A discrete model-based event PID controller solution and stability evaluation

The paper studies the discrete event model-based PID controller. The structure of the networked controller is constructed. The structure is reduced for stability investigation. Than the automatic tuning method of PID controller and the synthesis of the model is presented. The stability theorem for a known process is formulated and proved using piecewise quadratic Lyapunov function. Finally, the numeric example of the whole process is shown.