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Hao, He, Borhan M Sanandaji, Kameshwar Poolla, and Tyrone L Vincent. "A generalized battery model of a collection of Thermostatically Controlled Loads for providing ancillary service." 2013 51st Annual Allerton Conference on Communication, Control, and Computing (Allerton). Monticello, IL: IEEE, 2013. 551 - 558.