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I. INTRODUCTIONAlbeit the North American power grid has been recognized as the most important engineering achievement of the 20th century, the modern power grid faces major challenges [87]. Increasingly complex interconnections even at the continent size render prevention of the rare yet catastrophic cascade failures a strenuous concern. Environmental incentives require carefully revisiting how electrical power is generated, transmitted, and consumed, with particular emphasis on the integration of renewable energy resources. Pervasive use of digital technology in grid operation demands resiliency against physical and cyber attacks on the power infrastructure. Enhancing grid efficiency without compromising stability and quality in the face of deregulation is imperative. Soliciting consumer participation and exploring new business opportunities facilitated by the intelligent grid infrastructure hold a great economic potential.The smart grid vision aspires to address such challenges by capitalizing on state-of-the-art information technologies in sensing, control, communication, and machine learning [2], [24]. The resultant grid is envisioned to have an unprecedented level of situational awareness and controllability over its services and infrastructure to provide fast and accurate diagnosis/prognosis, operation resiliency upon contingencies and malicious attacks, as well as seamless integration of distributed energy resources. A. Basic Elements of the Smart GridA cornerstone of the smart grid is the advanced monitorability on its assets and operations. Increasingly pervasive installation of the phasor measurement units (PMUs) allows the so-termed synchrophasor measurements to be taken roughly 100 times faster than the legacy supervisory control and data acquisition (SCADA) measurements, time-stamped using the global positioning system (GPS) signals to capture the grid dynamics. In addition, the availability of low-latency two-way communication networks will pave the way to high-precision real-time grid state estimation and detection, remedial actions

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