Implementation and evaluation of event-based PID in the IEC-61499 standard

This paper presents a study about the performance of event-based PID controllers implemented in the standard IEC-61499. The implementation details are addressed and experimental results are given. The main goal is to evaluate the benefits and drawbacks of using the event-based controllers under this standard in substitution of the periodic controllers that has been used so far. Both the computational cost of the control algorithms and the close loop performance when using periodic and event based controllers are analyzed in order to compare these two approaches.