LQG-Optimal versus Simple Event-Based PID Controllers

A. Cervin, M. Andren
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引用次数: 1

Abstract

In this paper, we study event-based PID control from an optimal stochastic control perspective. The purpose is to better understand what implementation features are critical for achieving good event-based PID performance. For this end, we formulate an LQG control design problem for a double integrator process with an integral disturbance, where the solution is an ideal PID controller. We then consider the tradeoff between LQG cost and average sampling rate and give an interpretation of the optimal sampled-data controller and event- based sampling policy in terms of PID control. Based on insights from the optimal solution, we finally discuss how suboptimal but simple event-based PID controllers can be implemented. The proposed implementation is evaluated in a simulation study and compared to earlier work in event-based PID control. The results highlight the importance of considering both the triggering rule and the transmitted information in order to obtain an event-based PID controller with good performance.
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lqg -最优与简单基于事件的PID控制器
本文从最优随机控制的角度研究基于事件的PID控制。目的是更好地理解哪些实现特性对于实现良好的基于事件的PID性能至关重要。为此,我们提出了一个具有积分扰动的双积分器过程的LQG控制设计问题,其解是理想的PID控制器。然后,我们考虑LQG成本和平均采样率之间的权衡,并从PID控制的角度解释最优采样数据控制器和基于事件的采样策略。基于最优解的见解,我们最后讨论了如何实现次优但简单的基于事件的PID控制器。在仿真研究中评估了所提出的实现,并与早期基于事件的PID控制工作进行了比较。结果表明,为了获得性能良好的基于事件的PID控制器,必须同时考虑触发规则和传输信息。
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