First order observers in event-based PID controls

Event-based sampling allows reducing the number of triggered events in networked control systems, promising better resource utilization. However, the resulting irregular samples lead to uncertainty in controller about the plant state between samples, which may strongly degrade the quality of control if standard PID controllers are used. The inter-sample plant behavior can be estimated using state observers, but the precise observers of higher orders require complex design, large computational efforts at runtime and are sensitive to the disturbance characteristics. This paper proposes using the simplified observers of first order to overcome the drawbacks of higher order observers. The properties of the simplified observers are investigated for different parameters based on simulations.