On the stability of an event-based PI controller for FOPDT processes

This paper deals with the stability of an event-based proportional-integral controller. In particular, necessary and sufficient conditions on the controller parameters for the existence of equilibrium points without limit cycles are given for a first-order-plus-dead-time process. Practical issues related to the controller implementation are also addressed. The presented conditions enable a simpler tuning of the controller. Simulation and experimental results are provided as illustrative examples.