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In control systems of power grids, conveying observations to controllers and obtaining control outputs depend greatly on communication and computation resources. Particularly for large-scale systems, the costs of computation and communication (cyber costs) should not be neglected. This paper proposes a self-triggered frequency control system for a power grid to reduce communication costs. An equation for obtaining the triggering time is derived, and an approximation method is proposed to reduce the computation cost of triggering time. In addition, the communication cost of frequency triggering is measured quantitatively and proportionally. The defined cost function considers both physical cost (electricity transmission cost) and communication cost (control signal transmission cost). The upper bound of cost is estimated. According to the estimated upper bound of cost, parameters of the controller are investigated by using the proposed optimization algorithm to guarantee the high performance of the system. Finally, the proposed self-triggered power system is simulated to verify its efficiency and effectiveness.

Frequency Regulation of Power Systems with Self-Triggered Control under the Consideration of Communication Costs