Most of the effort has been done in design. Rotating mass of generators is a nice self-correcting system, also the frequency is a near-zero latency signaling me

Most of the effort has been done in design. Rotating mass of generators is a nice self-correcting system, also the frequency is a near-zero latency signaling mechanism across the entire grid. Each participant can measure it and make independent decisions whether the grid needs more power or more consumption. There is a lot of work that goes into predicting and commanding large participants and it's a complex system but some of the design is just beautiful in it's simplicity.