  In this article a model predictive control (MPC) based frequency control
scheme for energy storage units was derived, focusing on the incorporation of
stability constraints based on Lyapunov theory and the concept of passivity.
The proposed control schemes, guaranteeing closed-loop stability, are applied
on a one-area and two-area power system. For the two-area power system, a
coordinated (centralized) control and an uncoordinated (decentralized) control
approach is conducted. The stability properties of the different MPC setups
were derived, implemented and simulated. Furthermore the corresponding control
performance was analyzed.
