Event-based PI controller with exponential thresholds

This paper deals with an event-based PI control strategy for event occurrences reduction. The methodology is based on the send-on-delta technique where the measured value of the error signal is sent to the controller when it crosses predefined quantization levels. We propose to increase exponentially the distance between the thresholds in such a way that the number of events decreases by keeping a satisfactory transient performance and by fixing the maximum steady-state error independently. Simulation results show the effectiveness of the methodology and clarify the physical meaning of the design parameters of the controller.