Abstract
Smart power grid is referred to as the next revolutionary innovation in electric power generation, transmission, and distribution technology. Smart grids are an example of cyber physical system (CPS) and an extremely critical infrastructure. The smart grids are expected to be more secure and must have the ability of self-healing and recovery. Smart power grids are also one of the major targets for different kinds of cyber attacks, as they are now an open system network, according to the model architecture of smart power grid. This paper presents a comprehensive survey on understanding the smart power grid, its important components, different cyber security and other kinds of issues, existing methodologies and approaches for communication protocols, and architecture of smart power grids. We conclude our paper by discussing various research challenges that still exist in the literature, which provides a better understanding of the problem, the current solution space, and future research directions to defend smart power against different cyber attacks.
Similar content being viewed by others
References
NIST framework and roadmap for smart grid interoperability standards, Release 1.0, https://www.nist.gov/sites/default/files/documents/publicaffairs/releases/smartgrid interoperability final.pdf
Liu R, Srivastava A (2015) Integrated simulation to analyze the impact of cyber-attacks on the power grid. IEEE Workshop on Modellingand Simulation of Cyber-Physical Energy Systems (MSCPES), pp. 1–6
Anderson K, Jimmy D, Narayan A, El Gamal A (2014) Grid-spice: a distributed simulation platform for the smart grid. IEEE trans Ind Inf 10(4):2354–2363
Liu J, Yang X, Li S, Liang W, Chen CLP (2012) Cyber security and privacy issues in smart grids. IEEE Commun Surv Tutorials 14(4, Fourth Quarter):981–997
Mets K, Ojea JA, Develder C (2014) Combining power and communication network simulation for cost effective smart grid analysis. IEEE Commun Surv Tutorials 16(3, Third Quarter):1771–1796
Wang C, Fang L, Yiqi D (2010) A simulation environment for SCADA security analysis and assessment. IEEE International Conference on Measuring Technology and Mechatronics Automation, pp. 342–347
Siaterlis C, Garcia A, Genge B (2012) On the use of Emulab testbeds for scientifically rigorous experiments. IEEE Commun Surv Tutorials, pp. 1–14
Anderson D, Zhao C, Hauser C, Venkatasubramanian V, Bakken D, Bose A (2012) A virtual smart grid—real-time simulation for smart grid control and communications design. IEEE Power Energ Mag 10(1):49–57
Gjermundrød H, Bakken D, Hauser C, Bose A (2009) GridStat: a flexible QoS-managed data dissemination framework for the power grids. IEEE Trans Power Deliv 24(1):136–143
Mahmood H, Jiang J (2012) Modeling and control system design of a grid connected VSC considering the effect of the interface transformer type. IEEE Trans Smart Grid 3(1):122–134
Fazeli M, Asher G, Klumpner C, Yao L, Bazargan M (2012) Novel in-tegration of wind generator-energy storage systems within microgrids. IEEE Trans Smart Grid 3(2):728–737
Coroiu F, Velicescu C, Barbulescu C, (2011) Probabilistic and deterministic load flows methods in power systems reliability estimation. In: Proc. IEEE Int. Conf. Computer as a Tool 2011 (EUROCON ‘11), pp. 1–4
Andren F, Stifter M, Strasser T, and de Castro DB (2011) Framework for co-ordinated simulation of power networks and components in smart grids using common communication protocols. In: Proc. 37th Annu. Conf. IEEE Industrial Electronics Society (IECON ‘11), pp. 2700–2705
Chant T, Shafiullah GM, Oo A, Harvey B, (2011) Impacts of increased photovoltaic panel utilisation on utility grid operations—a case study”, in Proc. IEEE/PES Innovative Smart Grid Technologies Asia 2011 (ISGT Asia ‘11), pp. 1–7
Sachs U (2012) Smart grid offering within PSS R SINCAL”, Siemens, Tech Rep
Hernandez A, Eguia P, Torres E, Rodriguez M (2011) Dynamic simulation of a SSSC for power flow control during transmission network contingencies. In: Proc. IEEE Trondheim PowerTech, pp. 1–6
Napolitano F, Borghettia A, Paolonea M, Bernardib M (2011) Voltage transient measurements in a distribution network correlated with data from lightning location system and from sequence of events recorders. Electr Power Syst Res 81:237–253
Roche R, Natarajan S, Bhattacharyya A, Suryanarayanan S (2012) A framework for co-simulation of AI tools with power systems analysis software. In: Proc. 23rd Int.Workshop on Database and Expert Systems Applications 2012 (DEXA ‘12), pp. 350–354
Mehra R, Bhatt N, Kazi F, Singh N, (2013) Analysis of PCA based compression and denoising of smart grid data under normal and fault conditions. In Proc. IEEE Int. Conf. Electronics, Computing and Commun. Technol. 2013 (CONECCT ‘13), pp. 1–6
Asimakopoulou G, Voumvoulakis E, Dimeas A, Hatziar-gyriou N (2011) Impact of large-scale integration of intelligent meters to the operation of the power system of crete”, in Proc. 16th Int. Conf. on Intelligent System Application to Power Systems 2011 (ISAP ‘11), pp. 1–6
Kreckelbergh S, Vechiu I (2012) Sizing and dynamic analyses of a micro-grid supplying a harbor industrial area. In: Proc. 16th Int. Conf. on System Theory, Control and Computing 2012 (ICSTCC ‘12), pp. 1–5
Anwar A, Pota H (2011) Loss reduction of power distribution network using optimum size and location of distributed generation. In: Proc. 21st Australasian Universities Power Engineering Conference (AUPEC ‘11), pp. 1–6
de Haan J, P. Nguyen, W. Kling, and P. Ribeiro, (2011) Social interaction interface for performance analysis of smart grids. In: Proc. 1st Int. Workshop Smart Grid Modeling and Simulation (SGMS 2011) at IEEE SmartGridComm 2011, pp. 79–83
Meere R, O’Malley M, Keane A (2012) VSC-HVDC link to support voltage and frequency fluctuations for variable speed wind turbines for grid connection. In: Proc. 3rd IEEE/PES Int. Conf. and Exhibition on Innovative Smart Grid Technologies 2012 (ISGT Europe ‘12), pp. 1–5
Opal-rt, http://www.opal-rt.com /
Abourida S, Dufour C, Belanger J, Murere G, Lechevin N, Yu B (2002) Real-time PC-based simulator of electric systems and drives. In Applied Power Electronics Conf. and Exposition, 2002. APEC 2002. 17th Annu. IEEE, vol. 1, pp. 433–438 vol.1
Kuffel R, Giesbrecht J, Maguire T, Wierckx R, McLaren P, (1995) Rtds—a fully digital power system simulator operating in real time. In: WESCANEX 95. Commun., Power, and Computing. Conf. Proc., IEEE, 2:300–305
Ayasun S, Nwankpa C, Kwatny H (2006) Voltage stability toolbox for power system education and research. IEEE Trans Ed 49(4):432–442
Milano F, Vanfretti L (2009) State of the art and future of OSS for power systems. In: Proc. IEEE Power Energy Society General Meeting 2009(PES ‘09), pp. 1–7
Henderson TR, Lacage M, and Riley GF (2008) Network simulations with the ns-3 simulator. In: Proc. ACM Conf. Special Interest Group on Data Commun. 2008 (SIGCOMM ‘08), August 17–22 2008, p. 527
Lin H, Sambamoorthy S, Shukla S, Thorp J, Mili L (2011) Power system and communication network co-simulation for smart grid applications. In: Proc. IEEE/PES Innovative Smart Grid Technol. 2011(ISGT ‘11), pp. 1–6
Kim J, Kim D, Lim K-W, Ko Y-B, Lee S-Y (Dec. 2012) Improving the reliability of IEEE 802.11s based wireless meshnetworks for smart grid systems. J Commun Netw 14(6):629–639
Varga A (2008) An overview of the OMNeT++ simulation environment. In: Proc. 1st Int. Conf. Simulation Tools and Techniques for Commun., Netw. and Systems (SIMUTools ‘08), Marseille, France, 3–7
Bhor D, Angappan K, Sivalingam KM (2015) Network and power-grid co-simulation framework for SmartGrid wide-area monitoring networks, in Elsevier. J Netw Comput Appl 59:274–284
Mora R, Lopez A, Roman D, Sendin A, Berganza I (2009) Communications architecture of smart grids to managethe electrical demand. In: Proc. 3rd Workshop Power Line Commun., Italy, October 1–2 2009
Kellerbauer H, Hisch H (2011) Simulation of power line communication with omnet++ in (static) smart grids. In: Proc. 4th Int. ICST Conf. SimulationTool and Technique, ser.SIMUTools’11. ICST, Brussels, Belgium, Belgium: ICST (Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering), pp. 406–409
Konnerth T, Chinnnow J, Grunewald D, Kaiser S (2012) Integration of simulations and MAS for smart grid management systems”, in Proc. 3rd Int. Workshop on Agent Technologies for Energy Systems (ATES 2012) at 11thInt. Conf. on Agents and Multi agent System (AAMAS ‘12), Valencia, Spain, June 5 2012
Chassin D, Schneider K, Gerkensmeyer C (2008) GridLAB-D: an open-source power systems modeling and simulation environment. In: Proc. IEEE/PES Transmission and Distribution Conf. and Exposition 2008, april 2008, pp. 1–5
Schneider K, Chassin D, Chen Y, Fuller J (2009) Distribution power flow for smart grid technologies”, in Proc. IEEE/PES Power Systems Conf. and Exposition 2009 (PSCE ‘09), march 2009, pp. 1–7
Nutaro J, Kuruganti P, Miller L, Mullen S, Shankar M (2007) Integrated hybrid-simulation of electric power and communications systems”, in Proc. IEEE Power Engineering Society General Meeting 2007 (PES ‘07), june 2007, pp. 1–8
Lin H, Veda S, Shukla S, Mili L, Thorp J (2012) GECO: global event-driven co-simulation framework forinterconnected power system and communication networks. IEEE Trans. Smart Grid 3(3):1444–1456
Godfrey T, Mullen S, Dugan RC, Rodine C, Griffith DW, Golmie N (2010) Modeling smart grid applications with co-simulation. In: Proc. 1st IEEE Int. Conf. On smart grid Commun. 2010 SmartGrid-Comm ‘10)
Hopkinson K, Wang X, Giovanini R, Thorp J, Birman K, Coury D (2006) EPOCHS: a platform for agent-based electric power and communication simulation built from commercial off-the-shelf components. IEEE Trans Power Syst 21(2):548–558
Hopkinson K, Birman K, Giovanini R, Coury D, Wang X, Thorp J (2003) EPOCHS: integrated commercial off-the-shelf software for agent-based electric power and communication simulations. In: Proc. Winter Simulation Conf. 2003, vol. 2, Dec., pp. 1158–1166
Mets K, Verschueren T, Develder C, Vandoor TL, Vande-velde L (2011) Integrated simulation of power and communication networks for smart grid applications. In: Proc. IEEE 16th Int. Workshop Com puter Aided Modeling and Design of Commun. Links and Networks 2011 (CAMAD ‘11), Kyoto, Japan, 10–11
Mets K, Verschueren T, De Turck F, Develder C, (2011) Exploiting v2g to optimize residential energy consumption with electrical vehicle (dis)charging. In: Proc. 1st Int. Workshop Smart Grid Modelling and Simulation (SGMS 2011) at IEEE SmartGridComm 2011, pp. 7–12
Anderson K, Narayan A (2011) Simulating integrated volt/var control and distributed demand response using GridSpice. In: Proc. 1st Int. Workshop Smart Grid Modellingand Simulation (SGMS 2011) at IEEE,SmartGridComm 2011, Brussels, Belgium, 17, pp. 84–89
Bergmann J, Glomb C, Gӧandtz J, Heuer J, Kuntschke R, Winter M (2010) Scalability of smart grid protocols: protocols and their simulative evaluation for massively distributed DERs”, in Proc. 1st IEEE Int. Conf. Smart Grid Commun. 2010 (SmartGridComm ‘10), pp. 131–136
Schutte S (2011) Composition of simulations for the analysis of smart grid scenarios. Energieinformatik, Tech. Rep
Schutte S, Scherfke S, Troschel M (2011) Mosaik: a framework for modular simulation of active components in smart grids. In: Proc. 1st Int. Workshop Smart Grid Modeling and Simulation (SGMS 2011) at IEEE SmartGridComm 2011, 17 Oct. 2011, pp. 55–60
Office of the National Coordinator for Smart Grid Interoperability (2010) NIST framework and roadmap for smart grid interoperability standards, release 1.0, NIST Special Publication 1108 1–145
Queiroz C (2011) Abdun Mahmood, and ZahirTari, “SCADASim—a framework for building SCADA simulations”. IEEE Trans Smart Grid 2(4):589–597
Georg H, Muller SC, Dorsch N, Rehtanz C, Wietfeld C (2013) INSPIRE: Integrated Co-Simulation of Power and ICT Systems for Real-Time Evaluation. IEEE SmartGridComm Symposium-Smart Grid Standards, Co Simulations, Test beds andField Trials, pp. 576–581
Miller B and Rowe DC (2012) A survey of SCADA and critical infrastructure incidents”, Proceedings of the 1st Annual conference on Research in information technology (RIIT), pages 51–56
NCCIC/ICS-CERT (2001) Year in Review, https://ics-cert.us-cert.gov/sites/default/files/AnnualReports/YearinReviewFY2015FinalS508C.pdf
Chuang C-L, Wang Y-C, Lee C-H, Liu M-Y, Hsiao Y-T, Jiang J-A (2010) An adaptive routing algorithm over packet switching networks for operation monitoring of power transmission systems. IEEE Transactions on Power Delivery 25:882–890
Sridhar S, Manimaran G (2010) Data integrity attacks and their impacts on SCADA control system”, in: Proc. of IEEE power and energy society general meeting (PES ‘10)
Ranjan S, Swaminathan R, Uysal M, Nucci A, Knightly E (2009) Ddos-shield: Ddos-resilient scheduling to counter application layer attacks. ACM/IEEE Trans Netw 17(1):40–53
Premaratne U, Samarabandu J, Sidhu T, Beresh R, Tan J-C (2010) An intrusion detection system for IEC61850 automated substations. IEEE Trans Power Deliv 25:2376–2383
Wei D, Lu Y, Jafari M, Skare P, Rohde K (2010) An integrated security system of protecting smart grid against cyber attacks”, in: innovative smart grid technologies (ISGT 2010), Gaithersburg, MD, pp. 1–7
Anderson R, Fuloria S (2010) Who controls the off switch?”, in: Proc. 1st IEEE SmartGridComm 2010, Gaithersburg, MD, pp. 96–101
Li F, Luo B, Liu P (2010) Secure information aggregation for smart grids using homomorphic encryption. In: Proc. 1st IEEE SmartGrid-Comm 2010, Gaithersburg, MD, , pp. 327–332
Bartoli A, Hernandez-Serrano J, Soriano M, Dohler M, Koun-touris A, Barthel D (2010) Secure lossless aggregation for smart grid M2M networks. In: Proc. 1st IEEE SmartGridComm 2010, Gaithersburg, MD, pp. 333–338
U.S. NIST (2010) Guidelines for smart grid cyber security (vol. 1 to 3), NISTIR-7628, available at: http://csrc.nist.gov/publications/PubsNISTIRs.html#NIST-IR-7628
P. Zhang, O. Elkeelany, L. McDaniel (2010) An implementation of secured smart grid ethernet communications using AES”, in: Proceedings of the IEEE SoutheastCon (SoutheastCon 2010), Concord, NC, pp. 394–397
Metke AR, Ekl RL (2010) Security technology for smart grid networks. IEEE Trans. Smart Grid 1(1):99–107
Bennett C, Wicker SB (2010) Decreased time delay and security enhancement recommendations for AMI smart meter networks”, in: Innovative Smart Grid Technologies (ISGT 2010), Gaithersburg, MD, pp. 1–6
Khan HA, Xu Z, Iu H, Sreeram V (2009) Review of technologies and implementation strategies in the area of smart grid. In: the 10th postgraduate electrical engineering and computing symposium, IEEE WA Section, Perth
Alsiherov F, Kim T (2010) Secure SCADA network technology and methods. In: Proc. 12th WSEAS international conference on automatic control, Modelling & Simulation, Catania, pp. 434–438
Kezunovic M (2009) Automated fault analysis in a smart grid”, in: IEEE Asia and Pacific Transmission & Distribution Conference & Exposition, Seoul, Oct. 2009, pp. 1–3
Berthier R, Sanders WH, Khurana H (2010) Intrusion detection for advanced metering infrastructures: requirements and architectural directions. In: Proc. 1st IEEE SmartGridComm 2010, Gaithersburg, MD, pp. 350–355
Fan Z, Kalogridis G, Efthymiou C, Sooriyabandara M, Serizawa M, McGeehan J (2010) The new frontier of communications research: smart grid and smart metering. In: Proc. 1st international conference on energy-efficient computing and networking, Passau, Germany, pp. 115–118
Cavoukian A, Polonetsky J, Wolf C (2010) SmartPrivacy for the smart grid: embedding privacy into the design of electricity conservation. Identity in the Information Society, Springer Netherlands, ISSN: 1876-0678
Kalogridis G, Efthymiou C, Denic SZ, Lewis TA, Cepeda R (2010) Privacy for smart meters: towards undetectable appliance load signatures”, in: the first IEEE Internation conference on smart grid communications (SmartGridComm), Gaithersburg, MD, pp. 232–237
Kalogridis G, Denic SZ, Lewis T, Cepeda R (2011) Privacy protection system and metrics for hiding electrical events. Int J Secur Netw (IJSN), special issue on security and privacy in smart grids 6(1):14–27
Pelechrinis K, Yan G, Eidenbenz S (2009) Detecting selfish exploitation of carrier sensing in 802.11 networks. In: Proc. of the IEEE conference on computer communications (INFOCOM ‘09)
NISTIR 7628 (2010) The Smart Grid Interoperability Panel – Cyber Security Working Group, Guidelines for smart grid cyber security, 1–597
Lu Z, Lu X, Wang W, Wang C, (2010) Review and evaluation of security threats on the communication networks in the smart grid. In: Proc. of military communications conference (MILCOM’ 10)
Liu Y, Ning P, Dai H, Liu A (2010) Randomized differential DSSS: jamming-resistant wireless broadcast communication. In: Proc. of IEEE INFOCOM ‘10
Pendarakis D, Shrivastava N, Liu Z, Ambrosio R (2007) Information aggregation and optimized actuation in sensor networks: enabling smart electrical grids. In: Proc. of the IEEE conference on computer communications (INFOCOM ‘07)
Lu Z, Wang W, Wang C (2011) From jammer to gambler: modeling and detection of jamming attacks against time-critical traffic. In: Proc. of IEEE INFOCOM 2011
Mirkovic J, Reiher P (2004) A taxonomy of DDoS attack and DDoS defense mechanisms. SIGCOMM Comput Commun Rev 34(2):39–53
Premaratne U, Samarabandu J, Sidhu T, Beresh B, Tan J-C (2008) Evidence theory based decision fusion for masquerade detection in IEC61850 automated substations. In: Proc. of the 4th international conference on information and automation for sustainability (ICIAFS 2008)
Akyol B, Kirkham H, Clements S, Hardley M (2010) A survey of wireless communications for the electric power system. Report of Pacific Northwest National Laboratory 1–73
Kucuktezan CF, Genc VMI, (2010) Dynamic security assessment of a power system based on probabilistic neural networks. In: Proc. of innovative smart grid technologies conference Europe (ISGT)
Kundur D, Feng X, Liu S, Zourntos T, Butler-Purry KL, (2010) Towards a framework for cyber attack impact analysis of the electric smart grid. In: Proc. of IEEE conference on smart grid communications
Sheng Y, Tan K, Chen G, Kotz D, Campbell A (2008) Detecting 802.11 MAC layer spoofing using received signal strength. In: Proc. of the 27th IEEE conference on computer communications (INFOCOM ‘08)
Navda V, Bohra A, Ganguly S, Rubenstein D (2007) Using channel hopping to increase 802.11 resilience to jamming attacks”, in: Proc. of IEEE INFOCOM ‘07, pp. 2526–2530
Mihaljevic MJ, Kohno R (2002) On wireless communications privacy and security evaluation of encryption techniques”, in: Proc. of IEEE wireless communications and networking conference (WCNC ‘02)
Choi D, Kim H, Won D, Kim S (2009) Advanced key-management architecture for secure SCADA communications. IEEE Trans Power Deliv 24:1154–1163
Bobba R, Khurana H, AlTurki M, Ashraf F (2009) PBES: a policy based encryption system with application to data sharing in the power grid. In: Proc. of the 4th ACM Symposium on Information, Computer and Communications Security (ASIACCS ‘09)
Hamieh A, Ben-Othman J, (2009) Detection of jamming attacks in wireless ad hoc networks using error distribution. In: Proc. of IEEE ICC ‘09
Gilchrist G (2008) Secure authentication for DNP3. In: Proc. of IEEE Power and Energy Society General Meeting (PES ‘08), pp. 1–3
Hegland AM, Winjum E, Mjolsnes SF, Rong C, Kure O, Spilling P A survey of key management in ad hoc networks. IEEE Communications Surveys and Tutorials 8
Kuntze N, Rudolph C, Cupelli M, Liu J, Monti A (2010) Trust infrastructures for future energy networks. In: Proc. of IEEE power and energy society general meeting (PES ‘10)
Efthymiou C, Kalogridis G (2010) Smart grid privacy via anonymization of smart metering data. In: the first IEEE Internation conference on smart grid communications (SmartGridComm), Gaithersburg, MD, pp. 238–243
Gupta B, Agrawal DP, Yamaguchi S, eds. (2016) Handbook of research on modern cryptographic solutions for computer and cyber security. IGI Global
AlZain MA et al (2015) Multi-cloud data management using Shamir’s secret sharing and quantum byzantine agreement schemes. Int J Cloud Appl Comput (IJCAC) 5(3):35–52
Stergiou C et al (2016) Secure integration of IoT and cloud computing. Futur Gener Comput Syst
Acknowledgements
This research work is being supported by a sponsored project grant (SB/FTP/ETA-131/2014) from SERB, DST, Government of India.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Gupta, B.B., Akhtar, T. A survey on smart power grid: frameworks, tools, security issues, and solutions. Ann. Telecommun. 72, 517–549 (2017). https://doi.org/10.1007/s12243-017-0605-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12243-017-0605-4