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IEEEST Stabilizer Improvements/Corrections #460

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6d68902
Fix bad parameter initialization and polish docs
lukelowry Jun 8, 2026
509506c
Update Docs
lukelowry Jun 8, 2026
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18 changes: 1 addition & 17 deletions GridKit/Model/PhasorDynamics/Stabilizer/IEEEST/Ieeest.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -139,34 +139,18 @@ namespace GridKit
RealT Vcu_{0};
RealT Tdelay_{0};

RealT a0_{1};
RealT a1_{0};
RealT a2_{0};
RealT a3_{0};
RealT a4_{0};

// Precomputed masks and safe inverse coefficients for branch-free degenerate paths.
RealT use_notch_{0};
RealT bypass_notch_{1};
RealT use_4th_order_{0};
RealT use_3rd_order_{0};
RealT use_2nd_order_{0};
RealT safe_inv_a4_{0};
RealT safe_inv_a3_{0};
RealT safe_inv_a2_{0};
RealT use_T2_block_{1};
RealT bypass_T2_block_{0};
RealT use_T4_block_{1};
RealT bypass_T4_block_{0};
RealT use_T6_block_{1};
RealT bypass_T6_block_{0};

ComponentSignals<ScalarT, IdxT, IeeestInternalVariables, IeeestExternalVariables> signals_;

std::unique_ptr<MonitorT> monitor_;

void initializeParameters(const ModelDataT& data);
void initializeMonitor();
void setDerivedParameters();

std::vector<ScalarT> ws_;
std::vector<IdxT> ws_indices_;
Expand Down
105 changes: 62 additions & 43 deletions GridKit/Model/PhasorDynamics/Stabilizer/IEEEST/IeeestImpl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,15 @@ namespace GridKit
{
}

template <typename scalar_type, typename index_type>
void Ieeest<scalar_type, index_type>::setDerivedParameters()
{
a1_ = A1_ + A3_;
a2_ = A2_ + A4_ + A1_ * A3_;
a3_ = A1_ * A4_ + A2_ * A3_;
a4_ = A2_ * A4_;
}

template <typename scalar_type, typename index_type>
void Ieeest<scalar_type, index_type>::initializeParameters(const ModelDataT& data)
{
Expand Down Expand Up @@ -119,31 +128,7 @@ namespace GridKit
Tdelay_ = std::get<RealT>(data.parameters.at(ModelDataT::Parameters::Tdelay));
}

a0_ = 1;
a1_ = A1_ + A3_;
a2_ = A2_ + A4_ + A1_ * A3_;
a3_ = A1_ * A4_ + A2_ * A3_;
a4_ = A2_ * A4_;

// Precompute masks and safe inverse coefficients so the residual stays branch-free.
use_notch_ = static_cast<RealT>(a2_ != 0.0 || a3_ != 0.0 || a4_ != 0.0);
bypass_notch_ = 1.0 - use_notch_;

use_4th_order_ = static_cast<RealT>(a4_ != 0.0);
use_3rd_order_ = static_cast<RealT>(a4_ == 0.0 && a3_ != 0.0);
use_2nd_order_ = static_cast<RealT>(a4_ == 0.0 && a3_ == 0.0 && a2_ != 0.0);
safe_inv_a4_ = use_4th_order_ / (a4_ + (1.0 - use_4th_order_));
safe_inv_a3_ = use_3rd_order_ / (a3_ + (1.0 - use_3rd_order_));
safe_inv_a2_ = use_2nd_order_ / (a2_ + (1.0 - use_2nd_order_));

use_T2_block_ = static_cast<RealT>(T2_ != 0.0);
bypass_T2_block_ = 1.0 - use_T2_block_;

use_T4_block_ = static_cast<RealT>(T4_ != 0.0);
bypass_T4_block_ = 1.0 - use_T4_block_;

use_T6_block_ = static_cast<RealT>(T6_ != 0.0);
bypass_T6_block_ = 1.0 - use_T6_block_;
setDerivedParameters();
}

template <typename scalar_type, typename index_type>
Expand Down Expand Up @@ -182,6 +167,8 @@ namespace GridKit
&y_[11], &(this->getVariableIndex(11)));
}

tagDifferentiable();

return 0;
}

Expand All @@ -204,7 +191,7 @@ namespace GridKit
ret += 1;
}

if (a4_ == 0 && a3_ == 0 && a2_ == 0 && a1_ != 0)
if (a2_ == ZERO<RealT> && a3_ == ZERO<RealT> && a4_ == ZERO<RealT> && a1_ != ZERO<RealT>)
{
Log::error() << "Ieeest: a2, a3, and a4 are all zero - no valid notch filter\n";
ret += 1;
Expand All @@ -222,19 +209,53 @@ namespace GridKit
yp_[static_cast<size_t>(i)] = 0.0;
}

ScalarT u{0.0};
if (signals_.template isAttached<IeeestExternalVariables::U>())
{
u = signals_.template readExternalVariable<IeeestExternalVariables::U>();
ws_[0] = u;
ws_indices_[0] = signals_.template readExternalVariableIndex<IeeestExternalVariables::U>();
}

const ScalarT zero{0.0};
const ScalarT x1 = u;
const ScalarT x2 = zero;
const ScalarT x3 = zero;
const ScalarT x4 = zero;
const ScalarT v4 = x1 + A5_ * x2 + A6_ * x3;
const ScalarT x5 = v4;
const ScalarT v5 = v4;
const ScalarT x6 = v5;
const ScalarT v6 = v5;
const ScalarT x7 = v6;
const ScalarT v7 = (T6_ == ZERO<RealT>) ? Ks_ * v6 : zero;

y_[0] = x1;
y_[1] = x2;
y_[2] = x3;
y_[3] = x4;
y_[4] = x5;
y_[5] = x6;
y_[6] = x7;
y_[7] = v4;
y_[8] = v5;
y_[9] = v6;
y_[10] = v7;
y_[11] = Math::clamp(v7, Lsmin_, Lsmax_);

return 0;
}

template <typename scalar_type, typename index_type>
int Ieeest<scalar_type, index_type>::tagDifferentiable()
{
tag_[0] = true;
tag_[1] = true;
tag_[2] = true;
tag_[3] = true;
tag_[4] = (T2_ != 0.0);
tag_[5] = (T4_ != 0.0);
tag_[6] = (T6_ != 0.0);
tag_[0] = (a2_ != ZERO<RealT> || a3_ != ZERO<RealT> || a4_ != ZERO<RealT>);
tag_[1] = tag_[0];
tag_[2] = (a3_ != ZERO<RealT> || a4_ != ZERO<RealT>);
tag_[3] = (a4_ != ZERO<RealT>);
tag_[4] = (T2_ != ZERO<RealT>);
tag_[5] = (T4_ != ZERO<RealT>);
tag_[6] = (T6_ != ZERO<RealT>);
tag_[7] = false;
tag_[8] = false;
tag_[9] = false;
Expand Down Expand Up @@ -294,19 +315,17 @@ namespace GridKit

ScalarT u = ws[0];

f[0] = -x1_dot + use_notch_ * x2;
f[1] = -x2_dot + (use_4th_order_ + use_3rd_order_) * x3
+ use_2nd_order_ * (-a0_ * x1 - a1_ * x2 + u) * safe_inv_a2_;
f[2] = -x3_dot + use_4th_order_ * x4
+ use_3rd_order_ * (-a0_ * x1 - a1_ * x2 - a2_ * x3 + u) * safe_inv_a3_;
f[3] = -x4_dot + use_4th_order_ * (-a0_ * x1 - a1_ * x2 - a2_ * x3 - a3_ * x4 + u) * safe_inv_a4_;
f[0] = -tag_[0] * x1_dot + x2;
f[1] = -tag_[1] * x2_dot + x3;
f[2] = -tag_[2] * x3_dot + x4;
f[3] = -a4_ * x4_dot - x1 - a1_ * x2 - a2_ * x3 - a3_ * x4 + u;
f[4] = -T2_ * x5_dot - x5 + v4;
f[5] = -T4_ * x6_dot - x6 + v5;
f[6] = -T6_ * x7_dot - x7 + v6;
f[7] = -v4 + bypass_notch_ * u + use_notch_ * (x1 + A5_ * x2 + (use_4th_order_ + use_3rd_order_) * A6_ * x3);
f[8] = use_T2_block_ * (-T2_ * (v5 - x5) + T1_ * (v4 - x5)) + bypass_T2_block_ * (v4 - v5);
f[9] = use_T4_block_ * (-T4_ * (v6 - x6) + T3_ * (v5 - x6)) + bypass_T4_block_ * (v5 - v6);
f[10] = use_T6_block_ * (-T6_ * v7 + Ks_ * T5_ * (v6 - x7)) + bypass_T6_block_ * (Ks_ * v6 - v7);
f[7] = -v4 + x1 + A5_ * x2 + A6_ * x3;
f[8] = tag_[4] * (-T2_ * (v5 - x5) + T1_ * (v4 - x5)) + (1 - tag_[4]) * (v4 - v5);
f[9] = tag_[5] * (-T4_ * (v6 - x6) + T3_ * (v5 - x6)) + (1 - tag_[5]) * (v5 - v6);
f[10] = tag_[6] * (-T6_ * v7 + Ks_ * T5_ * (v6 - x7)) + (1 - tag_[6]) * (Ks_ * v6 - v7);
f[11] = -vss + Math::clamp(v7, Lsmin_, Lsmax_);

return 0;
Expand Down
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