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Departamento de Inform
atica y Autom
atica, ETSI Inform
atica,
UNED, 28040 Madrid, Spain (e-mail:a.pawlowski@dia.uned.es)
Departamento de Inform
atica, Universidad de Almera, Almera,
Spain (e-mail: {beren,joseluis.guzman,a.pawlowski}@ual.es)
The reduction of the installation cost and of the setup time of an industrial control system are key issues
to improve the return of investment. Moreover, a simple
and cheap recongurability is required. For these reasons,
the introduction of the eld bus technology represented a
milestone in the industrial control systems.
4411
Governor
r
+
2. CONTROL ARCHITECTURES
As already mentioned, the symmetric send-on-delta triggering technique can be considered as a modied case
of the send-on-delta sampling method (see (Miskowicz,
2006; Vasyutynskyy and Kabitzsh, 2006; Kofman and
Braslavsky, 2006)).
The sampling algorithm can be seen as an automaton
which receives an input signal v(t) (which can be, for
example, the controlled signal or the control action), and
generates a sampled output signal v (t). The automaton
has an internal state variable i(t) Z, which denotes the
actual activated state. For each i(t), the output of the
block is set equal to i(t) (which could be multiplied by
a scaling factor R), where > 0 is the threshold
amplitude. In fact, the state variable changes its value
when the input signal v(t) crosses one of the two thresholds
(i(t) 1) and (i(t) + 1) values. When v(t) crosses
the rst one, i(t) is decreased by a unit, while when v(t)
reaches the second threshold an unitary increment of i(t) is
done. Thus, the behaviuor of the system can be described
as a hybrid system (Goebel et al., 2009) in the following
way:
(i(t ) 1)
i(t) = i(t )
(i(t ) + 1)
v (t) = i(t).
if v(t)
[(i(t ) 1), (i(t ) + 1)]
SSOD
CU and AU
e*
ZOH
u
+
y
P(s)
Governor
r
+ e
D
SU and CU
u
C(s)
SSOD
AU
u*
+
ZOH
y
P(s)
Ki
s
(2)
(1)
C(s)
D
SU
(Ki h + Kp ) Kp z 1
1 z 1
(3)
4412
Soil
Temperature
v1(t)
Vents
opening
u (t )
B
A
Solar
Radiation
v2 (t)
Wind
Velocity
v3 (t)
Outside
Temperature
v4 (t)
D1
A
D2
A
D3
A
D4
A
Inside
Temperature
y (t )
4. SIMULATION RESULTS
B(z
)u(t 1) +
4
i=1
1
http://aer.ual.es/CJPROS/engindex.php
(t)
(4)
the integrated absolute error IAE =
k |(r yk )|
where r is the reference signal and yk is value of the
actual temperature;
the number of events Ey generated by the SU;
the number of events Eu generated by the CU.
4413
Table 1. Performance indexes obtained with the SSOD-PI controlled system. IAE integrated
absolute error, Ey number of events from SU to CU, and Eu number of events from CU to AU.
Day
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
1-19
IAE
91
159
108
117
92
274
148
96
215
179
134
111
185
119
190
202
188
207
173
2988
DT
Ey
144
234
284
291
103
423
326
201
362
315
331
197
322
381
213
166
295
290
457
5335
Eu
144
234
284
291
103
423
326
201
362
315
331
197
322
381
213
166
295
290
457
5335
IAE
91
157
109
119
91
274
154
95
216
178
135
110
186
118
190
201
188
207
178
2997
= 0.10
Ey
116
198
216
228
94
361
255
157
304
267
254
167
276
291
188
158
258
266
356
4410
Eu
132
232
275
280
101
420
319
197
352
310
321
194
319
366
205
164
285
287
451
5210
IAE
92
157
112
118
90
279
155
95
214
180
136
111
188
116
191
201
190
207
186
3018
= 0.20
Ey
85
175
157
161
88
307
211
129
238
233
198
134
226
208
176
148
225
223
250
3572
Eu
122
213
260
263
97
410
309
188
331
285
295
185
297
332
209
162
277
278
408
4921
IAE
100
164
129
141
90
293
166
96
214
180
140
127
198
126
189
199
196
205
197
3150
= 0.50
Ey
49
105
73
78
56
176
105
64
127
133
86
83
127
89
122
112
147
139
96
1967
Eu
115
179
214
187
66
338
225
129
233
216
191
151
264
205
170
143
238
236
276
3776
IAE
114
184
133
182
87
320
197
122
237
208
181
140
179
176
207
195
213
222
282
3579
= 1.00
Ey
Eu
23
81
54
114
25
43
44
128
37
24
87
227
34
116
22
73
63
135
69
117
30
92
43
103
59
87
30
55
74
126
69
100
61
153
68
146
39
193
931
2113
Table 2. Performance indexes obtained with the PI-SSOD controlled system. IAE integrated
absolute error, Ey number of events from SU to CU, and Eu number of events from CU to AU.
Day
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
1-19
IAE
91
159
108
117
92
274
148
96
215
179
134
111
185
119
190
202
188
207
173
2988
DT
Ey
144
234
284
291
103
423
326
201
362
315
331
197
322
381
213
166
295
290
457
5335
Eu
144
234
284
291
103
423
326
201
362
315
331
197
322
381
213
166
295
290
457
5335
IAE
90
159
109
117
92
275
153
97
218
179
133
110
186
119
191
202
189
207
176
3002
= 1.0
Ey
Eu
143
110
234
207
283
226
291
232
103
90
422
377
324
265
201
169
361
305
314
268
331
258
197
173
322
278
380
289
213
197
166
148
295
258
290
262
456
369
5326
4481
IAE
91
157
111
123
93
277
152
99
220
181
133
110
186
115
191
200
189
207
180
3015
= 2.0
Ey
Eu
144
85
234
171
282
171
289
199
103
70
422
317
326
215
201
134
362
260
314
220
328
215
197
137
322
231
380
207
213
168
166
132
295
219
290
230
457
294
5325
3675
IAE
95
155
111
132
97
286
161
97
219
181
134
117
196
129
199
201
192
208
198
3108
= 5.0
Ey
Eu
144
54
234
79
283
77
290
105
103
26
423
199
326
124
201
64
362
139
315
122
328
109
196
73
322
144
381
108
213
101
166
97
295
133
290
141
456
177
5328
2072
IAE
103
168
109
144
111
310
158
103
235
200
152
119
181
125
202
195
213
218
207
3253
= 10.0
Ey
Eu
142
27
233
25
283
22
291
41
103
2
422
118
326
46
201
24
362
49
315
44
329
44
197
29
322
55
381
25
213
46
166
47
294
65
290
55
456
71
5326
835
4414
27
Temperature [ C]
Temperature [ C]
27
26
25
24
23
12:30:00
13:00:00
13:30:00
Time [hour]
14:00:00
60
13:00:00
13:30:00
Time [hour]
14:00:00
Events
Events
13:00:00
13:30:00
Time [hour]
14:00:00
Events
Events
13:00:00
13:30:00
Time [hour]
14:00:00
Events
Events
13:30:00
Time [hour]
14:00:00
14:30:00
13:00:00
13:30:00
Time [hour]
14:00:00
14:30:00
13:00:00
13:30:00
Time [hour]
14:00:00
14:30:00
13:00:00
13:30:00
Time [hour]
14:00:00
14:30:00
13:00:00
13:30:00
Time [hour]
14:00:00
14:30:00
13:00:00
13:30:00
Time [hour]
14:00:00
14:30:00
Eu
13:00:00
13:30:00
Time [hour]
14:00:00
Ey
12:30:00
14:30:00
Eu
Events
Eu
Events
13:00:00
60
Ey
12:30:00
14:30:00
Eu
13:00:00
13:30:00
Time [hour]
14:00:00
Ey
12:30:00
14:30:00
Eu
Events
Eu
Events
14:30:00
Eu
Ey
12:30:00
14:00:00
70
Ey
12:30:00
14:30:00
Eu
Ey
12:30:00
13:30:00
Time [hour]
Eu
Ey
12:30:00
13:00:00
80
50
12:30:00
14:30:00
Eu
Ey
12:30:00
24
90
80
Ey
12:30:00
25
23
12:30:00
14:30:00
100
40
12:30:00
26
13:00:00
13:30:00
Time [hour]
14:00:00
Ey
12:30:00
14:30:00
Fig. 4. Zoom of simulation results obtained by using a PISSOD controller. (Discrete time controller: black solid
line, = 1.0: black dashed line, = 2.0: black dashdot line, = 5.0: red solid line, = 10: red dashed
line). First plot (from the top): process variable.
Second plot: control variable. Third to seventh plots:
events with the discrete time case, = 1.0, = 2.0,
= 5.0, and = 10.
4415
5. CONCLUSIONS
In this paper, the SSOD-PI and the PI-SSOD control
strategies are used to control the internal greenhouse
temperature.
These strategies allow the user to reduce the number of
communications with respect to standard PI controller
without signicantly reduce the rejection perfomance.
Moreover, they provide exibility in the design as a nice
freature, because when great values of the threshold parameter are selected, they present similar performance
with respect to more complicated control strategies.
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agglund, T. (2002). Revisiting the
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agglund, T. (2006). Advanced PID
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4416