Tuning Procedure for PI Controllers Under RQH Sampling

In this chapter, a tuning methodology tailored for event-based PI controllers utilizing the Regular Quantization with Hysteresis (RQH) sampling technique is presented. Unlike the conventional Symmetric-Send-on-Delta (SSOD) approach, RQH offers enhancements in robustness requirements, thereby reducing the risk of limit cycle oscillations and optimizing the event utilization for control purposes, thus enhancing the overall efficacy of PI controllers in networked control systems. The tuning procedure not only considers classical robustness measures but also incorporates specific measures to avoid limit cycle oscillations induction. A comprehensive study examining the impact of high-order harmonics is conducted, affirming the effectiveness of the tuning approach. Additionally, the practical utility and effectiveness of the proposed methodology is illustrated through several examples.