A Lyapunov framework for nested dynamical systems on multiple time scales with application to converter-based power systems

Abstract

In this work, we present a Lyapunov framework for establishing stability with respect to a compact set for a nested interconnection of nonlinear dynamical systems ordered from slow to fast according to their convergence rates, where each of the dynamics are influenced only by the slower dynamics and the successive fastest one. The proposed approach explicitly considers more than two time scales, it does not require modeling multiple time scales via scalar time constants, and provides analytic bounds that make ad-hoc time-scale separation arguments rigorous. Motivated by the technical results, we develop a novel control strategy for a grid-forming power converter that consists of an inner cascaded two-degree of freedom controller and dispatchable virtual oscillator control as a reference model. The resulting closed-loop converter-based AC power system is in the form of a nested system with multiple time scales. We apply our technical results to obtain explicit bounds on the controller set-points, branch powers, and control gains that guarantee almost global asymptotic stability of the multi-converter AC power system with respect to a pre-specified solution of the AC power-flow equations. Finally, we validate the performance of the proposed control structure in a case study using a high-fidelity simulation with detailed hardware validated converter models.