PID Control Using Quantized State Systems in RT-DEVS Frameworks

RT-DEVS is a framework for integrating DEVS structured real-time embedded system design into microcontroller-based devices. In a Quantized State System (QSS), events are only produced when the system state has changed by a predefined value. PID controllers use a control loop to generate feedback by computing a correction based on the Proportional, Integral, and Derivative of the difference between the measured and intended values of a system state variable. Both the piecewise constant (QSS1) and piecewise linear (QSS2) quantized state integration schemes are implemented and tested in this work. Then a QSS-based PID controller using Real-Time DEVS is defined and built and evaluated through simulation and on-target testing, showing how we can use this method for PID control, reducing the volume of messages while maintaining reliable control.