Lars

Department of Industrial Information and Control Systems

KTH - Royal Institute of Technology Stockholm, Sweden

Nuzzo, Pierluigi

Department of Electrical Engineering and Computer Sciences

Roy, Sandip

Sangiovanni-Vincentelli, Alberto

Department of Electrical Engineering and Computer Sciences

Srivastava, Anurag

Tariq, Muhammad Umer

School of Electrical and Computer Engineering Georgia Institute of Technology Georgia, USA

Terruggia, Roberta

Ricerca sul Sistema Energetico -RSE Spa.

Dpt T&D Technologies Milan, Italy

Tong, Lang

Cornell University New York, USA

Vellaithurai, Ceeman B

Schweitzer Engineering Laboratories, Inc.

Washington, USA

Vrakopoulou, Maria

Power Systems Laboratory ETH Zurich

Zurich, Switzerland

Wei, Jin

The University of Akron Ohio, USA

Wolf, Marilyn

Georgia Institute of Technology Georgia, USA

Zimmer, Christopher

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More information about this series at

Siddhartha Kumar Khaitan

·

James D. McCalley

Chen-Ching Liu

Editors

Cyber Physical Systems

Approach to Smart

Electric Power Grid

Preface

List of Contributors

Contents