A frequency response optimization system includes a battery configured to store and discharge electric power, a power inverter configured to control an amount of the electric power stored or discharged from the battery at each of a plurality of time steps during a frequency response period, and a frequency response controller. The frequency response controller is configured to receive a regulation signal from an incentive provider, determine statistics of the regulation signal, use the statistics of the regulation signal to generate an optimal frequency response midpoint that achieves a desired change in a state-of-charge (SOC) of the battery while participating in a frequency response program, and use the midpoints to determine optimal battery power setpoints for the power inverter. The power inverter is configured to use the optimal battery power setpoints to control the amount of the electric power stored or discharged from the battery.