Experimental Demonstration of Frequency Regulation by Commercial   Buildings - Part I: Modeling and Hierarchical Control Design
  This paper is the first part of a two-part series in which we present results from an experimental demonstration of frequency regulation in a commercial building test facility.   In Part I, we introduce the test facility and develop relevant building models. Furthermore, we design a hierarchical controller that consists of three levels: a reserve scheduler, a building climate controller, and a fan speed controller for frequency regulation. We formulate the reserve scheduler as a robust optimization problem and introduce several approximations to reduce its complexity. The building climate controller is comprised of a robust model predictive controller and a Kalman filter. The frequency regulation controller consists of a feedback and a feedforward loop, provides fast responses, and is stable.   Part I presents building model identification and controller tuning results, whereas Part II reports results from the operation of the hierarchical controller under frequency regulation. 
Evangelos Vrettos, Emre C. Kara, Jason MacDonald, G\"oran Andersson,   and Duncan S. Callaway
math.OC