Event-based digital PID control

Although periodicity simplifies design and analysis in control theory, it results in a conservative usage of resources (because the control signal is computed and updated at the same rate regardless whether is really required or not). The event-triggered paradigm is proposed as a solution to reduce the control updates (and, consequently, the resource utilization) for similar final performance. An event-based digital PID controller is proposed in this paper, where events are enforced on level detection mechanism. Both tracking and regulation problems are discussed. Furthermore, contrary to the original approaches, the controller and control parameters are directly designed in the discrete-time domain. Both continuous- and discrete-time approaches are compared in simulation in terms of frequency of control updates and performance.