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This paper presents a novel Dynam-i-c Droop (iDroop) control mechanism toperform primary frequency control with gird-connected inverters that improvesthe network dynamic performance. The work is motivated by the dynamicdegradation experienced by the power grid due to the increase in asynchronousinverted-based generation. We show that the widely suggested virtual inertiasolution suffers from unbounded noise amplification (infinite $\mathcal H_2$norm) when measurement noise is considered. This suggests that virtual inertiacould potentially further degrade the grid performance once broadly deployed.  This motivates the proposed solution in this paper that overcomes thelimitations of virtual inertia controllers while sharing the same advantages oftraditional droop control. In particular, our iDroop controllers aredecentralized, rebalance supply and demand, and provide power sharing.Furthermore, our solution can improve the dynamic performance without affectingthe steady state solution. Our algorithm can be incrementally deployed and canbe guaranteed to be stable using a decentralized sufficient stability conditionon the parameter values. We illustrate several features of our solution usingnumerical simulations.

iDroop: A dynamic droop controller to decouple power grid's steady-state and dynamic performance