Air conditioners have great potential to participate in power system frequency control. This paper proposes a control strategy to facilitate the active participation of air conditioners. For each air conditioner, a decentralized control law is designed to adjust its temperature set point in response to the system frequency deviation. The decentralized control law accounts for the user's thermal comfort that is evaluated by a fuzzy algorithm. The aggregation of air conditioners' response is conducted by using the Monte Carlo simulation method. A structure preserving model is applied to the multi-bus power system, in which air conditioners are aggregated at certain load buses. An inner-outer iteration scheme is adopted to solve power system dynamics. An experiment is conducted on a test air conditioner to examine the performance of the proposed decentralized control law. Simulation results on a test power system verify the effectiveness of the proposed strategy for air conditioners participating in frequency control.