Australasian Universities Power Engineering Conference, AUPEC 2014, Curtin University, Perth, Australia, 28 September 1 October 2014

A Review on Phasor Measurement Units

Placement for State Estimation Studies
*Hatim G. Abood

Victor Sreeram

Faculty of Engineering
Department of Electrical Power Engineering
University of Diyala
Baqubah, Iraq
hatim.abood@gmail.com

School of Electrical, electronic and Computer

Engineering
The University of Western Australia
Perth, Australia
victor.sreeram@uwa.edu.au

Abstract State estimation operation depends on the

measurement numbers, types and locations. Therefore, the
adoption of an efficient placement method for selecting the
required numbers of meters and their location is an essential
process for power systems monitoring. In fact, the Phasor
measurement Unit (PMU) is, currently, one of the most efficient
devices for measuring real-time electrical quantities.
Consequently, this paper aims to present the main categories for
PMUs placement strategies according to the objectives of PMUs
employment. The PMUs placement strategy should take into
consideration main factors that required for enhancing the
performance of a state estimation process such as reliability,
accuracy and the special requirements of the modern
distribution grid. A review of literatures that address PMUs
placement methods is presented in this paper in addition to
suggestions for developing the PMUs placement methods to be
more feasible for modern power networks.
Index Terms Phasor Measurement Unit, State Estimation,
Observability, Reliability, Accuracy.

I. INTRODUCTION
Presently, the necessity for secure operation of power
system is increasing due to the progressive dependence on
electricity over different aspects of our life activities, even
the activities that related to national security and human
safety. Principally, this secure operation is implemented by
computeraided programs like the state estimation operation
that achieve the requirements of steady state monitoring
inside the control centers [1]. These centers receive their data
from different power system elements by different meters
that connected with Remot Terminal Units (RTU). The RTUs
transmit the measured quantities and other required data via
the Supervisory Control and Data Acquisition (SCADA)
system. This system delivers the conventional measurements
which contain voltage magnitudes in each bus-bar, real and
reactive power in the buses, real and reactive power flows in
lines to the control centers for using them by the Energy
Management System (EMS) programs.
In practice, SCADA system cannot capture the
measurements of transient periods and other contingency
conditions which are necessary for robust monitoring and
dynamic state estimation operation [2]. In addition, these
traditional measuring devices are not capable to measure the
*Hatim G. Abood is pursuing his PhD at the University of Western
Australia, Perth, Australia (E-mail: hatim.abood@research.uwa.edu.au).

angle of bus voltages. However, a dramatic change in this

field has happened with the development of synchronized
Phasor Measurement Units (PMU) in 1980s. This event
provides the state estimator with a device that can deliver
efficient and fast measurement data with high sampling rates
via Global Positioning System (GPS) [3].
The PMU can be considered as a real-time measurement
station due to its ability to measure both the voltage
magnitude and voltage phase angle in addition to all currents
of incidents branches on that bus with a speed of
microseconds [2],[4]. Then, these measurements are
delivered instantaneously to join the EMS. Therefore, recent
studies state estimation has begun to focus on PMU
placement instead of conventional measurement placement.
The significant features of PMUs like the high precision time
references are provided by the Global Positioning Satellite
(GPS). Figure (1) illustrates the synchronization of different
substations' measurements to a common reference and with a
common clock (global clock) [3].

Figure 1. Synchronizing different substations measurements by the PMUs.

The employment of PMUs is involved within the using

of so-called Smart Meters which include the Intelligent
Electronic Devices (IED). These devices facilitate Smart
Grid initiative [4]; consequently, the recent orientation for
making power grid to be 'smart', adds new consideration for
PMUs placement strategies.
Generally, modern distribution grids provide another
challenge for PMUs placement methods because of the
increasing of dependence on renewable energy sources which
are inserted continuously in distribution grid. These
distributed generators (DG) convert the distribution grid to be
an active system and change its power flow paths [5].

Australasian Universities Power Engineering Conference, AUPEC 2014, Curtin University, Perth, Australia, 28 September 1 October 2014

The employment of these efficient and expensive devices

creates several sources of cost such as the GPS
communications cost, installation cost and maintenance cost.
These costs represent a burden on the decision of using these
devices widely. Therefore, to benefit from PMUs advantages,
efficient placement strategies should be implemented to
justify the cost of modernizing the measurement system. This
is the main motivation of PMUs placement studies, in
addition to other objectives which are mentioned in the next
sections.
Earlier papers that deal with PMUs placement literature
review like that [6]-[8] have classified the PMUs placement
problem, according to the methods and algorithms that are
used for analyzing the problem of choosing the optimal
number and location of PMUs installation. In fact, these
methods, such as: integer programming, genetic algorithm
and particle swarm optimization, have different constraints
and requirements for each objective of PMUs installation and
it can be used for different goal within different cases.
Therefore, the approach that has been followed in this paper
is to address the problem of PMUs placement according to
main objectives and reasons for their installations in a
particular power system. Thus, the classification method of
literatures which is followed in this paper is based on the
objectives of the approaches which are used in these papers
for selecting locations and numbers of PMUs. However, the
essential constraint which imposes the minimum number of
measurement set in power systems is the ability of state
estimation operation to be solvable, and the power system to
be an observable [9].
This literature review discusses four objectives of the
PMUs placement that associated with the state estimation
process which are; reduction of PMUs number, reliability,
accuracy and especial requirements of modern distribution
grids. These selective objectives are discussed in section III,
while the next section introduces a brief review of the main
formulas of state estimation and the observability concept.
Finally, the discussion and conclusion are presented in
sections IV and V respectively.
II. FORMULATION OF STATE ESTIMATION
Power system state estimate operation aims to estimate the
system state vector x which includes bus voltage magnitudes
and angles by using the available real-time measurement set.
Basically, the measurement set contains bus voltage
magnitudes, real and reactive power flows, real and reactive
bus injection powers [2],[9]. This collected information is
processed and filtered by SE formulas to deliver the
estimated state of the entire system for the monitors.
However, the PMU can provide voltage magnitudes and their
angles directly if it would be more affordable.
The principle formula for state estimation solution is as
follows [10]:
z = h (x) +
(1)
Where: z is the measurement vector, x is the state vector
(including bus voltage magnitudes and phase angles), h (x) is
a non-linear vector function, and is the error or noise vector.

The minimization of the additional function J (x), if the

observability condition is satisfied, results in the Weighted
Least Square (WLS) state estimation.
(2)
J x
z Hx T R z Hx
Where:
H H x
h x x Is the measurement Jacobian
matrix of h (x) and R is the covariance matrix.
When a measurement set in a particular power system is
sufficient to provide a unique solution for the estimated state
vector, this power system can be declared as an observable
system [9]. This minimum number of measurements could be
equal to (2n -1), if n is the number of busses in the power
system under test. Although, this condition of measurements
availability could be changed according to their types,
numbers and locations, the solution of WLS still associates
with Jacobian matrix's characteristics [1],[9],[10].
In fact, it is found that the adequacy of measurement set
is numerically based on the Jacobian matrix. This numerical
dependence states that the minimum number of
measurements that required for estimating the state vector is
equal to the rank of the Jacobian matrix [9]. However, this
level of measurement availability that equal to the number of
state variables is changeable according to the type of
measurement pairs that have been used. While, the above
approach is applied for numerical observability, the
topological observability approach is associated with network
graph instead of matrices. A power system is said to be
topologically observable if it contains at least one spanning
measurement tree of full rank. Spanning tree, in terms of
graph theory, is the tree that connected all vertices of the
graph that represent a particular power system [1],[9].
Recently, the compass of research trend refers to more
interesting in achieving the topological observability instead
of numerical one. This orientation may cause by to avoid the
floating point calculation because the decision of topological
observability depends on the logical process and to 'exploit'
the development of graph-theoretic based methods.
III. METHODS OF PMUS PLACEMENT
Literatures that focus on this issue can be classified
according to main requirements or constraints for PMUs
placement. In fact, the common goal of placement method is
to achieve the observability of the power system by using
minimal n PMUs numbers because these studies aim to turn
the power system to be observable with the minimum cost.
However, for robust and efficient state estimation, many
requirements should be regarded in addition to PUMs
numbers.
A. The Reduction of the Number of PMUs
Most of the traditional PMUs placement studies
concentrate on this aim as their sole objective. However,
there is no study can ignore the high cost of phasor
measurement units in addition to communication cost.
Nevertheless, several studies adopt the methods that have
been
employed
for
the
placement
of
conventional measurements set. In fact, it could be a justified

Australasian Universities Power Engineering Conference, AUPEC 2014, Curtin University, Perth, Australia, 28 September 1 October 2014

process due to the common requirements of observability

conditions which associated with numbers and locations of
meters in the power system [2].
Reference [1] is an evidence about the early orientation
toward using the phasor measurement units (PMUs) and
subsequently, solving the problem of efficient employment of
these expensive devices. The authors in [1] have used a
combination of dual search and graph theory for computing
the minimal number of PMUs that are required for achieving
the topological observability. In this paper, Graph theory is
applied with the aid of depth-first search, for supplying the
initial PMUs set which is used as an upper limit for the
bisecting search method. This initial set of PMUs is
represented by a minimum spanning subgraph which contains
all buses of the network. Then, this process is accelerated by
guessing the candidate buses for PMU installation. These
candidates are the buses which have the largest number of
branches. Although this method is relatively fast, more
development is needed to reduce computing time as the
researchers have recommended [1]. For testing this method,
several power networks have been used such as: IEEE 14bus, IEEE 118-bus, WSCC, New England and Taiwan
systems.
Despite the studies like [1], until recent years, PMUs
placement studies were taking additionally the conventional
measurements placement into consideration. For example, Xu
and Abur [2] have implemented a study about the mixed
measurement set placement. By using integer programming
method the authors have found the minimal number of PMUs
that are required for obtaining the observability in two cases:
with and without conventional measurements. They have
used IEEE 14-, 57- and 118-bus networks for testing their
method.
In this field, a heuristic sequential elimination method
has used by Rakpenthai et al.[11] for finding the minimal
number of PMUs. In fact, the same method was used
previously with the conventional measurements by
Madtharad et al. [12]. This method depends on the condition
number of Jacobian matrix where the measurement location
that has a minimum condition number is discarded. This
process should be repeated for all locations; therefore, long
computational time is required for using this method [11].
Graph theory [13] has been used again for maximizing
power system observability by using PMU placement
strategy. Also, they used Greedy algorithm which produces
close-to-optimal (optimality of 97%) performance.
Furthermore, the authors [9] have proved that PMUs
placement for achieving full observability is one of the hard
and complicated problems which are called nondeterministic
polynomial (NP) problems. This method has been
implemented on IEEE 30-, 57- and 118-bus systems [13].
Artificial intelligent techniques such as simulated
annealing, Tabu search in addition to genetic algorithm have
been used by Dongjie et al. [14]. This combination has been
used because Tabu search and simulating annealing have
better performance in large scale problems. This can be
added to GA accuracy to optimize PMU location in a power
grid.

In fact, recent studies tend to address more than one

objective and to deal with different constraints of the PMUs
placement problem. Therefore, more modern papers are
discussed in the next sections.
B. Reliability Requirements
From the reliability point of view, the measurement
placement problem should take into consideration the
probability of meter failure, communication channels, and
single or multiple-line outage. In this case the measurements
set which is calculated according to item A solely, would not
be sufficient for observability analysis in real operating
conditions; consequently, measurements set would be
considered unreliable [15]. Therefore, the other significant
objective is to identify an additional set of meters with a
minimal possible cost for achieving SE under different
contingencies.
Recently, the hazards of cascade blackout [16] become
more serious because the international connection of power
grids and their numerous loads. Therefore, the complicated
monitoring and control issues of modern power systems,
turns power engineers to make use of PMU capabilities to
avoid or to mitigate the impact of the line outage or the loss
of the PMU itself.
For the above purpose, new tools like the Cellular
Genetic Algorithm (CGA) have been developed to obtain the
reliability goal by Miljanic et al. [17]. The CGA is used for
computing the minimum number of PMUs and their
placement in case of limited availability of communication
channels and branch outage as well. The contingencies which
are taken into account in this study are single meter loss and
single-Branch outage. The same target is addressed by
Mazhari et al. [18] by using the Cellular Learning Automata
(CLA) for optimizing the computing of PMUs placement
under the same contingencies of Miljanic's study. However,
the maintenance of maximum measurement redundancy
during the optimal placement process has been added as a
constraint to develop a "multi-objective" approach [18].
Again, graph theory plays a significant role in analysing
methods due to its ability to represent the topological
configuration of power systems. Thus, Anderson et al. [19]
use graph theory for the topological analysis of the placement
problem by considering the number of available channels and
branch outages.
The Binary Integer Programming method has its role in
state estimation reliability studies, where the researcher of
[20] has used this method for achieving a complete
topological observability using minimum number of PMUs.
This work takes into consideration the existence of
conventional measurements and the failure of a PMU or a
single line. This paper focuses on using 'unequal' constraints
of adjacent busses to reduce the need for more PMUs in this
study, the unequal constraints which are represented by
"larger than" and "lower than" is used for evaluation of
placement optimality. The authors claim that the efficiency of
using the unequal constraints has been proven by their test
results which provide a complete observability by using a
number of PMUs less than that used by other relative studies.

Australasian Universities Power Engineering Conference, AUPEC 2014, Curtin University, Perth, Australia, 28 September 1 October 2014

IEEE 30, 57 and 118-bus system have been used for testing
this method [20].
The Binary Integer Programming method has been used
again in a significant extension of earlier reliability studies is
implemented by Enshaee et al.[21]. This research's
importance comes from the treatment of several placement
requirements such as achieving full observability; maximize
measurement redundancy and addressing three cases of
contingency, which are: single-line outage, singlePMU loss,
and limited channel case. The following formula is used in
this paper as an objective function for maximum redundancy
[21]:
N f
w N m
(3)
min N c x
Where: Ci is the cost of the installed PMU, x is a vector
which refers to the PMU status of the ith bus (installed or
not), w is the weighting factor, mi is the maximum number of
observing the ith bus while the number of times that the ith
bus can be observed by the PMUs is represented by fi. This
research has used the IEEE standard networks for testing its
method [21].
C. Accuracy Requirements.
Basically, state vector (x) should be computed as
accurately as possible, which means a minimum value for the
variance of the error (2). However, many studies have
followed Koglins term of "interesting quantities" to identify
the most significant electrical quantities in power system that
need to be monitored accurately [15],[22]. Accordingly, the
accuracy requirement can be determined as [22]:
S
}
(4)
min{ I

Where:
is the estimated variance of component No. i,
is the specified accuracy limit for component No. i
(represents the upper limit of interesting quantity's
variance)[22],
is the total number of interesting quantities.
Considering PMU placement, Jiang and Vijay [23]
classify the buses into two groups according to their local
redundancy and their accuracy and then the PMUs placement
is achieved by ranking these groups of buses. In this method,
some measurements are classified as critical measurements
which cannot be excluded. The implementation of this
approach on IEEE 14-bus and IEEE 118-bus indicates that
SE accuracy can be enhanced by increasing PMU numbers.
Another paper in [24] aims to improve the state estimation
accuracy by choosing the optimal numbers and locations of
PMUs. In this research, the diagonal of the gain matrix
inverse (G-1) has been used as an indication for SE accuracy
(where, G-1 is equal to covariance matrix). Additionally, this
method is carried out on a part of the Swedish transmission
grid, which is called (SvK).
Artificial intelligence-based methods have been
suggested to solve this multi-objective problem of achieving
an accurate state estimation in addition to minimum
placement of PMUs. Rosli et al research [25] gives an

example about that trend. Where, the authors have used the
Particle Swarm Optimization (PSO) method for finding an
optimal placement of PUMs accompanied with a high
accuracy of estimated state. PSO is one of the heuristic
methods which simulate the systematic movement of 'birds'
in their 'flock' by maintaining their "position" and "velocity".
In this paper [25], the position is represented by the
covariance matrix, which implies the difference between the
true values and estimated values. This paper results refer to
the direct relation between the PMUs numbers and the
accuracy level of SE. However, they indicate that the
inconsistency of PSO method may affect the quality of
computation; therefore, more research is recommended by
the authors for developing this method.
Recently, the Gauss-Newton (GN) algorithm has been
used in two studies by the same team [26], [27] for finding
the optimal PMUs placement for a hybrid state estimation by
considering the accuracy and the convergence of SE process.
GN method is used in these studies for solving the iterative
SE algorithm efficiently. Both studies use IEEE 30-bus and
IEEE 118-bus to test the GN algorithm.
D. Distribution System Considerations
Should distribution system have its own objective for
PMUs placement? The answer of this question relates to
whether the PMUs placement in distribution system requires
different constraints compare to transmission system
constraints. Actually, the studies which are mentioned above,
have been tested on transmission system or on standard
networks like IEEE 57- and 118-bus systems which definitely
have different characteristics with the traditional distribution
grid. There are differences between distribution and
transmission system such as: the unbalance nature of
distributed loads (because the existence of single-phase and
two phase loads), and the tendency for using the distributed
generators (DGs) in the distribution side in addition to the
radial configuration of distribution grids [28]. Therefore,
specific requirements and different strategies should be
followed for PUMs placement in the distribution system.
Otherwise, the traditional methods which are implemented in
transmission system would be inaccurate or inefficient when
applied in the distribution system.
One of the earlier studies in this field is the research of
Baran et al. [29] which introduces the need of an accurate
state estimation for distribution system due to the
requirements of real-time monitoring and control of the
distribution grid. The authors have used meter ranking
method which is based on the interesting quantities criterion.
The meter ranking aims to classify the meters in a particular
power system according to their importance for the
monitoring operation. Accordingly, the most important
meters are selected. The authors [29] used radial shaped
network for their methods implementation.
In Yang and Roy research [30], a comparison between a
meshed transmission system and the radial distribution
system is implemented to show the performance of their
method that is based on a three-phase state estimation. The
authors avoided the mistakes of previous studies that dealt

Australasian Universities Power Engineering Conference, AUPEC 2014, Curtin University, Perth, Australia, 28 September 1 October 2014

with single-phase scheme that may fail in the usual case of

the unbalance distribution grid. Accordingly, they compute
the minimal number of PMUs to obtain full observability
based on three-phase state estimation. They state that there is
more than one optimal measurement set; consequently, their
works are to choose the best set that achieves best state
estimation performance. For this purpose, the authors have
used two heuristic methods: greedy algorithm and integer
programming optimization, which have succeeded in finding
the global optimal solution [30].
In considering the case of active distribution systems
which contain distributed generation sources, Pegoraro et al.
[30] have used the Genetic Algorithm for optimizing PMUs
and smart meter locations within accuracy limits for different
load configuration of the active distribution grid. On the
same trends, the study of [32] has suggested a hybrid
intelligent method (Nelder-Mead Simplex search with Ant
Colony Optimization) for finding the optimal PMUs numbers
regarding the best state estimation criterion. In this paper, the
best distribution SE is achieved by minimizing the difference
between the measured values and calculated values.
Recently, the research in [33] reused the Genetic
algorithm as an intelligent technique for finding the optimal
PMU placement for the state estimation of active distribution
systems. In this research, both the accuracy constraint the
measurements deficiency is studied in addition to the effect
of the DGs on the power flow. For achieving the optimal
placement, Monte Carlo method is used in addition to
Genetic algorithm. Despite the cost of PMUs, more
measuring devices and PMUs should be used for ensuring the
required accuracy for robust SE [33].
IV. DISCUSSION AND SUGGESTIONS FOR FUTURE STUDIES OF
PMUS PLACEMENT.
According to the publications that have been reviewed,
the main attributes of a PMU placement are devices
numbers, reliability, accuracy, and modern distribution
network requirements. However, the issue of optimal PMU
placement in modern power networks needs to be addressed
by regarding the different requirements and the different
objectives of the PMUs employment. That is obvious from
the recent serious attempts for implementing studies which
deal with multi-objective placement approaches; however,
these studies still reflect the authors field of research and
thus, they focus on a specific application [34].
Regarding the reliability requirement, it can be noticed
from the above review that the current studies have dealt with
specific contingency cases and all of them have been
implemented on power system which has no more than 118
busses. Therefore, for the sake of reliability, more constraints
and operating conditions should be considered in future
studies such as the case of multiple failures that could result
from human error or natural disaster. Hence, testing the
proposed algorithm for large-scale networks, which simulates
the real power systems is necessary. Accordingly, expanded
investigations that involve large-scale systems should be
implemented to explore the influence of networks' size and

the PMUs numbers on SE accuracy. In addition, future

studies need to take into account the effect of meter accuracy
and the influence of local environmental parameters.
Finally, the applications of distribution system state
estimation have become the most attractive field within
power system monitoring operations; consequently, PMUs
placement in distribution grid has started to consider new
functions and objectives. The modern PMUs placement
papers have taken into consideration the enhancement of
distribution grid power quality, i.e. the Harmonics and
voltage Sag concerns, in addition to the considerations of the
fault location strategies and the effect of the distribution
network reconfiguration [32] -[34].
V. CONCLUSION
The optimal PMUs placement problem is a multidimensional and multi-functional problem because PMUs can
be installed for many objectives. Therefore, this paper has
focused on the main objectives of PMU employment rather
than the methods of finding the optimal placement which the
previous studies have focused on. What is important from
this research point of view is to know the main requirements
and the possible constraints of PMU employment and hence,
the required approach for finding the optimal placement of
these expensive devices can be selected properly.
The diversity of methods and algorithms that have been
implemented during the last three decades for PMUs
placement in addition to the studies that include mixed or
hybrid measurement sets turn the classification task to be
larger than this paper limits. However, in addition to the State
Estimation applications, the issue of PMUs placement needs
more detailed studies for discussing the different applications
of the Phasor Measurement Units in power systems.
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