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2009 European Control Conference (ECC)
In this paper, some improvements of the simple event-based PID controller presented by K-EÅrzén in  are proposed. This controller, contrary to a time-triggered controller which calculates the control signal at each sampling time, calculates the new control signal only when the measurement signal sufficiently changes. In the original work ofÅrzén, a safety maximum period is added forcing the control to be recomputed even if the measurement signal remains unchanged. The contribution of thisdoi:10.23919/ecc.2009.7074694 fatcat:opvu4uhi4vdc5gj6feht2m2zma