I. Introduction
HVDC promotes the interconnection of regional power grids and forms large-scale sending-end and receiving-end power grids [1]–[3]. However, due to the unbalance between internal power generation and consumption in sending-end and receiving-end power grids, their dynamic responses are different from those of conventional regional power grids. Coupled with the dynamic characteristics of HVDC itself, the stability problem of the HVDC sending-end and receiving-end power grid is more severe, and further research is needed [4]–[5].