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For application of a large number of plug-in electric vehicles (PEVs) to system frequency regulation, a distributed acquisition approach based on consensus filtering is proposed, where frequency-measuring function is performed only at distribution substations. Limited communication between neighboring PEVs/distribution substations can facilitate consistent and accurate acquisition of frequency deviation signals for all PEVs. Considering the battery charging/discharging characteristics, a dynamic PEV model with feedback control is further proposed and integrated with frequency regulation based on distributed acquisition. Asymptotical stabilities of distributed acquisition and system frequency regulation are analyzed. Simulation results demonstrate that the proposed approach can provide consistent and accurate control signals for a large number of PEVs and obtain better regulation than general decentralized …