Robust sampled-data implementation of PID controller

Anton Selivanov, Emilia Fridman

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


We study a sampled-data implementation of the PID controller. Since the derivative is hard to measure directly, it is approximated using a finite difference giving rise to a delayed sampled-data controller. We suggest a novel method for the analysis of the resulting closed-loop system that allows to use only the last two measurements, while the existing results used a history of measurements. This method also leads to essentially larger sampling period. We show that, if the sampling period is small enough, then the performance of the closed-loop system under the sampled-data PID controller is preserved close to the one under the continuous-time PID controller. The maximum sampling period is obtained from LMIs derived using an appropriate Lyapunov-Krasovskii functional. These LMIs allow to consider systems with uncertain parameters. Finally, we develop an event-triggering mechanism that allows to reduce the amount of sampled control signals used for stabilization.

Original languageEnglish
Title of host publication2018 IEEE Conference on Decision and Control, CDC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages5
ISBN (Electronic)9781538613955
StatePublished - 2 Jul 2018
Event57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
Duration: 17 Dec 201819 Dec 2018

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference57th IEEE Conference on Decision and Control, CDC 2018
Country/TerritoryUnited States


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