In this paper a tuning procedure is proposed for event based PI controllers with Regular Quantization with Hysteresis (RQH) sampling law. The RQH is a generalization of Symmetric Send on Delta (SSOD) strategy which decreases the robustness requirements to avoid limit cycle oscillations and reduce the number of events needed for control, improving the overall performance of PI controllers in networked control systems. The tuning procedure takes into account not only classical robustness margins but also takes advantage of some specific robustness measures to avoid limit cycle oscillations induced by the sampler. As the robustness analysis depends on the Describing Function (DF) method, a study evaluating the effect of high order harmonics is provided, showing the validity of the tuning procedure. Some examples are included in which the usefulness of the tuning procedure is shown.

在本文中，提出了一种基于事件的 PI 控制器的调谐程序，该控制器具有带滞后的规则量化 (RQH) 采样定律。RQH 是 Delta 上的对称发送 (SSOD) 策略的推广，它降低了鲁棒性要求以避免极限循环振荡并减少控制所需的事件数量，从而提高网络控制系统中 PI 控制器的整体性能。调谐过程不仅考虑了经典的鲁棒性裕度，而且还利用了一些特定的鲁棒性措施来避免采样器引起的极限循环振荡。由于稳健性分析取决于描述函数 (DF) 方法，因此提供了一项评估高次谐波影响的研究，显示了调谐程序的有效性。