> I don't think it's a problem that happens, though
But how do you know. That's the issue. If P is the probability of getting caught, and C is the number of people caught then N ~= C/P. With our current system it seems like P is close to 0 so even with C = 0 there could be a lot of successful attempts.
Rigging a polling place is not viable because it would require coordination between multiple people and leave a clear mathematical trail after. So I would say that, including detection after the fact, that P > 0.5 and that the fact that it hasn't been caught means that N = 0.
> But by introducing voter ID systems you are very likely to skew elections away from the people least likely to possess accepted ID, i.e. the lowest socio-economic groups.
This is pretty much separate from my point but I am also skeptical about this. If someone can get to the polling place, stand in a line, and do paperwork to vote, then why could they not do pretty much the same thing to get an ID?