More information about this series at

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1 Power Systems

2 More information about this series at

3 Siddhartha Kumar Khaitan James D. McCalley Chen-Ching Liu Editors Cyber Physical Systems Approach to Smart Electric Power Grid ABC

4 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) Pullman Washington USA ISSN ISSN (electronic) Power Systems ISBN ISBN (ebook) DOI / Library of Congress Control Number: 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 (

5 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 multiple 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 actively researched in the recent years. This book brings together the recent advancements, 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 cyberphysical 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 Distributed Cyber-Physical Energy Systems presents an aspect-oriented approach to modeling smart grid communication, fault modeling and timing concerns on a distributed state estimation application study. The prototyping of the approach is performed 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 proposed 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 System 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.

6 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 concepts 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) system 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 control scheme for both the grid and the building can be formulated. The chapter entitled, Decision-Support Tools for Renewables-Rich Power Systems: 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 scheduling 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 hierarchical framework based on flocking theory for improving stability of a cyberphysical smart grid. It also presents strategies for leveraging physical coupling of the system for designing a control scheme with the aim of identifying and mitigating 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 analyzes 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.

7 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 application 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 cyberphysical 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

8 List of Contributors Akkaya, Ilge Electrical Engineering and Computer Science Department 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 Chen, Ying Department of Electrical Engineering Tsinghua University Beijing, China Donde, Vaibhav Pacific Gas and Electric 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

9 X Grijalva, Santiago School of Electrical and Computer Engineering Georgia Institute of Technology Georgia, USA Jiang, Jiayi School of Electrical Engineering and Computer Science Hong, Junho School of Electrical Engineering and Computer Science Kim, Jinsub Oregon State University Kundur, Deepa Department of Electrical and Computer Engineering Department of Electrical and Computer Engineering University of Toronto Ontario, Canada Lee, Edward A. Electrical Engineering and Computer Science Department Liu, Chen-Ching School of Electrical Engineering and Computer Science Liu, Juhua ABB US Corporate Research North Carolina, USA List of Contributors Liu, Ren School of Electrical Engineering and Computer Science 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 Margellos, Kostas Department of Industrial Engineering and Operations Research Mohan, Sibin Information Trust Institute University of Illinois at Urbana-Champaign Illinois, USA Mueller, Frank Department of Computer Science North Carolina State University North Carolina, USA

10 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 School of Electrical Engineering and Computer Science Sangiovanni-Vincentelli, Alberto Department of Electrical Engineering and Computer Sciences Srivastava, Anurag School of Electrical Engineering and Computer Science 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 School of Electrical and Computer Engineering Cornell University New York, USA Vellaithurai, Ceeman B Schweitzer Engineering Laboratories, Inc. Vrakopoulou, Maria Power Systems Laboratory ETH Zurich Zurich, Switzerland Wei, Jin Department of Electrical and Computer Engineering The University of Akron Ohio, USA Wolf, Marilyn School of Electrical and Computer Engineering Georgia Institute of Technology Georgia, USA Zimmer, Christopher Department of Computer Science North Carolina State University North Carolina, USA

11 Contents Modeling and Simulation of Network Aspects for Distributed Cyber-Physical Energy Systems... 1 Ilge Akkaya, Yan Liu, Edward A. Lee A Service-Oriented, Cyber-Physical Reference Model for Smart Grid Muhammad Umer Tariq, Santiago Grijalva, Marilyn Wolf Real Time Modeling and Simulation of Cyber-Power System Ceeman B. Vellaithurai, Saugata S. Biswas, Ren Liu, Anurag Srivastava Cyber Physical Approach to HVDC Grid Control Lars Nordström, Davood Babazadeh Smart Buildings in the Smart Grid: Contract-Based Design of an Integrated Energy Management System Mehdi Maasoumy, Pierluigi Nuzzo, Alberto Sangiovanni-Vincentelli Decision-Support Tools for Renewables-Rich Power Systems: A Stochastic Futures Approach Jiayi Jiang, Sandip Roy, Juhua Liu, Vaibhav Donde Cyber Security of Smart Grid Communications: Risk Analysis and Experimental Testing Giovanna Dondossola, Roberta Terruggia Reliable and Scalable Communication for the Power Grid Christopher Zimmer, Frank Mueller Biologically Inspired Hierarchical Cyber-Physical Multi-agent Distributed Control Framework for Sustainable Smart Grids Jin Wei, Deepa Kundur Cyber-Physical Security Testbed for Substations in a Power Grid Junho Hong, Ying Chen, Chen-Ching Liu, Manimaran Govindarasu

12 XIV Contents Cyber-Attacks in the Automatic Generation Control Maria Vrakopoulou, Peyman Mohajerin Esfahani, Kostas Margellos, John Lygeros, Göran Andersson Intrusion Detection for CPS Real-Time Controllers Christopher Zimmer, Balasubramany Bhat, Frank Mueller, Sibin Mohan Against Data Attacks on Smart Grid Operations: Attack Mechanisms and Security Measures Jinsub Kim, Lang Tong Author Index