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<p>The Proportional-Integral-Derivative (PID) control has enjoyed significant success and widespread adoption in aviation, automotive, robotics, and various other domains. However, to align with the current trend of networked control systems and optimize communication resource utilization, the authors introduce an extended PID (EPID) control framework that leverages an event-triggered mechanism. This controller is designed for single-input single-output (SISO) high-order affine nonlinear systems, overcoming the limitation of traditional PID control, which typically guarantees stability only for second-order systems. Leveraging the open unbounded parameter manifold and event-triggered conditions of the controller parameters, the authors prove through the Lyapunov method that our proposed controller achieves uniformly ultimately bounded stability and guarantees the absence of the Zeno phenomenon in the event-triggered EPID (ET-EPID) system. The efficacy of the ET-EPID control system approach is exhibited through simulation of a third-order system as well as practical experiment conducted on a second-order direct current motor.</p>

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Event-Triggered Extended PID Control for SISO Affine Nonlinear System

  • 期刊论文

  • 发表日期：

    2025年5月2日

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  • Wudong Liu,
  • Thomas Vietor,
  • Weijun Lu,
  • Guangqiang Wu

摘要

The Proportional-Integral-Derivative (PID) control has enjoyed significant success and widespread adoption in aviation, automotive, robotics, and various other domains. However, to align with the current trend of networked control systems and optimize communication resource utilization, the authors introduce an extended PID (EPID) control framework that leverages an event-triggered mechanism. This controller is designed for single-input single-output (SISO) high-order affine nonlinear systems, overcoming the limitation of traditional PID control, which typically guarantees stability only for second-order systems. Leveraging the open unbounded parameter manifold and event-triggered conditions of the controller parameters, the authors prove through the Lyapunov method that our proposed controller achieves uniformly ultimately bounded stability and guarantees the absence of the Zeno phenomenon in the event-triggered EPID (ET-EPID) system. The efficacy of the ET-EPID control system approach is exhibited through simulation of a third-order system as well as practical experiment conducted on a second-order direct current motor.