In order to design a robust power system controller, it is first necessary to find an appropriate linear mathematical description of the multimachine power system. In the viewpoint of “generator unit *i*,” the nonlinear state space representation model for such a system with two-axis model has the form

where the states

(C.2)

are defined as deviation from the equilibrium values

(C.3)

The nonlinear model of (C.1) can be presented as follows:

(C.4)

where

(C.5)

(C.6)

and

(C.7)

A detailed description of all symbols and quantities can be found in Ref. [1]. Using the linearization technique and after some manipulation, the nonlinear ...

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