I. Introduction
Energy management of large and distributed data centers has become an increasingly important problem. With the fast development of cloud computing services, it is now common for a cloud provider (e.g., Google, Microsoft, and Amazon) to build multiple, large, and geographically dispersed data centers across the continent. Each data center may include hundreds of thousands of servers, massive storage equipment, cooling facilities, and power transformers. The energy consumption and cost of data centers hence can be significant [2]. For example, Google reported in 2011 that its data centers continuously draw almost 260 MW of power, which is more than what Salt Lake City consumes [3]. Microsoft’s data center in Washington US consumes 48 MW of power, which is equivalent to the power consumption of about 40,000 households. This has motivated growing research activities toward optimizing the data center operations to reduce the total energy cost. For example, Qureshi et al. in [2] proposed an energy cost minimization method for distributed data centers to exploit electricity price difference. The idea is later extended in [4]–[10].