Distributed estimation and detection of anomalies in control systems

A system for detecting anomalies in a control area of a power system with multiple control areas, wherein the control area includes a set of generators in communication with a set of buses and some neighboring buses of neighboring controls area of the control system, comprising:

• a computer readable memory to store historical states of the control area, current states of the control area, a model of dynamics of the control area and a measurement model of the control area;
• a set of sensors arranged to sense measurements in the control area for the set of generators, the set of buses and to measure one or combination of rotor frequencies for each generator, voltage phase angles on the buses, a mechanical input to each generator, or power consumptions at the buses;
• a hardware processor in communication with the computer readable memory configured to:
• estimate a first state of the control area from a historical state of the control area over a first state time period using the stored model of dynamics of the control area, and defining a transition of the first state of the control area as a function of control inputs, wherein the first state of the control area includes a rotor angle and a rotor frequency for each generator in the control area, wherein the control inputs include one or combination of phase angles on the buses of the control area, a mechanical input to each generator in the control area, and power consumptions at the buses in the control area;
• update the estimated first state of the control area according to the stored measurement model of the control area, by connecting measurements of the rotor frequency of each generator in the control area and a weighted combination of measurements of the voltage phase angles on the buses of the control area and some neighboring buses of the neighboring control areas, with the rotor angle and the rotor frequency of each generator in the control area, to obtain a second state of the control area over a second state time period later than the first state time period;
• and
• detect the anomalies based on a statistic deviation of the second state from its corresponding prediction derived from the first state of the control area.

A detector for detecting anomalies in a control area of an electric power system (EPS) with multiple control areas, wherein the control area includes a set of generators in communication with a set of buses and some neighboring buses of neighboring controls area of the control system, comprising:

• acquire a plurality of measurements from sensors configure for sensing the set of generators and the set of buses over a first state time period;
• acquire a respective second plurality of measurements from sensors configure for sensing the set of generators and the set of buses over a second state time period;
• at least one hardware processor having a computer readable memory configured to:
• receive the plurality of measurements sensed by the sensors over the first state time period;
• estimate a first state of the control area from a historical state of the control area over the first state time period using a model of dynamics of the control area, and defining a transition of the first state of the control area as a function of control inputs, wherein the first state of the control area includes a rotor angle and a rotor frequency for each generator in the control area, wherein the control inputs include one or combination of phase angles on the buses of the control area, a mechanical input to each generator in the control area, and power consumptions at the buses in the control area;
• receive the plurality of measurements sensed by the sensors over the second state time period;
• update the estimated first state of the control area according to a measurement model of the control area, by connecting sensed measurements of the rotor frequency of each generator in the control area and a weighted combination of sensed measurements of the phase angles on the buses of the control area and some neighboring buses of the neighboring control areas, with the rotor angle and the rotor frequency of each generator in the control area, to obtain a second state of the control area over the second state time period later than the first state time period;
• and
• detect the anomalies based on a statistic deviation of the second state of the control area from its corresponding prediction derived from the first state of the control area.