coordination of operational planning and real-time

Coordination of operational planning and real-timeoptimization in microgrids

Jonathan Dumas∗, Selmane Dakir∗, Clément Liu†, Bertrand Cornélusse∗∗Department of electrical engineering and computer science

ULiège, Liège, Belgium{jdumas, s.dakir, bertrand.cornelusse}@uliege.be

†[email protected]

Abstract—Hierarchical microgrid control levels range fromdistributed device level controllers that run at a high frequencyto centralized controllers optimizing market integration that runmuch less frequently. Centralized controllers are often subdividedinto operational planning controllers that optimize decisions overa time horizon of one or several days, and real-time optimizationcontrollers that deal with actions in the current market period.The coordination of these levels is of paramount importance.In this paper, we propose a value function-based approach asa way to propagate information from operational planning toreal-time optimization. We apply this method to an environmentwhere operational planning, using day-ahead forecasts, optimizesat a market period resolution the decisions to minimize the totalenergy cost and revenues, the peak consumption and injection-related costs, and plans for reserve requirements. While real-time optimization copes with the forecast errors and yieldsimplementable actions based on real-time measurements. Theapproach is compared to a rule-based controller on three usecases, and its sensitivity to forecast error is assessed.

Index Terms—Hierarchical control, microgrid, optimization

I. INTRODUCTION

The hierarchical microgrid control levels divide a globalmicrogrid control problem in time and space [1]. Control levelsrange from distributed device level controllers that run at ahigh frequency to centralized controllers optimizing marketintegration that run much less frequently. For computationtime reasons, centralized controllers are often subdivided intooperational planning controllers that optimize decisions overa time horizon of one or several days but with a marketperiod resolution, e.g., 15 minutes, and real-time optimizationcontrollers that deal with actions within the current marketperiod. The coordination of these two levels is of paramountimportance to achieve the safest and most profitable opera-tional management of microgrids. Microgrid control and man-agement can be achieved in several ways. Control techniquesand the principles of energy-storage systems are summarizedin [1]. A classification of microgrid control strategies intoprimary, secondary, and tertiary levels is done in [2]. The two-level approach has been intensively studied. A double-layercoordinated control approach, consisting of the schedule layerand the dispatch layer is adopted in [3]. The schedule layerprovides an economical operation scheme including state andpower of controllable units based on the look-ahead multi-stepoptimization, while the dispatch layer follows the schedule

layer by considering power flow and voltage limits. A two-stage dispatch strategy for grid-connected systems is discussedin [4], where the first stage deals with the day-ahead schedule,optimizing capital and operational cost, while the lower levelhandles the rescheduling of the units for few hours ahead witha time resolution of 15 min. A two-stage control strategy fora PV BESS-ICE (Internal Combustion Engine) microgrid isimplemented in [5]. Discrete Dynamic Programming is usedin the first layer, while the second layer problem is posed asa Boundary Value Problem. An approach with a high-leveldeterministic optimizer running at a slow timescale, 15 min,coupled to a low-level stochastic controller running at higherfrequency, 1 min, is studied in [6]. A two-layer predictiveenergy management system for microgrids with hybrid energystorage systems consisting of batteries and supercapacitors isconsidered in [7]. This approach incorporates the degrada-tion costs of the hybrid energy storage systems. A practicalEnergy Management System for isolated microgrid whichconsiders the operational constraints of Distributed EnergyResources, active-reactive power balance, unbalanced systemconfiguration and loading, and voltage-dependent loads isstudied in [8]. A two-layer mixed-integer linear programmingpredictive control strategy was implemented and tested insimulation and experimentally in [9], and [10] implementeda two-layer predictive management strategy for an off-gridhybrid microgrid featuring controllable and non-controllablegeneration units and a storage system.

In this paper, we propose a two-layer approach with a valuefunction to propagate information from operational planningto real-time optimization. The value function-based approachshares some similarities with the coordination scheme pro-posed in [11], which is based on stochastic dual dynamicprogramming. This paper brings new contributions:

• The approach is tested by accounting for forecastingerrors and high-resolution data monitored on-site corre-sponding to a "real-life" case.

• The value function approach allows to deal with indeter-minacy issues. When there are several optimal solutionsto the upper-level problem, this is accounted for in thelower level part, and a bias term can be added to favorone type of behavior over another, e.g., charge early.

• This methodology is fully compatible with the energy

21st Power Systems Computation Conference

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markets as it can deal with imbalance, reserve, anddynamic selling/purchasing prices.

This paper reports results on an industrial microgrid capableof on/off grid operation. Generation and consumption fore-casts are based on weather forecasts obtained with the MARmodel [12]. It is organized as follows. Section II formulatesthe problem in an abstract manner. Section III introducesthe novel two-level value function-based approach and theassumptions made. Section IV describes the numerical tests.Section V reports the results. Conclusions are drawn in SectionVI. Section VIII summarizes the notation. The methodologyused for forecasting is reported as an annex.

II. PROBLEM STATEMENT

A global microgrid control problem can be defined, fora given microgrid design and configuration, as operating amicrogrid safely and in an economically efficient manner, byharvesting as much renewable energy as possible, operatingthe grid efficiently, optimizing the service to the demand side,and optimizing other side goals. We refine this definition belowand start by making a few assumptions.

A. Assumptions

In this paper, the control optimizes economical criteria,which are only related to active power. All devices aresupposed to be connected to the same electrical bus, which canbe connected or disconnected from a public grid permanentlyor dynamically. Device-level controllers offer an interfaceto communicate their operating point and constraints, e.g.,maximum charge power as a function of the current state,and implement control decisions to reach power set-points.Fast load-frequency control, islanding management, as wellas reactive power control, are not in scope. The microgrid isa price taker in energy and reserve markets.

B. Formulation

Abstractly, a microgrid optimization problem can be formu-lated as follows

mina

∑t∈Tl

c(at, st, ωt) (1a)

s.t. ∀t ∈ Tl, st+∆t = f(at, st, ωt,∆t), (1b)st ∈ St. (1c)

A controller has to return a set of actions at = (amt , adt ) at

any time t over the life of the microgrid (Tl). Actions shouldbe taken as frequently as possible to cope with the economicimpact of the variability of the demand and generation sides,but not too often to let transients vanish, e.g., every fewseconds. The time delta between action at and the next actiontaken is denoted by ∆t, and is not necessarily constant. Someof these actions are purely market-related amt , while otheractions are communicated as set-points to the devices of themicrogrid adt . The state st = (smt , s

dt ) of the microgrid at time

t is thus also made of two parts: sdt represents the state of thedevices, such as the state of charge of a storage system or thestate of a flexible load, while smt gathers information related to

the current market position, such as the nominated net positionof the microgrid over the next market periods. The costfunction c gathers all the economical criteria considered. Thetransition function f describes the physical and net positionevolution of the system. At time instants t ∈ {∆τ , 2∆τ , . . .},with ∆τ the market period, some costs are incurred based onthe value of some state variables, which are then reset forthe next market period. This problem is very difficult to solvesince the evolution of the system is uncertain, actions havelong-term consequences, and are both discrete and continuous.Furthermore, although functions f and c are assumed time-invariant, they are generally non-convex and parameterizedwith stochastic variables ωt.

III. PROPOSED METHOD

In practice, solving the microgrid optimization problemabove amounts, at every time t, to forecasting the stochasticvariables ωTl(t), then solving the problem1

a?Tl(t) = arg min∑

t′∈Tl(t)

c(at′ , st′ , ωt′) (2a)

s.t. ∀t′ ∈ Tl(t), st′+∆t′ = f(at′ , st′ , ωt′ ,∆t′), (2b)

st′ ∈ S′t, (2c)

and applying a?t (potentially changing am,?t at some specificmoments only). As forecasts are valid only for a relativelynear future and optimizing over a long time horizon wouldanyway be incompatible with real-time operation, this prob-lem is approximated by cropping the lookahead horizon toTa(t) ⊂ Tl(t). However, market decisions must be refreshedmuch less frequently than set-points. We thus propose tofurther decompose the problem in an operational planningproblem (OPP) for T ma (t) that computes market decisions

am,?Tma (t) = arg min∑

t′∈T ma (t)

cm(amt′ , st′ , ωt′) (3a)

s.t. ∀t′ ∈ T ma (t), st′+∆τ = fm(amt′ , st′ , ωt′ ,∆τ) (3b)st′ ∈ St′ , (3c)

and a real-time problem (RTP) that computes set-points fortime t

ad,?t = arg min cd(adt , st, ωt) + vτ(t)(sτ(t)) (4a)

s.t. sτ(t) = fd(adt , st, ωt, τ(t)− t) (4b)sτ(t) ∈ Sτ(t), (4c)

with c(at, st, wt) = cm(amt , st, wt) + cd(adt , st, ωt). Thefunction vt is the cost-to-go as a function of the state of thesystem at the end of the ongoing market period, it regularizesdecisions of RTP to account for the longer-term evolutionof the system. We detail hereunder how we obtain vt. Anoverview of the approach is depicted in Figure 1.

1Which is here expressed as a deterministic problem for simplicity, butshould be treated as a stochastic problem in practice.


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Forecasting Operational planning

Real-time optimization

Fig. 1: Hierarchical control procedure illustration.

A. Computing the cost-to-go function vτ(t)

The function vt represents the optimal value of (3) as afunction of the initial state sτ(t) of this problem. If we makethe assumption that (3) is modeled as a linear program, thefunction vτ(t) is thus convex and piecewise linear. Everyevaluation of (3) with the additional constraint2

sτ(t) = s′ ⊥ µ (5)

yields the value vτ(t)(s′) and a supporting inequality (a cut)

vτ(t)(s) ≥ vτ(t)(s′) + µT s. (6)

The algorithm to approximate vτ(t)(s′) works as follows:

1) estimate the domain of vτ(t), i.e., the range of statesreachable at time τ(t) and the most probable state thatwill be reached s?τ(t);

2) evaluate vτ(t)(s?τ(t)) and the associated µ?;

3) repeat step 2 for other state values until all regions ofvτ(t) are explored.

Note that if the state is of dimension one and (3) is a linearprogram, simplex basis validity information can be used todetermine for which part of the domain of vτ(t) the currentcut is tight, else a methodology such as proposed in [13] canbe used.

B. OPP formulation

The OPP objective function implemented for the case studyis

JOPTma (t) =∑

t′∈Tma (t)

(COPt′ +DOP

t′

)(7)

with Operational Planner (OP) the name of this planer. T ma (t)is composed of 96 values with ∆τ = 15 minutes and Ta = 24hours. COPt′ models the immediate costs and DOP

t′ the delayedcosts at t′. COPt′ takes into account different revenues and costsrelated to energy flows: the costs of shed demand, steered andnon steered generation, the revenues from selling energy to

2The ⊥ µ notation means that µ is the dual variable of the constraint.

the grid, the costs of purchasing energy from the grid and thecosts for using storage

COPt′ =∑

t′∈Tma (t)

( ∑d∈Dshe

∆τπshed,t′C

shed,t′a

shed,t′

+∑d∈Dste

∆τπsted,t′P

sted,t′a

sted,t′

+∑d∈Dnst

∆τπnstd,t′P

nstd,t′a

nstd,t′

+∑

d∈Dsto∆τγ

stod

(P dη

chad acha

d,t′ +P dηdisd

adisd,t′

)− πe

t′egrit′ + πi

t′igrit′

). (8)

DOPt′ is composed of the peak cost and symmetric reserve

revenue

DOPt′ = πpδpt′ − πs

OP rsymt′ , (9)

δpt′ is the peak difference between the previous maximumhistoric peak ph and the current peak within the market periodt′. rsym

t′ is the symmetric reserve provided to the grid withinthe current market period t′.

C. OP constraints

The first set of constraints defines bounds on state and actionvariables, ∀t′ ∈ T ma (t)

akd,t′ ≤ 1 ∀d ∈ Dk,∀k ∈ {ste, she, nst} (10a)

achad,t′ ≤ 1 ∀d ∈ Dsto (10b)

adisd,t′ ≤ 1 ∀d ∈ Dsto (10c)

Sd ≤ sd,t′ ≤ Sd ∀d ∈ Dsto. (10d)

The energy flows are constrained, ∀t′ ∈ T ma (t), by

(egrit′ − i

grit′ )/∆τ −

∑d∈Dnst

(1− anst)P nstd,t′ +

∑d∈Dste

asted,t′P

sted,t′

+∑d∈Dnfl

Cnfld,t′ +

∑d∈Dshe

(1− ashed,t′)C

shed,t′

+∑

d∈Dsto

(P da

chad,t′ − P dadis

d,t′)

= 0 (11a)

(egrit′ − i

grit′ )/∆τ ≤ Ecap

t′ (11b)

(igrit′ − e

grit′ )/∆τ ≤ Icap

t′ . (11c)

The dynamics of the state of charge are, ∀d ∈ Dsto

sd,1 −∆τ

(P dη

chad acha

d,1 −P dηdisd

adisd,1

)= Sinit

d (12a)

sd,t′ − sd,t′−∆τ −∆τ

(P dη

chad acha

d,t′ −P dηdisd

adisd,t′

)= 0

,∀t′ ∈ T ma (t) (12b)

sd,τ(t+Ta) = Sendd . (12c)


PSCC 2020


The set of constraints related to the peak power ∀t′ ∈ T ma (t)

(igrit′ − e

grit′ )/∆τ ≤ pt′ (13a)−δpt′ ≤ 0 (13b)−δpt′ ≤ −(pt′ − ph). (13c)

The last constraints define symmetric reserve ∀t′ ∈ T ma (t)

rs+d,t′ ≤(sd,t′ − Sd) ηdis

d

∆τ∀d ∈ Dsto (14a)

rs+d,t′ ≤ P d(1− adisd,t′) ∀d ∈ Dsto (14b)

rs−d,t′ ≤(Sd − sd,t′

)ηchad ∆τ

∀d ∈ Dsto (14c)

rs−d,t′ ≤ P d(1− achad,t′) ∀d ∈ Dsto (14d)

rsym, OP ≤∑

d∈Dstors+d,t′ +

∑d∈Dste

P sted,t′(1− aste

d,t′)

+∑d∈Dnst

P nstd,t′(1− anst) (14e)

+∑d∈Dshe

Cshed,t′(1− ashe

d,t′)

rsym, OP ≤∑

d∈Dstors−d,t′ +

∑d∈Dste

P sted,t′a

sted,t′

+∑d∈Dnst

P nstd,t′a

nst +∑d∈Dshe

Cshed,t′a

shed,t′ . (14f)

D. RTP formulation

The RTP objective function implemented for the case studyis

JRTOt = CRTOt +DRTOt + vτ(t)(sτ(t)) (15)

with Real-Time Optimizer (RTO) the name of this controller.CRTOt models the immediate costs, DRTO

t the delayed costsand vτ(t)(sτ(t)) the cost-to-go function of the state of thesystem at time t within a current market period. CRTOt is thesame as COPt′ by replacing t′ by t, ∆τ by ∆t and consideringonly one period of time t. DRTO

t is composed of the peakcost and symmetric reserve penalty costs

DRTOt = πpδpτ(t−∆τ ),τ(t) + sTSOt πs

RTO∆rsym, (16)

δpτ(t−∆τ ),τ(t) is the peak difference between the previousmaximum historic peak ph and the current peak within themarket period computed by RTO. The difference with OPrelies on its computation as at t the market period is notfinished. Thus the peak within this market period is computedby adding the peak from the beginning of the market periodto t and the one resulting from the actions taken from t to theend of the market period. ∆rsym is the difference between thesymmetric reserve computed by OP and the current reservewithin the market period computed by RTO. sTSOt is thereserve activation signal to activate the tertiary symmetricreserve. It is set by the TSO, 0 if activated, else 1. Theactivation occurs at the beginning of the next market period.

E. RTO constraints

The set of constraints that defines the bounds on state andaction variables and the energy flows are the same as the OP(10) and (11) by replacing t′ by t, ∆τ by ∆t and consideringonly one period of time t. The next constraint describes thedynamics of the state of charge ∀d ∈ Dsto and ∀t ∈ Ti(t)

sd,τ(t) −∆t

(P dη

chad acha

d,t −P dηdisd

adisd,t

)= Sinit

d,t . (17)

The set of constraints related to the peak power ∀t ∈ Ti(t)

(igrit − e

grit )/∆t ≤ pt,τ(t) (18a)−δpτ(t) ≤ 0 (18b)−δpτ(t) ≤ −(pτ(t−∆τ ),τ(t) − ph) (18c)

pτ(t−∆τ ),τ(t) = βpτ(t−∆τ ),t + (1− β)pt,τ(t) (18d)

with β = 1−∆t/∆τ . The last set of constraints defining thesymmetric reserve are the same as the OP (14) by replacingt′ by t, rsym, OP by rsym, RTO and adding ∀t ∈ Ti(t)

−∆rsym ≤ 0 (19a)

−∆rsym ≤ −(rsym, OP − rsym, RTO). (19b)

IV. TEST DESCRIPTION

Our case study is based on the MiRIS microgrid locatedat the John Cockerill Group’s international headquarters inSeraing, Belgium3. It is composed of PV, several energystorage devices, and a non-sheddable load. The load andPV data we use come from on-site monitoring. All data,including the weather forecasts, are available on the Kaggleplatform4. The case study consists of comparing RTO-OP toa Rule-Based Controller (RBC) for three configurations of theinstalled PV capacity, cf. Table I. The RBC prioritizes the useof PV production for the supply of the electrical demand. Ifthe microgrid is facing a long position, it charges the battery.And if this one is fully charged it exports to the main grid.If the microgrid is facing a short position it prioritizes theuse of the battery to supply the demand. And if this one isfully discharged it imports from the main grid. This controllerdoes not take into account any future information, e.g., PV,consumption forecasts, energy prices, or market informationsuch as the peak of the symmetric reserve. Case 3 is the resultof a sizing study that defined the optimal device sizes giventhe PV and consumption data. The sizing methodology usedis described in [14].

Figure 2 shows the PV & consumption data over thesimulation period: from May 20, 2019 to June 16, 2019. Theselling price πe is constant, the purchasing price is composedof a day πi

d and night prices πin. Day prices apply from 5

a.m. to 8 p.m. (UTC) during the weekdays and night pricesapply from 8 p.m. to 5 a.m. during weekdays and the entireweekend. The peak mechanism is taken into account with aconstant peak price πp and an initial maximum historic peak

3https://johncockerill.com/fr/energy/stockage-denergie/4https://www.kaggle.com/jonathandumas/liege-microgrid-open-data


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https://johncockerill.com/fr/energy/stockage-denergie/

https://www.kaggle.com/jonathandumas/liege-microgrid-open-data

TABLE I: Case studies parameters and data statistics.

Case PVp PV PVmax PVmin PVstd

1 400 61 256 0 72

2 875 133 561 0 157

3 1750 267 1122 0 314

Case Cp C Cmax Cmin Cstd

1 - 3 1000 153 390 68 72

Case Sp S, S P , P ηcha, ηdis Sinit

1 - 3 1350 1350, 0 1350, 1350 0.95, 0.95 100

Case ph, πp Icap Ecap πid, πi

n πe

1 - 3 150, 40 1500 1500 0.2, 0.12 0.035

ph. Storage systems are initially fully charged. The PV andconsumption data have a 1-second resolution, meaning theRTO could compute its optimization problem each five to tenseconds in operational mode. CPLEX 12.9 is used to solveall the optimization problems, on an Intel Core i7-8700 3.20GHz based computer with 12 threads and 32 GB of RAM. Theaverage computation time per optimization problem composedof the OP and RTO is a few seconds. However, to maintain areasonable simulation time RTO is called every minute. Thedataset is composed of 28 days with an average computationtime of two hours to solve 1440 optimization problems perday, with one-minute resolution, leading to a total of two daysfor the entire dataset. The OP computes a planning quarterlycorresponding to the Belgian market period. The computationtime of the RTO on a regular computer is around a few secondsand the OP around twenty seconds. In total, the simulationcomputation time is up to a few hours. The OP computesquarterly planning based on PV and consumption twenty-fourahead forecasts. The weather-based forecast methodology isdescribed in detail in Annex IX. Two "classic" deterministictechniques are implemented, a Recurrent Neural Network(RNN) with the Keras Python library [15] and a GradientBoosting Regression (GBR) with the Scikit-learn Python li-brary [16]. These models use as input the weather forecastsprovided by the Laboratory of Climatology of the LiègeUniversity, based on the MAR regional climate model [12].It is an atmosphere model designed for meteorological andclimatic research, used for a wide range of applications, fromkm-scale process studies to continental-scale multi-decadesimulations. To estimate the impact of the PV and consumptionforecast errors on the controllers, the simulation is performedwith the OP having access to the PV and consumption futurevalues (RTO-OP?). Then, the simulation is performed withthe symmetric reserve mechanisms to cope with the forecasterrors. A constant symmetric reserve price πs

OP for the OPand a penalty reserve πs

RTO for the RTO are set to 20 (e/kW).

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TABLE II: Results without symmetric reserve.

Case 1 cE cp ct ∆p Itot Etot

RBC 10.13 6.68 16.81 167 61 0

RTO-OPRNN 10.37 3.62 13.99 91 64 1

RTO-OPGBR 10.25 5.27 15.53 132 63 1

RTO-OP? 10.24 0.99 11.23 25 64 1


RBC 3.19 4.85 8.04 121 22 7

RTO-OPRNN 4.78 2.87 7.65 72 31 15

RTO-OPGBR 4.30 4.90 9.2 123 28 13

RTO-OP? 4.06 0 4.06 0 26 10


RBC -2.13 4.12 1.99 105 3 77

RTO-OPRNN -1.66 4.12 2.46 105 7 80

RTO-OPGBR -1.67 4.23 2.56 106 7 81

RTO-OP? -1.90 0 0 0 5 79

V. NUMERICAL RESULTS

A. No symmetric reserve

Table II provides the simulation results without taking intoaccount the symmetric reserve. The smaller the PV installedcapacity the higher the peak and energy costs. The RTO-OP?

provides the minimal peak cost whereas the RBC provides theminimal energy cost on all cases. However, RTO-OP? achievesthe minimal total cost, composed of the energy and peakcosts. This simulation illustrates the impact of the forecasts onthe RTO-OP behavior. The RNN forecaster provides the bestresults but the RTO-OPRNN is still a long way to managethe peak as RTO-OP? due to the forecasting errors. The peakcost strongly penalizes the benefits as it applies on all the yearahead once it has been reached.

In case 3, all the controllers except RTO-OP? reachedthe maximum peak on June 12, 2019 around 10:30 a.m. asshown on Figure 4. Figure 2 shows a sudden drop in the PVproduction around 10 a.m. that is not accurately forecastedby the RNN and GBR forecasters as shown in Figure 3. Thisprediction leads to a non accurate planning of OP. Thus, theRTO cannot anticipate this drop and has to import at thelast minute energy to balance the microgrid. Figure 5 shows


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Fig. 4: Case 1 (top), 2 (middle), 3 (bottom) cumulative peakcosts.

the controllers behavior on June 12, 2019 where the peak isreached. In case 2 all controllers reached the same peak asin case 3 except RTO-OPRNN that reached a smaller one onJune 5, 2019. The forecasts accuracy explains this behavior asin case 3. Finally in case 1, each controller reached a differentpeak. The smallest one is achieved by the RTO-OP?, followedby the RTO-OPRNN . These cases show that the RTO-OPcontroller optimizes PV-storage usage, and thus requires lessinstalled PV capacity for a given demand level. This resultwas expected as the peak management is not achieved by theRBC and becomes critical when the PV production is smaller

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Fig. 5: Case 3 SOC (top) and net export power (bottom) onJune 12, 2019.

TABLE III: Results with symmetric reserve.


RTO-OPRNN 10.50 2.12 12.62 53 65 3

RTO-OP? 10.47 2.75 13.22 69 65 2


RTO-OPRNN 5.33 0.04 5.37 1 41 27

RTO-OP? 4.78 0.99 5.77 25 35 20


RTO-OPRNN -0.04 0 -0.04 0 24 99

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Fig. 6: Case 3 SOC comparison for RTO-OPRNN with andwithout symmetric reserve.

than the consumption. This simulation also demonstrates theforecast accuracy impact on the RTO-OP behavior.

B. Results with symmetric reserve

Table III provides the simulation results by taking intoaccount the symmetric reserve. Figure 6 depicts on case 3 thebehavior differences between RTO-OPRNN without and withsymmetric reserve. Figures 7 and 8 show the SOC and peakscosts evolution of case 2 & 1. The controller tends to maintaina storage level that allows RTO-OPRNN to better cope withforecast error. Indeed for case 3, there is no more peak reachedby RTO-OPRNN , only 1 kW for case 2 and it has been almostdivided by two for case 1. However, this behavior tends toincrease the energy cost if the PV production is important incomparison with the consumption, such as in case 3. Indeed,the controller will tend to store more energy in the batteryinstead of exporting it. RTO-OP? did not perform better withthe symmetric reserve. The symmetric reserve competes withthe peak management and the RTO-OP? tends to not dischargecompletely the battery even if it is required to avoid a peak. Incase 2, the peak is reached on June 12, 2019 around 08:00.The controller could have avoided it by totally discharging thebattery but did not maintain the reserve level. This is the samebehavior in case 1 where the peak could have been limited ifall the battery was discharged. There is an economic trade-offto reach to manage the peak and the reserve simultaneouslydepending on the valorization or not on the market of thesymmetric reserve. The reserve can also be valorized internallyto cope with non or difficult forecastable events such as asudden drop of the export or import limits due to loss ofequipment or grid congestion.


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Fig. 8: Case 1 (top) and 2 (bottom) SOC.

VI. CONCLUSION

A two-level value function-based approach was introducedas a solution method for a multi-resolution microgrid optimiza-tion problem. The value function computed by the operationalplanner based on PV and consumption forecasts allows copingwith the forecasting uncertainties. The real-time controllersolves an entire optimization problem including the future in-formation propagated by the value function. This approach hasbeen tested on the MiRIS microgrid case study with PV andconsumption data monitored on-site. The results demonstratethe efficiency of this method to manage the peak in comparisonwith a Rule-Based Controller. This test case is completelyreproducible as all the data used are open, PV, consumptionmonitored and forecasted including the weather forecasts. Theproposed approach can be extended in several ways. Thedeterministic formulation of the operational planning problemcould be extended to a stochastic formulation, to cope withprobabilistic forecasts. Balancing market mechanisms couldbe introduced. Finally, the approach could be extended to acommunity by considering several entities inside the micro-grid.

VII. ACKNOWLEDGMENT

The authors would like to thank John Cockerill and Nethysfor their financial support, and Xavier Fettweis of the Labo-

ratory of Climatology of ULiège who produced the weatherforecasts based on the MAR regional climate model.

REFERENCES

[1] O. Palizban, K. Kauhaniemi, and J. M. Guerrero, “Microgrids in activenetwork management part i: Hierarchical control, energy storage, virtualpower plants, and market participation,” Renewable and SustainableEnergy Reviews, vol. 36, pp. 428–439, 2014.

[2] D. E. Olivares, A. Mehrizi-Sani, A. H. Etemadi, C. A. Cañizares,R. Iravani, M. Kazerani, A. H. Hajimiragha, O. Gomis-Bellmunt,M. Saeedifard, R. Palma-Behnke et al., “Trends in microgrid control,”IEEE Transactions on smart grid, vol. 5, no. 4, pp. 1905–1919, 2014.

[3] Q. Jiang, M. Xue, and G. Geng, “Energy management of microgrid ingrid-connected and stand-alone modes,” IEEE transactions on powersystems, vol. 28, no. 3, pp. 3380–3389, 2013.

[4] X. Wu, X. Wang, and C. Qu, “A hierarchical framework for genera-tion scheduling of microgrids,” IEEE Transactions on Power Delivery,vol. 29, no. 6, pp. 2448–2457, 2014.

[5] J. Sachs and O. Sawodny, “A two-stage model predictive control strategyfor economic diesel-pv-battery island microgrid operation in rural areas,”IEEE Transactions on Sustainable Energy, vol. 7, no. 3, pp. 903–913,2016.

[6] S. R. Cominesi, M. Farina, L. Giulioni, B. Picasso, and R. Scattolini,“A two-layer stochastic model predictive control scheme for microgrids,”IEEE Transactions on Control Systems Technology, vol. 26, no. 1, pp.1–13, 2017.

[7] C. Ju, P. Wang, L. Goel, and Y. Xu, “A two-layer energy managementsystem for microgrids with hybrid energy storage considering degrada-tion costs,” IEEE Transactions on Smart Grid, vol. 9, no. 6, pp. 6047–6057, 2017.

[8] B. V. Solanki, C. A. Cañizares, and K. Bhattacharya, “Practical energymanagement systems for isolated microgrids,” IEEE Transactions onSmart Grid, 2018.

[9] S. Polimeni, L. Moretti, G. Manzolini, S. Leva, L. Meraldi, andP. Raboni, “Numerical and experimental testing of predictive EMSalgorithms for PV-BESS residential microgrid,” IEEE-PES Powertech(accepted), p. 6, 2019.

[10] L. Moretti, S. Polimeni, L. Meraldi, P. Raboni, S. Leva, and G. Man-zolini, “Assessing the impact of a two-layer predictive dispatch algorithmon design and operation of off-grid hybrid microgrids,” RenewableEnergy, vol. 143, pp. 1439–1453, 2019.

[11] R. Kumar, M. J. Wenzel, M. J. Ellis, M. N. ElBsat, K. H. Drees, andV. M. Zavala, “A stochastic dual dynamic programming framework formultiscale mpc,” IFAC-PapersOnLine, vol. 51, no. 20, pp. 493–498,2018.

[12] X. Fettweis, J. Box, C. Agosta, C. Amory, C. Kittel, C. Lang, D. vanAs, H. Machguth, and H. Gallée, “Reconstructions of the 1900–2015greenland ice sheet surface mass balance using the regional climateMAR model,” Cryosphere (The), vol. 11, pp. 1015–1033, 2017.

[13] A. Bemporad, A. Garulli, S. Paoletti, and A. Vicino, “A greedy approachto identification of piecewise affine models,” in International Workshopon Hybrid Systems: Computation and Control. Springer, 2003, pp.97–112.

[14] S. Dakir and B. Cornélusse, “Combining optimization and simulationfor microgrid sizing,” Submitted to the 21st Power Systems ComputationConference (PSCC 2020), 2019.

[15] F. Chollet et al., “Keras,” https://keras.io, 2015.[16] F. Pedregosa, G. Varoquaux, A. Gramfort, V. Michel, B. Thirion,

O. Grisel, M. Blondel, P. Prettenhofer, R. Weiss, V. Dubourg, J. Vander-plas, A. Passos, D. Cournapeau, M. Brucher, M. Perrot, and E. Duch-esnay, “Scikit-learn: Machine learning in Python,” Journal of MachineLearning Research, vol. 12, pp. 2825–2830, 2011.

[17] S. B. Taieb, G. Bontempi, A. F. Atiya, and A. Sorjamaa, “A review andcomparison of strategies for multi-step ahead time series forecastingbased on the nn5 forecasting competition,” Expert systems with appli-cations, vol. 39, no. 8, pp. 7067–7083, 2012.


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https://keras.io

VIII. NOTATION

Set and indices• d index of a device• t, t′ indexes of a RTO and OP time periods• τ(t) beginning of the next market period at time t• Ti(t) = {t, t+ ∆t, ..., t+ Ti} set of RTO time periods• T ma (t) = {τ(t), τ(t) + ∆τ, ..., τ(t+Ta)} set of OP time

periods• Ta, Tl time durations, with Ta � Tl• Dk set of non-flexible loads (k = nfl), sheddable loads

(k = she), steerable generators (k = ste), non-steerablegenerators (k = nst), storage devices (k = sto)

Parameters• ∆t time delta between t and the market period (minutes)• ∆τ market period (minutes)• HT forecasting horizon (hours)• ω forecast of a random vector ω• ηcha, ηdis charge and discharge efficiencies (%)• P , P maximum charging and discharging powers (kW)• Cnfl

d,t non-flexible power consumption (kW)• Cshe

d,t flexible power consumption (kW)• Sinit

d,t initial state of charge of battery d (kWh)• ph maximum peak over the last twelve months (kW)• πp yearly peak power cost (e/kW)• πs

OP unitary revenue for providing reserve (e/kW)• πs

RTO unitary RTO symmetric reserve penalty (e/kW)• πkd,t cost of load shedding (k = she), generating energy

(k = ste), curtailing generation (k = nst) (e/kWh)• γsto

d,t fee to use the battery d (e/kWh)• πe

t , πit energy prices of export and import (e/kWh)

• πid, πi

n energy prices of day and night imports (e/kWh)• Icap, Ecap maximum import and export limits (kW)• PVp, Cp PV and consumption capacities (kW)• Sp storage capacity (kWh)• S, S maximum and minimum battery capacities (kWh)

Forecasted or computed variables• at action at t• amt purely market related actions• adt set-points to the devices of the microgrid• akd,t fraction of load shed (k = she), generation activated

(k = ste), generation curtailed (k = nst) ([0, 1])• acha

d,t, adisd,t fraction of the maximum charging and discharg-

ing powers used for battery d ([0, 1])• egri

t , igrit energy export and import (kWh)

• δpt′ OP peak difference between peak at t′ and ph (kW)• δpτ(t−∆τ ),τ(t) RTO peak difference between peak at τ(t)

and ph (kW)• sTSOt TSO symmetric reserve signal (0; 1)• rsym symmetric reserve (kW)• ∆rsym reserve difference between OP and RTO (kW)• rs+d,t′ , r

s−d,t′ upward and downward reserves of power

available and provided by storage device d (kW)• sd,t state of charge of battery d (kWh)

• st microgrid state at time t• smt information related to the current market position• sdt state of the devices• vt the cost-to-go function• ω forecast of a random vector ω• X average of a variable X (kW)• Xmax, Xmin maximum and minimum of X (kW)• Xstd standard deviation of X (kW)• cE , cp, ct energy, peak and total costs (ke)• ∆p peak increment (kW)• Itot, Etot total import and export (MWh)

IX. ANNEX: FORECASTING METHODOLOGY

The inputs of the forecasting method are historical andexternal data, a forecasting horizon HT , a resolution, and aforecast frequency. The outputs are the PV production andthe consumption. In this study, the input data are weatherforecasts and past PV production and consumption series.The horizon is the time range of the forecasts from a fewhours to several hours or days. The resolution is the timediscretization of the forecast from a few minutes to severalhours. The forecast frequency indicates the periodicity atwhich the forecasts are computed. For instance, a forecastingmodule with HT = 24 hours, a resolution and periodicity of15 minutes, computes each quarter, a quarterly forecast forthe twenty-four hours ahead. This paper focuses on the real-time control of microgrids based on planning that requires aforecast horizon of a few hours up to a few days.

Two "classic" deterministic techniques are implemented,a Recurrent Neural Network (RNN) with the Keras Pythonlibrary [15] and a Gradient Boosting Regression (GBR) withthe Scikit-learn Python library [16]. The RNN is a Long ShortTerm Memory (LSTM) with one hidden layer composed of2 × n + 1 neurons with n the number of input features.Both techniques are implemented with a Multi-Input Multi-Output (MIMO) approach [17]. The MIMO strategy consistsof learning only one model, m, as follows

[wτ1 , ..., wτHT ] = m

[wτ0 , ..., wτ−4 , wτ1i , ..., w

τHTi

]. (20)

With w the variable to forecast (PV, consumption, etc), withe forecast of the ith weather variable such as direct solarirradiance, wind speed, air ambient temperature, etc. Theforecast is computed each quarter and composed of HT /∆τvalues [yτ1 , ..., yτHT ]. In our case study, HT /∆τ = 96 withHT = 24 h and ∆τ = 15 minutes. The forecasting process isimplemented as a rolling forecast methodology. The LearningSet (LS) is refreshed every six hours. The LS is limited tothe week preceding the forecasts, to maintain a reasonablecomputation time.

The forecasts are evaluated using three deterministic met-rics: the Normalized Mean Absolute Error (NMAE), theNormalized Root Mean Squared Error (NRMSE), and theNormalized Energy Measurement Error (NEME). The NEMEis an NMAE of the energy summed over the entire forecastinghorizon. The mean scores NMAEHT , NRMSEHT and


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Fig. 9: PV forecast scores for GBR (top) and RNN (bottom).

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Fig. 10: Consumption forecast scores for GBR (top) andRNN (bottom).

NEMEHT for a forecasting horizon HT are computed overthe entire simulation data set. The normalizing coefficientfor computing the NMAE and the NRMSE is the mean ofthe absolute value of the PV and consumption over all thesimulation data set. Figures 9 and 10 provide the scores forboth GBR and RNN techniques computed for each quarter ofthe simulation data set.


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coordination of operational planning and real-time

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