Simple PID control algorithm adapted to deadband sampling

Deadband sampling is used to reduce the number of messages and CPU utilization in networked control systems. However, when applied in closed control loops, the deadband sampling should be treated in control algorithm to cope with such problems like largely irregular samples, timing of sensor and controller events, and limit cycles. A PID control algorithm for deadband sampling is proposed in this paper to overcome these problems by usage of simple heuristics. The algorithm is evaluated with the help of simulations in TrueTime Toolbox for Matlab/Simulink.