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Статті в журналах з теми "Optimal power dispatch"

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Dhillon, J. S., S. C. Parti, and D. P. Kothari. "Multiobjective optimal thermal power dispatch." International Journal of Electrical Power & Energy Systems 16, no. 6 (December 1994): 383–89. http://dx.doi.org/10.1016/0142-0615(94)90025-6.

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Ajjarapu, Venkataramana, J. Carr, and R. S. Ramshaw. "Security constrained optimal reactive power dispatch." Electric Power Systems Research 16, no. 3 (May 1989): 209–16. http://dx.doi.org/10.1016/0378-7796(89)90013-8.

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Fikri Ruslan, Nabil, Ismail Musirin, Mohamad Khairuzzaman Mohamad Zamani, Muhammad Murtadha Othman, Zulkiffli Abdul Hamid, Zikri Abadi Baharuddin, and Nor Azura Md Ghani. "Power Tracing Monitoring incorporating Optimal Reactive Power Dispatch." International Journal of Engineering & Technology 7, no. 3.15 (August 13, 2018): 1. http://dx.doi.org/10.14419/ijet.v7i3.15.17394.

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Анотація:
General power flow studies do not manage to trace the contributors by generators on power losses in the whole power transmission system. Thus, power tracing approach is utilized to address this issue. Power tracing is a termed used to describe the contributors for the power losses dissipated on the transmission line. The traditional technique made use the knowledge of circuit analysis such as cut set theory. However, there was no element of optimization which can help to achieve the optimal solution. This paper presents the power tracing monitoring during voltage stability improvement process, implemented by optimal reactive power dispatch. In this study, the impact of power tracing on voltage stability variation was investigated. Evolutionary Programming (EP) was developed and utilized to incorporate power tracing, along with voltage stability improvement. A pre-developed scalar voltage stability index was incorporated to indicate the voltage stability condition. On the other hand, the voltage stability initiative was conducted via the optimal reactive power dispatch. The power tracing was monitored for both; the pre-optimization and post-optimization scenarios. Small system model was tested to realize the power tracing phenomenon, which is rather rare study in power system community. Results on power tracing obtained during the pre- and post-optimal reactive power dispatch revealed that not all generators will involve in the contribution on the total transmission loss in the system. This can be beneficial to power system operators for allocating the cost without discrimination in the long run.
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Moreno, Ricardo, Johan Obando, and Gabriel Gonzalez. "An integrated OPF dispatching model with wind power and demand response for day-ahead markets." International Journal of Electrical and Computer Engineering (IJECE) 9, no. 4 (August 1, 2019): 2794. http://dx.doi.org/10.11591/ijece.v9i4.pp2794-2802.

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In the day-ahead dispatching of network-constrained electricity markets, renewable energy and distributed resources are dispatched together with conventional generation. The uncertainty and volatility associated to renewable resources represents a new paradigm to be faced for power system operation. Moreover, in various electricity markets there are mechanisms to allow the demand participation through demand response (DR) strategies. Under operational and economic restrictions, the operator each day, or even in intra-day markets, dispatchs an optimal power flow to find a feasible state of operation. The operation decisions in power markets use an optimal power flow considering unit commitment to dispatch economically generation and DR resources under security restrictions. This paper constructs a model to include demand response in the optimal power flow under wind power uncertainty. The model is formulated as a mixed-integer linear quadratic problem and evaluated through Monte-Carlo simulations. A large number of scenarios around a trajectory bid captures the uncertainty in wind power forecasting. The proposed integrated OPF model is tested on the standard IEEE 39-bus system.
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M, Lakshmi, and Ramesh Kumar A. "Optimal Reactive Power Dispatch using Crow Search Algorithm." International Journal of Electrical and Computer Engineering (IJECE) 8, no. 3 (June 1, 2018): 1423. http://dx.doi.org/10.11591/ijece.v8i3.pp1423-1431.

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<p>The optimal reactive power dispatch is a kind of optimization problem that plays a very important role in the operation and control of the power system. This work presents a meta-heuristic based approach to solve the optimal reactive power dispatch problem. The proposed approach employs Crow Search algorithm to find the values for optimal setting of optimal reactive power dispatch control variables. The proposed way of approach is scrutinized and further being tested on the standard IEEE 30-bus, 57-bus and 118-bus test system with different objectives which includes the minimization of real power losses, total voltage deviation and also the enhancement of voltage stability. The simulation results procured thus indicates the supremacy of the proposed approach over the other approaches cited in the literature.</p>
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Peng, Lai. "Optimal Dispatch in Power Systems with Intermittent Power Sources." Computational Water, Energy, and Environmental Engineering 09, no. 04 (2020): 101–7. http://dx.doi.org/10.4236/cweee.2020.94008.

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Wu, Q. H., and J. T. Ma. "Power system optimal reactive power dispatch using evolutionary programming." IEEE Transactions on Power Systems 10, no. 3 (1995): 1243–49. http://dx.doi.org/10.1109/59.466531.

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Loriya, Vismay, and Vishnu Patel. "A Review on Optimal Reactive Power Dispatch." IJIREEICE 4, no. 1 (January 15, 2016): 83–87. http://dx.doi.org/10.17148/ijireeice.2016.4120.

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Preedavichit, Preecha, and S. C. Srivastava. "Optimal reactive power dispatch considering FACTS devices." Electric Power Systems Research 46, no. 3 (September 1998): 251–57. http://dx.doi.org/10.1016/s0378-7796(98)00075-3.

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Bhongade, Sandeep, and Aakash Tomar. "Optimal Reactive Power Dispatch Optimization Using STATCOM." Journal of The Institution of Engineers (India): Series B 102, no. 2 (February 12, 2021): 277–93. http://dx.doi.org/10.1007/s40031-021-00537-1.

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Дисертації з теми "Optimal power dispatch"

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Ali, Habib K. "Mathematical modelling of the optimal power dispatch problem." Thesis, University of Strathclyde, 1990. http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21285.

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This thesis is concerned with the optimum operating conditions in a power system. The various aspects of the problem are modelled and solved as a number of optimization problems applying linear programming techniques. A generalized linear mathematical model has been developed for this purpose. A two-stage formulation is adopted to represent the various problems considered. In each case one power system quantity is chosen as an objective function to be optimized under a number of constraints and operating limits relating to the power system relationships and upper and lower bounds on the variables. These include constraints derived from the power flow equations and transmission network capacity. Limits are also imposed on bus voltage magnitudes and generator outputs. With the appropriate selection of the combination of objective function and constraints, the model can be used to minimize the overall generation cost, the total system losses or the total reactive power generation. The two-stage modelling of the problem also allows optimizing two different objective functions at the same time. Two such combinations are possible. In one case the total system losses can be minimized in the first stage and the generation cost minimized in the second stage. The other combination minimizes the total system reactive power output and the active power generation cost. Using the same model, the problem is then solved using decomposition techniques. These imply breaking up the original problem into a number of smaller problems that can be solved almost independently. The mathematical model has been developed in general terms and the associated computer program is written for a general power system. A sample system of medium size has been used to test the validity of the various aspects of the suggested model and produce numerical results.
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Liu, Kai, and 劉愷. "Optimal dispatch and management for smart power grid." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2011. http://hub.hku.hk/bib/B46336680.

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Basu, Meheli. "Optimal dispatch in Smart Power Grids with partially known deviation." Thesis, University of Iowa, 2015. https://ir.uiowa.edu/etd/1825.

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Power grid is an interconnected system of supplying electricity from the supplier to the consumer, consisting of electricity generating plant, high voltage transmission lines- to carry electricity from the generating plant to the load center, and distribution lines- to carry electricity from load centers to individual consumers. A lot of research is being pursued to develop technologies for improving the next generation of power grid called the Smart Power Grid. The Smart Power Grid will have sophisticated communication infrastructure to improve the efficiency of electricity generation using renewable energy sources like the sun, water, etc and also to inform consumers of their electricity usage pattern. Also, the electricity market is now divided into three sections- generation, transmission and distribution. Private companies are competing with each other to provide electricity at the most competitive market price. We have developed two algorithms to help generating companies achieve their goal of meeting the hourly electricity need of the consumers and to do so at a minimum total cost.
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Cho, Brian Bumseok. "A distributed control approach to optimal economic dispatch of power generators." Thesis, University of Iowa, 2010. https://ir.uiowa.edu/etd/787.

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In this dissertation, we propose a novel distributed approach to the control of generators in the electric grid. Specifically, we consider the problem of the optimal economic dispatch of generator; we present a simple, distributed algorithm, which adjusts the power-frequency set-points of generators to correct for power imbalances arising from generation and load fluctuations. In this algorithm each generator independently adjusts its real-power output based on its estimate of the aggregate power imbalance in the network; such as an estimate can be independently obtained by each generator through local measurements of the frequency deviation on the grid. Eventually, over the course of network operation, the distributed algorithm achieves the equal-marginal-cost power allocation among generators while driving the power imbalance exponentially to zero. In the absence of power losses, we prove the eventual optimality of the distributed algorithm under mild assumptions (strict convexity and positivity of cost functions) and present simulation results to compare its performance with traditional (centralized) dispatch algorithms. Furthermore, we present numerical simulation results that show that the distributed algorithm performs well even in the presence of power losses and other constraints. We argue that distributed control methods are especially attractive for electric grids with smart meters and other advanced capabilities at the end node and grids with high penetration of alternative energy generators and we identify interesting open problems for future work in this area.
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Abuella, Mohamed A. "STUDY OF PARTICLE SWARM FOR OPTIMAL POWER FLOW IN IEEE BENCHMARK SYSTEMS INCLUDING WIND POWER GENERATORS." OpenSIUC, 2012. https://opensiuc.lib.siu.edu/theses/991.

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AN ABSTRACT OF THE THESIS OF Mohamed A. Abuella, for the Master of Science degree in Electrical and Computer Engineering, presented on May 10, 2012, at Southern Illinois University Carbondale. TITLE:STUDY OF PARTICLE SWARM FOR OPTIMAL POWER FLOW IN IEEE BENCHMARK SYSTEMS INCLUDING WIND POWER GENERATORS MAJOR PROFESSOR: Dr. C. Hatziadoniu, The aim of this thesis is the optimal economic dispatch of real power in systems that include wind power. The economic dispatch of wind power units is quite different of conventional thermal units. In addition, the consideration should take the intermittency nature of wind speed and operating constraints as well. Therefore, this thesis uses a model that considers the aforementioned considerations in addition to whether the utility owns wind turbines or not. The optimal power flow (OPF) is solved by using one of the modern optimization algorithms: the particle swarm optimization algorithm (PSO). IEEE 30-bus test system has been adapted to study the implementation PSO algorithm in OPF of conventional-thermal generators. A small and simple 6-bus system has been used to study OPF of a system that includes wind-powered generators besides to thermal generators. The analysis of investigations on power systems is presented in tabulated and illustrative methods to lead to clear conclusions.
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Yasmeen, Aneela. "A Distributed Algorithm for Optimal Dispatch in Smart Power Grids with Piecewise Linear Cost Functions." Thesis, University of Iowa, 2013. https://ir.uiowa.edu/etd/4930.

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We consider the optimal economic dispatch of power generators in a smart electric grid for allocating power between generators to meet load requirements at minimum total cost. We assume that each generator has a piece-wise linear cost function. We first present a polynomial time algorithm that achieves optimal dispatch. We then present a decentralized algorithm where, each generator independently adjusts its power output using only the aggregate power imbalance in the network, which can be observed by each generator through local measurements of the frequency deviation on the grid. The algorithm we propose exponentially erases the power imbalance, while eventually minimizing the generation cost.
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Mohammadi, Javad. "Distributed Computational Methods for Energy Management in Smart Grids." Research Showcase @ CMU, 2016. http://repository.cmu.edu/dissertations/710.

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It is expected that the grid of the future differs from the current system by the increased integration of distributed generation, distributed storage, demand response, power electronics, and communications and sensing technologies. The consequence is that the physical structure of the system becomes significantly more distributed. The existing centralized control structure is not suitable any more to operate such a highly distributed system. This thesis is dedicated to providing a promising solution to a class of energy management problems in power systems with a high penetration of distributed resources. This class includes optimal dispatch problems such as optimal power flow, security constrained optimal dispatch, optimal power flow control and coordinated plug-in electric vehicles charging. Our fully distributed algorithm not only handles the computational complexity of the problem, but also provides a more practical solution for these problems in the emerging smart grid environment. This distributed framework is based on iteratively solving in a distributed fashion the first order optimality conditions associated with the optimization formulations. A multi-agent viewpoint of the power system is adopted, in which at each iteration, every network agent updates a few local variables through simple computations, and exchanges information with neighboring agents. Our proposed distributed solution is based on the consensus+innovations framework, in which the consensus term enforces agreement among agents while the innovations updates ensure that local constraints are satisfied.
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Kodsi, Sameh. "Accounting for the Effects of Power System Controllers and Stability on Power Dispatch and Electricity Market Prices." Thesis, University of Waterloo, 2005. http://hdl.handle.net/10012/930.

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Анотація:
Recently, the widespread use of power system controllers, such as PSS and FACTS controllers, has led to the analysis of their effect on the overall stability of power systems. Many studies have been conducted to allocate FACTS controllers so that they achieve optimal power flow conditions in the context of Optimal Power Flow (OPF) analysis. However, these studies usually do not examine the effect of these controllers on the voltage and angle stability of the entire system, considering that the types of these controllers and their control signals, such as reactive power, current, or voltage, have significant effect on the entire system stability.

Due to the recent transition from government controlled to deregulated electricity markets, the relationship between power system controllers and electricity markets has added a new dimension, as the effect of these controllers on the overall power system stability has to be seen from an economic point of view. Studying the effect of adding and tuning these controllers on the pricing of electricity within the context of electricity markets is a significant and novel research area. Specifically, the link among stability, FACTS controllers and electricity pricing should be appropriately studied and modelled.

Consequently, in this thesis, the focus is on proposing and describing of a novel OPF technique which includes a new stability constraint. This technique is compared with respect to existent OPF techniques, demonstrating that it provides an appropriate modelling of system controllers, and thus a better understanding of their effects on system stability and energy pricing. The proposed OPF technique offers a new methodology for pricing the dynamic services provided by the system's controllers. Moreover, the new OPF technique can be used to develop a novel tuning methodology for PSS and FACTS controllers to optimize power dispatch and price levels, as guaranteeing an adequate level of system security. All tests and comparisons are illustrated using 3-bus and 14-bus benchmark systems.
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Karimishad, Amir. "Transient stability-constrained load dispatch, ancillary services allocation and transient stability assessment procedures for secure power system operation." University of Western Australia. Energy Systems Centre, 2008. http://theses.library.uwa.edu.au/adt-WU2009.0028.

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[Truncated abstract] The present thesis is devoted to the development of new methods for transient stability-constrained optimal power flow, probabilistic transient stability assessment and security-constrained ancillary services allocation. The key objective of the thesis is to develop novel dispatch and assessment methods for power systems operation in the new environment of electricity markets to ensure power systems security, particularly transient stability. A new method for economic dispatch together with nodal price calculations which includes transient stability constraints and, at the same time, optimises the reference inputs to the Flexible AC Transmission System (FACTS) devices for maintaining power systems transient stability and reducing nodal prices is developed. The method draws on the sensitivity analysis of time-domain transient stability simulation results to derive a set of linearised stability constraints expressed in terms of generator active powers and FACTS devices input references. '...' The low computing time requirement of the two-point estimate method allows online applications, and the use of detailed power systems dynamic model for time-domain simulation which offers high accuracy. The two-point estimate method is integrated in a straightforward manner with the existing transient stability analysis tools. The integrated software facility has potential applications in control rooms to assist the system operator in decision making process based on instability risks. The software system when implemented on a cluster of processors also makes it feasible to re-assess online transient stability for any change in system configuration arising from switching control. The method proposed has been tested on a representative power system and validated using the Monte Carlo simulation. In conjunction with the energy market, by which forecasted load demand is met by generator dispatch, ancillary services are required in relation to control for secure system operation and power quality. The final part of the thesis has a focus on the key aspect of allocating these ancillary services, subject to an important constraint that the dispatch of the ancillary services will not impair the system security achieved in the load dispatch. With this focus and requirement, the thesis develops a new dispatch formulation in which the network security constraints are represented in the optimal determination of generator active power schedule and allocation of ancillary services. Contingencies considered include power demand variations at individual load nodes from the values specified for the current dispatch calculation. The required changes in generator active powers to meet the new load demands are represented by additional control variables in the new dispatch formulation which augment those variables in the traditional OPF dispatch calculation. Based on the Lagrange function which includes the extended set of security constraints, the formulation derives the optimality condition to be satisfied by the dispatch solution, together with the marginal prices for individual ancillary service providers and LMPs. The effects of the security constraints are investigated and discussed. Case studies for representative power systems are presented to verify the new dispatch calculation procedure.
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Min, Liang. "Decomposition algorithms for multi-area power system analysis." Texas A&M University, 2003. http://hdl.handle.net/1969.1/5919.

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A power system with multiple interconnected areas needs to be operated coordinately for the purposes of the system reliability and economic operation, although each area has its own ISO under the market environment. In consolidation of different areas under a common grid coordinator, analysis of a power system becomes more computationally demanding. Furthermore, the analysis becomes more challenging because each area cannot obtain the network operating or economic data of other areas. This dissertation investigates decomposition algorithms for multi-area power system transfer capability analysis and economic dispatch analysis. All of the proposed algorithms assume that areas do not share their network operating and economic information among themselves, while they are willing to cooperate via a central coordinator for system wide analyses. The first proposed algorithm is based on power transfer distribution factors (PTDFs). A quadratic approximation, developed for the nonlinear PTDFs, is used to update tie-line power flows calculated by Repeated Power Flow (RPF). These tie-line power flows are then treated as injections in the TTC calculation of each area, as the central entity coordinates these results to determine the final system-wide TTC value. The second proposed algorithm is based on REI-type network equivalents. It uses the Continuation Power Flow (CPF) as the computational tool and, thus, the problem of voltage stability is considered in TTC studies. Each area uses REI equivalents of external areas to compute its TTC via the CPF. The choice and updating procedure for the continuation parameter employed by the CPF is implemented in a distributed but coordinated manner. The third proposed algorithm is based on inexact penalty functions. The traditional OPF is treated as the optimization problems with global variables. Quadratic penalty functions are used to relax the compatible constraints between the global variables and the local variables. The solution is proposed to be implemented by using a two-level computational architecture. All of the proposed algorithms are verified by numerical comparisons between the integrated and proposed decomposition algorithms. The proposed algorithms lead to potential gains in the computational efficiency with limited data exchanges among areas.
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Книги з теми "Optimal power dispatch"

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Fadil, Salih. A new optimal power dispatch technique using spot price of electricity for multi-area interconnected systems. 1992.

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Частини книг з теми "Optimal power dispatch"

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Shrivastava, Aayush, Manjaree Pandit, Devender Saini, and Raj Gaurav Mishra. "Optimal Power Dispatch in Competitive Market." In Proceeding of International Conference on Intelligent Communication, Control and Devices, 1043–50. Singapore: Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-1708-7_123.

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Nowak, M. P., and W. Römisch. "Optimal Power Dispatch via Multistage Stochastic Programming." In Progress in Industrial Mathematics at ECMI 96, 324–31. Wiesbaden: Vieweg+Teubner Verlag, 1997. http://dx.doi.org/10.1007/978-3-322-96688-9_37.

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Sravanthi, CH, and D. Karthikaikannan. "Optimal Reactive Power Dispatch Using Directional Bat Algorithm." In Advances in Intelligent Systems and Computing, 311–20. Singapore: Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-13-2182-5_30.

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Das, Tanmay, Ranjit Roy, Kamal Krishna Mandal, Souren Mondal, Soumaymoy Mondal, Paresh Hait, and Moloy Kumar Das. "Optimal Reactive Power Dispatch Incorporating Solar Power Using Jaya Algorithm." In Computational Advancement in Communication Circuits and Systems, 37–48. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-8687-9_4.

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Pisciella, Paolo, Maria Teresa Vespucci, Giacomo Viganò, Marco Rossi, and Diana Moneta. "Optimal Power Flow Analysis in Power Dispatch for Distribution Networks." In Numerical Analysis and Optimization, 229–47. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-90026-1_11.

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Chaitanya, S. N. V. S. K., R. Ashok Bakkiyaraj, and B. Venkateswara Rao. "Optimal Reactive Power Dispatch of Interconnected Power System Using Firefly Algorithm." In Advances in Automation, Signal Processing, Instrumentation, and Control, 243–51. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-8221-9_22.

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Prasad, Dharmbir, Abhik Banerjee, and Rudra Pratap Singh. "Optimal Reactive Power Dispatch Using Modified Differential Evolution Algorithm." In Advances in Computer, Communication and Control, 275–83. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-3122-0_26.

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Mohseni-Bonab, Seyed Masoud, Abbas Rabiee, and Behnam Mohammadi-Ivatloo. "Multi-objective Optimal Reactive Power Dispatch Considering Uncertainties in the Wind Integrated Power Systems." In Power Systems, 475–513. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-51118-4_12.

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Sheblé, Gerald B. "Economic Dispatch, Unit Commitment, and Optimal Power Flow as Auctions." In Computational Auction Mechanisms for Restructured Power Industry Operation, 107–64. Boston, MA: Springer US, 1999. http://dx.doi.org/10.1007/978-1-4615-5157-7_4.

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Talbi, El Hachmi, Lhoussine Abaali, and Rachid Skouri. "Optimal Power Flow Dispatch Using Trust Region Based Multiplier Method." In Lecture Notes in Electrical Engineering, 187–99. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-36475-5_18.

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Тези доповідей конференцій з теми "Optimal power dispatch"

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Biswal, S., A. K. Barisal, A. Behera, and T. Prakash. "Optimal power dispatch using BAT algorithm." In 2013 International Conference on Energy Efficient Technologies for Sustainability (ICEETS). IEEE, 2013. http://dx.doi.org/10.1109/iceets.2013.6533526.

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Geng, Xinbo, Le Xie, and Diran Obadina. "Chance Constrained Optimal Reactive Power Dispatch." In 2018 IEEE Power & Energy Society General Meeting (PESGM). IEEE, 2018. http://dx.doi.org/10.1109/pesgm.2018.8586089.

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Lohokare, Mohan, B. K. Panigrahi, S. S. Pattanaik, S. Devi, and Ankita Mohapatra. "Optimal load dispatch using Accelerated Biogeography-Based Optimization." In 2010 Power India. IEEE, 2010. http://dx.doi.org/10.1109/pedes.2010.5712571.

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Jobanputra, Jalpa, and Chetan Kotwal. "Optimal Power Dispatch using Particle Swarm Optimization." In 2018 International Conference on Smart Electric Drives and Power System (ICSEDPS). IEEE, 2018. http://dx.doi.org/10.1109/icsedps.2018.8536060.

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Das, Tanmay, and Ranjit Roy. "Optimal reactive power dispatch using JAYA algorithm." In 2018 Emerging Trends in Electronic Devices and Computational Techniques (EDCT). IEEE, 2018. http://dx.doi.org/10.1109/edct.2018.8405071.

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Preedavichit, P. "Optimal reactive power dispatch considering FACTS devices." In APSCOM-97. International Conference on Advances in Power System Control, Operation and Management. IEE, 1997. http://dx.doi.org/10.1049/cp:19971906.

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Duong, Van-Tuan, Thuan-Thanh Nguyen, Thanh-Long Duong, and Anh-Viet Truong. "Optimal Reactive Power Dispatch Using SunFlower Algorithm." In 2021 International Conference on System Science and Engineering (ICSSE). IEEE, 2021. http://dx.doi.org/10.1109/icsse52999.2021.9538483.

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Zhang, Yuan, and Mo-Yuen Chow. "Distributed Optimal generation Dispatch considering transmission losses." In 2015 North American Power Symposium (NAPS). IEEE, 2015. http://dx.doi.org/10.1109/naps.2015.7335143.

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Li, Yuanzheng, Ping Wang, Hoay Beng Gooi, Yun Liu, and Jian Ye. "Optimal reactive power dispatch control considering uncertain wind power." In 2017 International Conference on Robotics and Automation Sciences (ICRAS). IEEE, 2017. http://dx.doi.org/10.1109/icras.2017.8071925.

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