Further Results on Event-Based PID Controller

Sylvain Durand (1, 2) , Nicolas Marchand (1, 3)

1 NECS - Networked Controlled Systems
2 GIPSA-lab - Grenoble Images Parole Signal Automatique
3 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

In this paper, some improvements of the simple event-based PID controller presented by K-E Arzen in the 14th World Congress of IFAC (Beijing, P.R. China, 1999) are proposed. This controller, contrary to a time-triggered controller which calculates the control signal at each sampling time, calculates the new control signal only when the measurement signal sufficiently changes. In the original work of Arzen, a safety maximum period is added forcing the control to be recomputed even if the measurement signal remains unchanged. The contribution of this paper is to propose a scheme to avoid this re-computation. Besides a noticeable reduction of the mean control computation cost, the performance of the closed loop system is also improved.

Domaines: Automatique / Robotique

Sylvain Durand, Nicolas Marchand. Further Results on Event-Based PID Controller. ECC 2009 - European Control Conference, Aug 2009, Budapest, Hungary. pp.1979-1984. ⟨hal-00368535⟩