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The enormous economic loss caused by power quality problems (more than $ 150 billion per year in USA) makes power quality monitoring an important component in power grid. With highly connected fragile digital equipment and appliances, Smart Grid has more stringent timeliness and reliability requirements on power quality monitoring. In this work, we propose a change-point detection theory-based power quality monitoring scheme to detect the most detrimental power quality events, such as voltage sags, transients and swells in a quick and reliable manner. We first present a method for single-sensor detection scenario. Based on that, we extend the scheme to multi-sensor joint detection scheme which further enhances the detection performance. A group of conventional power quality monitoring schemes (i.e. Root-mean-square, Short-time Fourier transform, MUSIC, and MBQCUSUM) are compared with the proposed scheme. Experimental results assert the superior of the proposed scheme in terms of detection latency and robustness.