Sampled-data implementation of extended PID control using delays

Jin Zhang*, Emilia Fridman

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


We study the sampled-data implementation of extended PID control using delays for the nth-order stochastic nonlinear systems. The derivatives are approximated by finite differences giving rise to a delayed sampled-data controller. An appropriate Lyapunov–Krasovskii (L-K) method is presented to derive linear matrix inequalities (LMIs) for the exponential stability of the resulting closed-loop system. We show that with appropriately chosen gains, the LMIs are always feasible for small enough sampling period and stochastic perturbation. We further employ an event-triggering condition that allows to reduce the number of sampled control signals used for stabilization and provide (Formula presented.) -gain analysis. Finally, three numerical examples illustrate the efficiency of the presented approach.

Original languageEnglish
JournalInternational Journal of Robust and Nonlinear Control
StateAccepted/In press - 2021


  • -gain analysis
  • PID control
  • event-triggered control
  • sampled-data control
  • stochastic perturbations


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