An Event-Based PID Controller With Low Computational Cost

Sylvain Durand 1, 2 Nicolas Marchand 1, 3
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
3 GIPSA-SYSCO - SYSCO
GIPSA-DA - Département Automatique
Abstract : In this paper, some improvements of event-based PID controllers are proposed. These controllers, contrary to a time-triggered one which calculates the control signal at each sampling time, calculate the new control signal only when the measurement signal \textit{sufficiently} changes. The contribution of this paper is a low computational cost scheme thanks to a minimum sampling interval condition. Moreover, we propose to reduce much more the error margin during the steady state intervals by adding some extra samples just after transients. A cruise control mechanism is used for simulations and a noticeable reduction of the mean control computation cost is finally achieved with similar closed-loop performances to the conventional time-triggered ones.
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Sylvain Durand, Nicolas Marchand. An Event-Based PID Controller With Low Computational Cost. 8th International Conference on Sampling Theory and Applications (SampTA'09), May 2009, Marseille, France. Special session on Sampling and Industrial Applications. ⟨hal-00393031⟩

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