I. Introduction
A paradigm shift in power engineering will transform conventional power systems into more sustainable, environmental-friendly, and high-efficiency smart grids [1]. As an important feature of smart grids, renewable energy sources (RESs), such as photovoltaics and wind, have already been greatly exploited to generate low-carbon electricity. However, the large-scale integration of RESs may bring in stability concerns to modern power systems [2]. This is because RESs are normally coupled to the mains grid through fast-response grid-connected power converters without providing any power system inertia, and hence, the system inertia generated by conventional synchronous generators decreases dramatically. Consequently, the system frequency may greatly deviate from its nominal value under severe frequency events, leading to the undesirable load-shedding, cascading failure, or even large-scale blackout [3].