Guaranteeing the small signal stability of interconnected power system has always been challenging because of a host of reasons such as variation in operating conditions, uncertainty in parameters of the system and network configuration. Because of complexity of the system, nonlinear system theory has not been able to make much impact on power system real time control. Linear and multivariable system theory has been more effective, but robustness of the control performance has always been an issue because of variable nature of the system. Dr Pal tackled the problem in H∞ framework. He modelled the damping requirement of the system as additional constraints and solved through Linear Matrix Inequality Optimisation. The research targeted damping inter-area modes of interconnected system with energy storage device, later extended to various flexible ac system controllers (FACTS). The utilization of wide area-based signal was considered for centralized control architecture. The issue of time delay in delivering the control signal from the measurement location to the control location was dealt by predictor-based approach. The control algorithms were all validated in real time with dynamic simulator. The research was sponsored by research council and industry and the know how has been transferred to industry.