A comparative study of PID control algorithms adapted to send-on-delta sampling

Send-on-delta sampling is used to reduce the number of triggered events (event rates) in networked control systems, allowing more effective utilization of system resources such as network broadband. However, this sampling may result in irregular samples and uncertainties in the inter-sample behavior, which may deteriorate the quality of control and have to be addressed in the control algorithms. This paper compares three variants of control algorithms for closed loops with send-on-delta. These are evaluated based on a typical scenario of building automation. The recommendations for selection of the control algorithms for send-on-delta are made.