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To investigate the small-signal stability of automatic generation control (AGC) system with constant communication delay, this paper establishes its state-space based on Padé approximation and conducts eigenvalue calculation. Then, by tracking the change of eigenvalues with time delay, the time-delay margin can be confirmed. Different controller parameters have complex influence on time delay margin and damping performance, so this paper utilizes particle swarm optimization (PSO) to obtain the optimal PI controller parameters to derive delay margin largest and an ideal damping performance. Finally, the simulation studies verify the correctness of time-delay margin calculation and indicate the AGC system has an ideal damping performance with optimal PI controller parameters

Delay Margin Computation and Controller Design of Time-delayed AGC System Based on Root Locus Analysis