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Event Based Controller

Event-based or event-triggered control systems are asynchronous and only perform control actions in response to events, rather than at regular time intervals. This makes them more efficient than time-triggered control by minimizing unnecessary control actions. An event could be a measured signal crossing a threshold. Event-based control is closer to human behavior and utilizes resources more efficiently than periodic control. It works by continuously monitoring the system output with sensors and only activating the controller if an error is detected, holding the input constant otherwise. The triggering of control actions can be decided based on an event condition involving the error between the actual and desired system outputs.

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270 views11 pages

Event Based Controller

Event-based or event-triggered control systems are asynchronous and only perform control actions in response to events, rather than at regular time intervals. This makes them more efficient than time-triggered control by minimizing unnecessary control actions. An event could be a measured signal crossing a threshold. Event-based control is closer to human behavior and utilizes resources more efficiently than periodic control. It works by continuously monitoring the system output with sensors and only activating the controller if an error is detected, holding the input constant otherwise. The triggering of control actions can be decided based on an event condition involving the error between the actual and desired system outputs.

Uploaded by

anon_492017179
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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EVENT BASED CONTROLLER

What is Event base or Event triggered control?

• It is the control system where the sampling is event triggered rather


than time triggered.
• In an event based system, it is the occurrence of an event that
decides when the controlling should be done rather than a particular
time interval.
• It is also called as aperiodic or asynchronous control system.
• Example of an event could be the measured singnal crosses a certain
pre-specified limit.
Why Event based control system?

• In the context of sensor-actuator networks we would like to execute control tasks


as rarely as possible in order to minimize energy consumption due to
communication.
• Even if energy is not a concern, the less often control tasks are executed the more
processor time is available for other (less) important tasks.
• Event based control is closer in nature to the way a human behaves as controller
that is act when the situation arise.
• This technique utilizes its resources more efficiently.
Time triggered control

In time-triggered control the sensing, control, and actuation are driven by a clock.

The periodic paradigm can be seen as open-loop sampling


Event triggered control

In event-triggered control the input is held constant, not periodically, but while
performance is satisfactory.

This can be regarded as introducing feedback in the


sampling process
How does it work?

• The controller or the control loop is connected to the system via sensors . The sensors
continuously monitors the output of the system.
• If the output signal is well under the limit then the control loop will remain disconnected or we
can say the controller will not act.
• If there is any error sensed by the the sensor then it sends a signal to the controller which then
get connected and start acting as feedback loop to resolve the issues.
• So here the sensor’s act is time triggered but the controller act is event triggered.
Time triggered Event triggered

AD

EVENT PID
AD LOGIC

Event detector PID controller


• The controller consists of two parts, an event detection part that uses time triggered sampling.
• The output signal of the event detection part is given to the PID controller which thus work as an
event triggered.
• The signals involved in the detection logic can be of different types. One possibility is to sample only
when the measurement signal y crosses a certain pre-specified level. An alternative is to instead use
relative measures, i.e., to sample when the change in the measurement signal crosses a certain limit.
• The event detection part generally calculates the error
|e(tk)− e(ts)| > elim
When to control?
Start with a linear control system:
x˙ = Ax + Bu, x ∈ Rn, u ∈ Rm
and a linear feedback control law u = Kx rendering the closed loop system asymptotically stable.
For a given sequence of execution times τ1, τ2, τ3, . . . the control signal u(t ) and the error e(t ) are defined by:

u(t ) = Kx (τi ) for τi ≤ t < τi+1


e(t ) = x (τi ) − x (t ) for τi ≤ t < τi+1
k(x(τ3))

Input
signal

Using the error e(t ) = x (τi ) − x (t ) we can rewrite the closed loop dynamics as: time
x˙ (t ) = Ax (t ) + BKx (τi )
= Ax (t )+BKx (t ) − BKx (t ) + BKx (τi )
= (A + BK )x (t ) + BKe(t )
Since A + BK is a stable matrix there exists a Lyapunov function V whose derivative along the closed
loop dynamics satisfies:
V˙ ≤ −a ǁxǁ2 + b ǁxǁǁeǁ (1)
Assume now that we can enforce the inequality:
ǁeǁ ≤ σ ǁxǁ (2)
for some σ satisfying −a + bσ < −a’ with a’ > 0. It would then follow from (1) and (2):
V˙ ≤ −aǁxǁ2 + bǁxǁ ǁeǁ ≤ −aǁxǁ2 + bσǁxǁ2 ≤ −a’ǁxǁ2
This suggests that ǁeǁ ≤ σǁx ǁ could be used to decide when to execute the control task. By
executing the control task at t = τ we obtain e(t ) = x (τ )-x (t ) = 0 which implies (2).

We call ǁeǁ = σǁxǁ an event triggering condition.


So by desired value of σ we can decide when the controller should act.
• Now we will have to design a controller(PID Controller) which can
work as an event triggered.
• We can design the controller for the double tank system present in
our laboratory.
• After that we will have to do the simulations………….
Reference

• ‘A SIMPLE EVENT-BASED PID CONTROLLER’ by Karl-Erik Årzén.


• ‘An Introduction to Event-triggered and Self-triggered Control’ by W.P.M.H.
Heemels K.H. Johansson P. Tabuada.
• Event-triggered and Self-triggered Control by W.P.M.H. Heemels , K.H. Johansson,
Paulo Tabuada.
• ÅSTRÖM, K. J. and B. BERNHARDSSON H1999I: “Comparison of periodic and
event based sampling for first order stochastic systems.”

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