LQG-optimal PI and PID control as benchmarks for event-based control

Abstract

We formulate two simple benchmark problems for event-based control, where the optimal solutions in the continuous-time setting turn out to be ordinary PI and PID controllers. The benchmarks can be used to compare the performance of continuous-time, discrete-time, and various event-based controllers with regard to for instance disturbance attenuation, control effort, and average sampling or actuation rates. They can also be used to evaluate heuristic event-based PI(D) controllers and see how their performance compare to each other and to regular sampled-data control. We give two benchmark examples, where we study the trade-off between event frequency and regulator performance for a number of previously proposed approaches to event-based control.