Large-Scale Invariant Sets for Safe Coordination of Thermostatic Loads

Abstract

Systems often face constraints at multiple levels. For example, in coordinating a collection of thermostatically controlled loads to provide grid services, the controller must ensure temperature constraints for each load (local constraints) and distribution network constraints (global constraints) are satisfied. In this paper, we leverage invariant sets to ensure safe coordination of systems with both local and global constraints. Specifically, we develop a method for constructing a controlled invariant set for a collection of subsystems, modeled as transition systems, to ensure they indefinitely satisfy the constraints, based on cycles in individual transition systems. Then, we develop a control algorithm that keeps the state inside the maximal controlled invariant set. We apply these algorithms to a demand response problem, specifically, the tracking of a power trajectory (e.g., a frequency regulation signal) by a population of homogeneous air conditioners. The algorithm simultaneously maintains local temperature requirements and aggregate power consumption limits, ensuring the control is nondisruptive to consumers and benign to the distribution network.