An Event-Based PID Controller With Low Computational Cost

In this paper, some improvements of event-based PID controllers are proposed. These controllers, contrary to a time-triggered one which calculates the control signal at each sampling time, calculate the new control signal only when the measurement signal sufficiently changes. The contribution of this paper is a low computational cost scheme thanks to a minimum sampling interval condition. Moreover, we propose to reduce much more the error margin during the steady state intervals by adding some extra samples just after transients. A cruise control mechanism is used for simulations and a noticeable reduction of the mean control computation cost is finally achieved with similar closed-loop performances to the conventional time-triggered ones.