Further Results on Event-Based PID Controller
Résumé
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
Origine : Fichiers produits par l'(les) auteur(s)
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