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The usage of remote signal obtained from a widearea measurement system (WAMS) introduces time delays to a wide-area damping controller (WADC), which would degrade system damping and even cause system instability. The time delay margin is defined as the maximum time delay under which a closed-loop system can retain stable. In this paper, the delay margin is introduced as an additional performance index for the synthesis of classicalWADCs for flexible AC transmission systems (FACTS) devices to damp inter-area oscillations. The proposed approach includes three parts: a geometric measure approach for selecting feedback remote signals, a residue method for designing phase compensation parameters, and a Lyapunov stability criterion and linear matrix inequalities (LMI) for calculating the delay margin and determining the gain of the WADC based on a tradeoff between damping performance and delay margin. Three case studies are undertaken based on a four-machine two-area power system for demonstrating the design principle of the proposed approach, a New England 10-machine 39-bus power system and a 16-machine 68-bus power system for verifying the feasibility on larger and more complex power systems. The simulation results verify the effectiveness of the proposed approach on providing a balance between the delay margin and the damping performance.

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