Tuning of symmetric send-on-delta PI controllers

The tuning of the parameters of two types of event-based proportional-integral (PI) controllers based on symmetric send-on-delta (deadband) sampling is investigated in this study. In particular, well-known tuning rules devised for standard (continuous-time) PI controllers are compared with tuning rules properly devised for these event-based controllers in order to minimise the step response settling time. Simulations and experiments show that a satisfactory performance, namely, a performance similar to the corresponding time-driven controller, is achieved by all the tuning rules considered because of the structure of the event-based PI controller, thus making it very suitable for its use in the industry.