Microsystem Technologies

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TECHNICAL PAPER

Vulnerability assessment of a power transmission network employing

complex network theory in a resilience framework
Dipanjan Bose1 • Chandan Kumar Chanda1 • Abhijit Chakrabarti1

Received: 13 February 2020 / Accepted: 15 February 2020

Ó Springer-Verlag GmbH Germany, part of Springer Nature 2020

Abstract
The functionality of electric power network are continuously challenged by dynamic and diverse disruptions. The vul-
nerability analysis in the context of resiliency, using complex networks has significantly modified in the past few years,
enlighten valuable ideas to examine the structural, topological and constructional behavior of a power transmission
network. This network having similarity with graph theoretic approach in accordance with complex graph theory. Vul-
nerability is assessed in this paper by evaluating betweenness and netability for topological analysis of vulnerability.
Undesirable high impact low occurrence events result in disruption of a large power network as well as to the whole grid.
Framework of resiliency in this paper is done in conceptual long-term basis and vulnerability assessment approach.
Simulation carried out in this paper to realize the assessment of vulnerability using netability. The considered test system is
standard IEEE 14 bus system. One FACTS device, namely STATCOM is employed to the system to show the
improvement in the steady state bus voltage.

1 Introduction outage of the power grid all through the Country (Zang
et al. 2019; Xue and Xiao 2013). It is a very crucial time
Electrical power system is the most indispensable infras- for all the researcher to identify the critical lines which are
tructure of modern society. Large outage or blackout in the very important to the uninterrupted supply of power flow.
power system is not only affects the consumers but also Critical loads should be identified and the essential mea-
affects the socio-economic structure of a developing sures should be taken to supply the power at that node.
country. Resiliency of a power network is capability of a Now a days power transmission network is getting more
network to regain its original conditions after some unde- complicated and complex as various type of equipment are
sirable events. A conceptual framework of resiliency is incorporated in the system. In consonance with the elec-
presented by analyzing vulnerability in electrical power trical power transmission network, the change in the flow
systems. In high impact low frequency events, which part or losses of power in the network is specified as vulnera-
of the network will be more harden to enhance the resi- bility. The range or the durability of that loss by damaging
liency of the system, can be determined by vulnerability one node or one line is being calculated as vulnerability. In
analysis. Power blackout over a huge region may cause other words, it may be representing as the impact of the
major blackouts indulging severity, measured either in
& Dipanjan Bose terms of lost of power or economic loss. Complex network
dbose535@[Link] theory is applied in this analysis from graph theoretic
[Link] approach. Analysis of vulnerability performed by consid-
Chandan Kumar Chanda ering topological architecture (Bompard et al. 2011; Beyza
ckc_math@[Link] et al. 2018; Kinney et al. 2005; Holmgren 2007; Rout et al.
[Link] 2016; Chen et al. 2007; Mei et al. 2011; Wei et al. 2018;
Abhijit Chakrabarti Wu et al. 2017; Chen et al. 2012; Sun 2005; Bompard et al.
achakrabarti58@[Link]; 2008; Rout et al. 2015; Guohua et al. 2008) of complex
[Link]
network theory.
1
Department of Electrical Engineering, Indian Institute of
Engineering Science and Technology, Shibpur,
Howrah 711103, India

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2 Power system implemented as a complex be one of the indicators of criticality of the nodes in the
network power networks.

The electrical power network can be implemented by graph 2.4 Distance and efficiency
theoretic approach. Fundamental graph theory is backbone
of complex network theory. The power network is pre- The characteristics of a line along a path generally depend
sented in an undirected graph, where the number of ver- on its impedances and the power flows through the path.
tices/nodes represents by and the number of edges/lines The economical and nominal loss situation may possible if
represents by N and L are the total number of nodes and the impedances through the path is minimal. So, distance is
edges respectively. The connection between two nodes can dependent on the above said properties of the power net-
be shown by adjacency matrix, whose order is N 9 N. The work. If the impedance in the line is fixed the costs changes
entry of the adjacency matrix is either zero or one. with the change in power flow and if the power flow is
fixed then the costs changes with the change in
2.1 Geodesic distance impedances.
Zij ¼ zii þ zjj  2zij ð4Þ
In an un-weighted or weighted graph, the lines joining the
nodes are called length of a path. A minimum length path is where, the bus impedance matrix is denoted by Z. The
considered to be the shortest path or Geodesic path. Geo- geodesic distance is replaced by electrical distance when
desic distance, dij , is the length of a geodesic path con- approaching extended topological method.
necting through ith bus to jth bus of the power network or dij ¼ Zij ð5Þ
graph.
The minimum path walked to reach from ith node to jth
2.2 Average shortest path length node through alternative sequential nodes is described by
the distance. Efficiency of the power network associated
The mean shortest path length L is described as the average with grid is calculated as follows: (Chowdhury et al. 2015)
of geodesic lengths over all couples of nodes: 1 X N
1
E¼ ð6Þ
1 X N NðN  1Þ i;j6¼1 dij
L¼ dij ð1Þ
NðN  1Þ i;j¼1
where number of nodes denoted by, N and shortest path for
The number of lines connecting the couple of nodes in node i to j is denoted by dij .
an undirected and un-weighted graph is considered to be its
length. 2.5 Electrical centrality and its measurement

2.3 Degree of a node The measures of electrical centrality is totally depends up

on Zbus. There are two methods to find Electrical centrality;
In an un-weighted and undirected network model, the one is direct computation of Zbus impedance matrix by
degree of a node i is the number of lines j connected to it; creating a algorithm for a large network, otherwise by
X inversing the Ybus matrix from the power distribution
Ci ¼ Lij ð2Þ system. But the second one is more practical to implement
j
and also a faster technique to cope up with. The relative
where number of lines connecting nodes i and j represented importance to node depends upon the connectivity of that
by, Lij . node with rest of the network. Graphical topology consists
Sum of the weights for corresponding links is expressed of NðN  1Þ=2 connections for each bus, where N is the
by connectivity and represented by: total number of buses.
X
Si ¼ wij ð3Þ
j
2.6 Betweenness

where weights of the lines joining i and j represents by wij . The idea from graph theory, it is proven that, if an edge
In a network the connectivity of a node depicts by the counts in more number of paths, then that component
degree of node. Higher connectivity nodes are more rele- becomes more critical for the transmission in power net-
vant than other nodes. Therefore, the degree of node could work. This may be employed as a justification to the
importance of an edge in terms of its betweenness.

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Microsystem Technologies

The number of shortest paths connecting the two non- harmonic mean of efficiencies of all the links the path
adjacent buses is the main criterion for transferring the passed by. In all of the paths connecting nodes i and j, the
energy from one node to another. Thus the vulnerability one with the maximal efficiency is called the most efficient
measures as the number of shortest paths passes through path, and its efficiency is denoted as E. If there’s no path
that element is defined as betweenness centrality of that between two nodes i and j, we have dij = 0.
element. The global efficiency of the network is given by
Node betweenness of a node v can be expressed by the (Chowdhury et al. 2015):
following formula: X N
1 1
X
N X
N E¼ ð9Þ
rij ðvÞ NðN  1Þ i;j6¼1 dij
BðvÞ ¼ ; i 6¼ j 6¼ voV ð7Þ
i j
rij
Vulnerability of a line is being calculated by removing
where rij ðvÞ is the number of geodesics from node i to j the line from the power network and is formulated as
through node v and rij is the total number of geodesics below:
between i and j. E  EðlÞ
Similarly, critical lines in the network may be calculated Ve ðlÞ ¼ ð10Þ
E
from edge betweenness. Line betweenness centrality can be
obtained by Eq. (8): So, the relative decrement in performance of the power
network is being measured by damaging that line. Global
X
N X
N
rij ðlÞ
BðlÞ ¼ ; i 6¼ joV; lOE ð8Þ efficiency of the network being E without any damage and
i j
rij EðlÞ is the efficiency after removing the line l of that net-
work, then vulnerability of that line l can be expressed as:
where rij ðlÞ is the number of geodesics from node i to j
through line l. V ¼ max½Ve ðlÞ ð11Þ
A component in power transmission network has a Greater the value in vulnerability, the risk in that part of
specific value of betweenness depending upon the config- the network is more. Considering all of the above methods
uration of the network. When these values are little bit there are some drawbacks in the system. Firstly, geodesics
higher than other, its indicates that a higher number of only consider shortest path but power flow does not
shortest paths pass through the component focusing the maintain it. Secondly, there is no need to consider all the
higher criticality of the component. Thus, betweenness nodes, power only can flow from generation end to load
value being used as the identifier for ranking of the com- end and lastly, the transfer of power is different for dif-
ponents for a specified network as the critical component. ferent network which is not employed calculating global
efficiency.
2.7 Electrical betweenness
2.9 Vulnerability using netability
In conventional topological approach, the sum of the
probability for a vertex or an edge to belong to a randomly Netability, used as a tool for finding power transmission
selected geodesic path linking any other pair of vertices is capacity, power flow limit, power transmission distribution
defined as betweenness. It is a more useful method for factor(PTDF) and also the performance of the power
measuring the magnitude of critical load on the given node/ network.
edge in the network. Network connectivity is a most Cij is denoted by the injection of power from bus i to j,
important part of betweenness. It can be considered as a when the first line of all the paths connecting the generation
local metric in order to describe the degree centrality and node i and the load node j reaches its limit called as power
corresponding criticality of components. transmission capability. It is given by
 
Plmax
2.8 Vulnerability using global efficiency Cij ¼ min l ð12Þ
l2L fij

A general measure for vulnerability analysis of power where Plij is the transmission limit of line l and fijl is the
transmission network is the so-called efficiency index, and PTDF of line l of the path joining generation node i to load
it is also being described as the transmitting efficiency of node j. This is the difference of power for line l injecting at
the power network. The transmitting efficiency of the link
generation bus i and withdrawn at load bus j. fijl reflects the
connecting nodes i and j is denoted by E, and the initial
transmitting efficiency is 1 for every link in the network. difference in the entries fil and fjl of the PTDF matrix, it is
The efficiency of a path between nodes i and j is the formulated as

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A ¼ H 0 B01 ð13Þ Power transmission networks is generally a complex

network for the complexity, volume and size of compo-
where B = adjacency matrix nents. Numerous researches including basic characteristics
1 and the performance at steady state and transient state have
Bij ¼ ð14Þ been analyzed since long and in the present scenario of
xij
X1 planned and unplanned attacks on civilization and society
Bij ¼ ð15Þ has raised the issue for assessment of the vulnerability for
x
i6¼j ij the said network.
From the viewpoint of resiliency in power system (Fenu
To avoid singularity the corresponding row and column
and Pau 2015; Chowdhury et al. 2015; Dehghanian et al.
of slack bus are eliminated.
2017; Yang et al. 2018; Chowdhury et al. 2017) operation,
Sub matrix of B by eliminating column and row is
the assessment of vulnerability is a measure of the weak-
denoted by B/, transmission matrix of order L 9 N is
ness of the system in accordance with the chronological
represented by H and sub matrix of H where the column of
orders of events comprises line or generator outages,
slack bus is eliminated denoted by H/.
malfunctioning of protection relays, communication sys-
In netability model the geodesics are replaced by elec-
tem failures and operational errors by human.
trical distances by characterizing the lines through the path
Assessment of the vulnerability includes the process of
joining the buses. Thevenin’s impedance between the pair
identification and quantification following the prioritizing
of buses is calculated in Eq. (4) and represented in bus
(or ranking) sequence while the system is under the threat
impedance matrix, Zij.
of planned or unplanned contingency or attack. In con-
Netability of a power transmission network is repre-
ventional methods of security assessment and contingency
sented by:
analysis, the power system engineers use conventional
1 X X Cij mathematical tools with operational data and physical
A¼ ð16Þ
ND NG i2G j2D Zij models of the power system components. Such type of
analysis, is valid under a given contingency and operating
where number of generation buses is denoted by NG and condition. It may not be computationally feasible to sim-
number of load buses denoted by ND. Here line resistance ulate all possible combinations of contingencies that could
and reactance both are considered. result partial or complete collapse of the power network as
Following the earlier model, the vulnerability of the line well as events of various switching actions and continuous
l is depicted by the change in netability of the network due load variations. Hence it is difficult to assess the outage of
to removal of the line l a portion or whole grid following unforeseen operating
A  AðlÞ conditions. There is necessity for conventional analysis
Va ðlÞ ¼ ð17Þ
A with new tool as vulnerability studies (Fig. 1).
AðlÞ is the measured netability when the line l is removed The North American power grid was the first analyzed
from the power network. power grid (Albert et al. 2004) where the vertices were
randomly removed and in decreasing order of their degrees
(of those vertices) the connectivity loss was monitored. The
3 Vulnerability analysis of power analytical methods in complex network theory revealed
transmission network in a resiliency that the connectivity loss is substantially higher following
framework planned attacks, particularly if the degree of attack is
higher for high betweenness transmission hubs.
Power generation, transmission and distribution, as an National Infrastructure Advisory Council, U. S. (Kah-
integrated network, is one of the critical infrastructures namouei et al. 2017) has adopted the methodology of
since it is widely distributed in a vast geographical region infrastructure resilience framework as a major concern
and essential for modern world. Natural disasters or because it covers the long term adaption as a key feature
intentional attacks can cause severe social and economic for achieving resilience.
damages. Therefore, in order to ensure reliable perfor- This continuing process of framework for resilience
mance of electrical loads, necessity for assessing the vul- using the experiences and statistics gathered from previous
nerability of power transmission network and identifying events to measure and daily update planning for resilience
the critical components whose protection need to be taken and also decision making process to overcome it. Figure 2
care, result in a more robust electrical system against nat- depicts the way for conceptualize this never ending pro-
ural or malicious threats. cedure of continuous evaluation and improvement of the
power systems resilience, which shows resilience

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Fig. 2 Long-term resilience framework model

4.1 Analysis of IEEE 14 bus system by global

efficiency and netability method

In this paper a study has been made on the vulnerability of

the IEEE 14 bus system. Figure 3 shows IEEE 14 bus
system whose vulnerability is being assessed by obtaining
the global efficiency and netability values of the lines of
this network.
The line resistance and reactance is considered as
Fig. 1 A framework through vulnerability assessment towards weights of the edges of the graph. The line parameters
resilient system
which are mainly considered are shown in the following
Table 1:
enhancement circle. The adaptation capacity in any large
power system needs long term resilience planning because
4.1.1 Sample calculation
it is the most critical condition which enables the power
system out of gear at any time. Therefore by the past
Here one sample calculation is done for ready reference.
experiences and or simulations can bring some consensus
conclusion by performing vulnerability and adaptation
4.1.2 Global efficiency (Ve)
studies for the long term resilience planning.
From Eq. 11 and 12, the global efficiency can be calculated
as follows.
4 Results and discussions
For the given network
P1
In this paper attempts have been made to explore the dij = 45.3278, E = 0.24576 and for line no. 1,
i6¼j
applicability of complex network theory in power distri- P1
dij = 44.57, E1 = 0.24229
bution and transmission systems employing the concepts of i6¼j
complex network theory as applicable in assessment of Global Efficiency for removal of line 1 is then given by
vulnerability of any electrical power network. Ve1 ¼ EE
E = 1.41%
1

Vulnerability assessments using topological methods are

thus useful in assessing the weakness of an electrical net-
work and also to design specific actions to reduce topo-
logical weaknesses.

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 Microsystem Technologies

Table 2 Data table for calculated values of netability and global

efficiency
Line no. Connecting nodes Ve (%) Va (%)

1 1–2 1.41 9.11

2 1–5 2.71 8.4
3 2–3 2.13 17.53
4 2–4 3.5 14.09
5 2–5 2.03 5.42
6 3–4 3.59 19.35
7 4–5 8.38 18.91
8 4–7 8.43 17.11
9 4–9 1.71 11.52
10 5–6 8.13 1.68
11 6–11 9.26 18.83
12 6–12 3.95 5.18
13 6–13 7.08 9.09
Fig. 3 Layout of standard IEEE 14 bus test system 14 7–8 7.13 29.2
15 7–9 8.19 17.3
4.1.3 Netability (Va) 16 9–10 0.53 16.41
17 9–14 4.01 8.87
From Eq. (16) and (17) of this paper, the netability can be 18 10–11 4.39 13.97
calculated. 19 12–13 1.37 4.96
In the same network, 20 13–14 5.68 11.94
P P Cij
Zij = 18209.8256, A = 505.0346, and for line no.
i2G j2D
1, A1 = 459.0259 Following the above method of calculation, the values
Netability for removal of line 1 is thus given by of global efficiency (Ve1 ) and netability (Va1 ) for the given
Va1 ¼ AA network are obtained and shown in the Table 2.
A = 9.11%
1

Table 1 Line parameters of

Line no. Connecting nodes Line resistance Line reactance Line flow limits
IEEE 14 bus test system
1 1–2 0.01938 0.05917 129
2 1–5 0.05403 0.22304 128
3 2–3 0.04699 0.19797 63
4 2–4 0.05811 0.17632 127
5 2–5 0.05695 0.17388 128
6 3–4 0.06701 0.17103 62
7 4–5 0.01335 0.04211 88
8 4–7 0 0.20912 69
9 4–9 0 0.55618 127
10 5–6 0 0.25202 29
11 6–11 0.09498 0.19890 64
12 6–12 0.12291 0.25581 30
13 6–13 0.06615 0.13027 62
14 7–8 0 0.17615 63
15 7–9 0 0.11001 64
16 9–10 0.03181 0.08450 65
17 9–14 0.12711 0.27038 28
18 10–11 0.08205 0.19207 31
19 12–13 0.22092 0.19988 32
20 13–14 0.17093 0.34802 15

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Fig. 4 Graph of Vulnerability Vulnerability of line vs Outage of line

analysis of lines using global 50
efficiency and netability of global efficiency
IEEE 14 bus power system 45 net-ability

40

35

30

Va (l) and Ve (l) in %

25

20

15

10

0
0 2 4 6 8 10 12 14 16 18 20
Line number

Table 3 Critical lines identified from graph The line vulnerabilities are calculated using Eqs. 12 and
17 and the comparable graphs are resulted as shown below
Line no. Connecting nodes Vulnerability in (%)
in Fig. 4:
3 2–3 17.53 It is observed that netability metric which includes the
6 3–4 19.35 electrical properties of extended topological approach
7 4–5 18.91 gives enhanced results of vulnerability analysis. The criti-
8 4–7 17.11 cal lines can be identified as listed below in Table 3.
11 6–11 18.83 From the above it is noticed that the line number 14 is
14 7–8 29.2 highly vulnerable line in the given network. One of critical
15 7–9 17.3 lines i.e. line no. 3 connects two generation buses. And

Fig. 5 Plot of node betweenness Node Betweenness against Node no.

versus node number 1200

1000

800
Node betweenness

600

400

200

0
0 2 4 6 8 10 12 14
Node Number

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 Microsystem Technologies

Table 4 Comparison of voltage magnitudes of IEEE 14 bus system which justifies the applicability of the developed model i.e.
without and with STATCOM netability model. The analysis identifies critical lines in the
Bus No. Voltage Magnitude (p.u.) power grid which is very important in maintaining the
network security.
Without STATCOM With STATCOM

1 1.060 1.060 4.2 Vulnerability assessment of IEEE 14 bus

2 1.045 1.045 system by installing a STATCOM
3 1.010 1.010
4 0.99772 1.013 In standard IEEE 14 bus test system STATCOM is being
5 1.0024 1.0167 employed in MATLAB simulation platform to study the
6 1.070 1.070 steady-state bus voltages. Comparison of steady state bus
7 1.0347 1.0525 voltage shown in Table 4.
8 1.090 1.09 Here an improvement in the bus voltages is observed.
9 1.0111 1.039 Graphical analysis of this results shows in Fig. 6 below.
10 1.0105 1.0369
11 1.0346 1.0497
12 1.0461 1.0558 5 Conclusion
13 1.0362 1.0514
14 0.99568 1.04 In this paper, a framework of resiliency has been config-
ured employing complex network theory base vulnerability
analysis of a power transmission network with the help of
other critical lines are connecting transformers and buses. graph theoretic approach. Neatability being used as a tool
For quite obvious reasons these lines are vulnerable as for vulnerability assessment, simulations have been con-
these lines are associated with critical components like ducted for a standard IEEE 14 bus test system. The results
transformers, generation buses of the power grid network. obtained exhibits the critical lines which are subjected to
Figure 5 represents the network topological betweenness of vulnerable collapse following undesired events that inter-
nodes in the power system. rupt the power system. STATCOM has also been included
Power grid, considered as a complex network, has been as a mitigating measure for improvement of resiliency of
analyzed separately by using only topological model the system as well as enhancement of steady state bus
(global efficiency) and by adding some power grid char- voltages and reduction in network power loss. This inves-
acteristics to topological model (netability). The IEEE 14 tigation helps in simulation of a multi-bus power network
Bus system is studied and vulnerable lines are identified in order to identify the vulnerable part of the network as

Fig. 6 Comparison of voltages Voltage magnitude comparison of IEEE14 bus test system with or without STATCOM
1.1
of IEEE 14 bus system with and
without STATCOM without STATCOM

with STATCOM
1.08

1.06
Voltage Magniutude (p.u.)

1.04

1.02

0.98
0 2 4 6 8 10 12 14

Bus Number

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Microsystem Technologies

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