  We describe a robust multiperiod transmission plan- ning model including
renewables and batteries, where battery output is used to partly offset
renewable output deviations from forecast. A central element is a nonconvex
battery operation model which is used with a robust model of forecast errors
and a linear control scheme. Even though the problem is nonconvex we provide an
efficient and theoretically valid algorithm that effectively solves cases on
large transmission systems. Index Terms. Batteries, control, robust
optimization.
