Adaptive jitter margin PID controller

This paper develops an adaptive controller for (wireless) networked control systems by combining delay estimation and a jitter margin based PID controller tuning. A control system with wireless measurement is assumed, where the network induces delay jitter. Two delay jitter estimation algorithms are developed, with a method for selecting only valid delay estimates. The delay jitter adaptive PID controller is verified by two simulation studies, one with the networked control system simulator PiccSIM.