PID control with PID event triggers: Theoretic analysis and experimental results

In this work, a proportional–integral–derivative (PID) controller governed by a PID event-triggering condition is proposed for unknown time-varying nonlinear systems. We develop an approach to find a parameter set for an event-triggered (ET)-PID controller that returns a uniformly ultimately bounded stable system. We assume that the unknown system is Lipschitz continuous, and then transform it into an explicit state space representation with bounded elements. Based on the model, we design a framework of the ET-PID controller. Under this framework, the stability of this system is analyzed by considering the effect of event triggers as perturbation through the Lyapunov method and the non-existence of Zeno phenomenon is also guaranteed. The effectiveness of the proposed ET-PID control algorithm is illustrated through experiments on an ultrasonic motor platform.