Controller design of aggregate thermostatically controlled loads based on tracking differentiator

This paper studies the problem of directly controlling thermostatically controlled loads (TCLs) in smart grid. A proportion-integral-derivative (PID) controller is reconstructed by the tracking differentiator (TD). The controller realizes the frequency regulation service in the smart grid by changing the temperature setpoint to control the TCLs. Simulation results show that the modified PID controller is effective in reducing the loads tracking errors and improving the frequency regulation service quality.