I. Introduction
In the absence of economical large-scale storage options, the electricity grid faces constant pressure to match instantaneous supply with instantaneous demand. In the near future, increasing demand and the grid's growing reliance on intermittent and volatile renewable resources will introduce more difficulties in matching electricity supply and demand. One possible solution is to encourage demand side participation in the electricity market. The technologies that enable this participation are usually referred to as Demand Side Management (DSM) or Demand Response (DR); they permit demand to be controlled, thereby facilitating load-leveling or peak shaving.