Robustness issues in event-based pi control systems: Internal model control tuning

Event-based solutions for process control applications are of clear increasing interest. The approach is really appealing because of clear advantages for what matters to minimal use of communication bandwidth, energy consumption, etc. Therefore, completely appropriate for the wireless sensor-actuator networks. One of the solutions that, at least within the process control domain, has reached more acceptance is that of event-based control on the basis of a Symmetric-Send-On-Delta (SSOD) event detector. In this work, a specific implementation of this smart sensor is proposed with clear advantages with respect to the usual ones. The major advantage is that the resulting event-based control system has better robustness properties than the usual implementation that is found in the literature.