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Due to the increasing popularity of electric vehicles (EVs) and technological advancements of EV electronics, the vehicle-to-grid (V2G) technique, which utilizes EVs to provide ancillary services for the power grid, stimulates new ideas in current smart grid research. Since EVs are selfish individuals owned by different parties, how to motivate them to provide ancillary services becomes an issue. In this paper, game theoretic approaches using non-cooperative and cooperative game are proposed to motivate EVs to provide frequency regulation services for the power grid. In a non-cooperative V2G system, the interaction between the EV aggregator and EVs is formulated as a non-cooperative Stackelberg game. The EV aggregator as the leader decides the electricity trading price, and EVs as the followers determine their charging/discharging strategies. In a cooperative V2G system, a potential game is formulated to …