Virtual Power Plants (VPPs) have emerged as a modern real-time energy management architecture that seeks to synergistically coordinate an aggregation of renewable and non-renewable generation systems to overcome some of the fundamental limitations of traditional power grids dominated by synchronous machines. In this survey paper, we review the different existing and emerging feedback control mechanisms and architectures used for the real-time operation of VPPs. In contrast to other works that have mostly focused on the optimal dispatch and economical aspects of VPPs in the hourly and daily time scales, in this paper we focus on the dynamic nature of the system during the faster sub-hourly time scales. The virtual (i.e., software-based) component of a VPP, combined with the power plant (i.e., physics-based) components of the power grid, make VPPs prominent examples of cyber-physical systems, where both continuous-time and discrete-time dynamics play critical roles in the stability and transient properties of the system. We elaborate on this interpretation of VPPs as hybrid dynamical systems, and we further discuss open research problems and potential research directions in feedback control systems that could contribute to the safe development and deployment of autonomous VPPs.INDEX TERMS Smart grids, renewable energy, virtual power plant, feedback control, multi-agent hybrid dynamical systems.

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