Conic Relaxations for Power System State Estimation With Line Measurements

This paper deals with the nonconvex power system state estimation (PSSE) problem, which plays a central role in the monitoring and operation of electric power networks. Given a set of noisy measurements, PSSE aims at estimating the vector of complex voltages at all buses of the network. This is a challenging task due to the inherent nonlinearity of power flows (PFs), for which the existing methods lack guaranteed convergence and theoretical analysis. Motivated by these limitations, we propose a novel convexification framework for the PSSE problem using semidefinite programming (SDP) and second-order cone programming (SOCP) relaxations. We first study a related PF problem as the noiseless counterpart, which is cast as a constrained minimization program by adding a suitably designed objective function. We study the performance of the proposed framework in the case where the set of measurements includes: 1) nodal voltage magnitudes and 2) branch active PFs over at least a spanning tree of the network. It is shown that the SDP and SOCP relaxations both recover the true PF solution as long as the voltage angle difference across each line of the network is not too large (e.g., less than 90° for lossless networks). By capitalizing on this result, penalized SDP and SOCP problems are designed to solve the PSSE, where a penalty based on the weighted least absolute value is incorporated for fitting noisy measurements with possible bad data. Strong theoretical results are derived to quantify the optimal solution of the penalized SDP problem, which is shown to possess a dominant rank-one component formed by lifting the true voltage vector. An upper bound on the estimation error is also derived as a function of the noise power, which decreases exponentially fast as the number of measurements increases. Numerical results on benchmark systems, including a 9241-bus European system, are reported to corroborate the merits of the proposed convexification framework.