UC Santa Cruz

In this paper, we consider the case when implementing a proportional-integral-derivative (PID) controller in the presence of non-periodic and intermittent sensor measurements. Current PID control design methods cannot accurately handle the case when the measurements arrive at isolated and potentially non-periodic time instants. We model the continuous-time plant being control, the impulsive measurement updates and the PID control law adapted to handle the measurement structure using a hybrid systems framework. By way of Lyapunov stability analysis for hybrid systems, we given sufficient conditions and a computationally tractable design method for the PID controller. We conclude by illustrating the results through numerical examples.