Event-based PI controller with adaptive thresholds

In this paper, a new event based PI control algorithm with adaptive thresholds is presented. The main advantage over the fixed threshold algorithms is that it removes the dependence between the magnitude of the input (set point or disturbance) and the number of events, to prevent the generation of unnecessary events when the magnitude of the input increases. Clear guidelines and methodologies for calculating the parameters of the new controller in a systematic way are proposed to obtain a good compromise between quality of control and number of events generated. The advantages of the proposal are illustrated by simulation using transfer functions that describe most of the dynamics present in industrial applications, including systems with large delays and non-minimum phase.