Abstract-Dynamic load controllers for thermostatically controlled loads should allow for accurate control of power consumption and should not disrupt the quality of service. This paper proposes an intuitive definition of nondisruptiveness for systems with second-order thermal models, based on a decomposition into fast and slow temperature modes. It enables the explicit control of the slow mode temperature using an embedded first order model; control of the fast mode is implicit. Temperature bounds are derived, and the slow mode controller is implemented using an accurate decentralised stochastic control strategy. Simulation results confirm its accuracy and nondisruptiveness
