Extending PID Controller Designs for Networked Control Systems with Jitter Margins

Jan 15, 2026

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This paper presents an extension of the fractional controller designed at CSOIS (IFAC 2008), originally based on the PID controller by Lasse Eriksson (ACC 2007). We utilize filters of varying orders to achieve desired jitter margins while maintaining acceptable performance levels. Our objective is to augment previous work by applying these refined PID design principles to networked control systems, specifically focusing on the Smartwheel project. We detail the block diagram, jitter margin parameters, and robustness criteria, concluding with insights on the implications of our findings.

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Extending PID Controller Designs for Networked Control Systems with Jitter Margins

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Presentation Transcript

Presented by: VARSHA BHAMBHANI
Outline • Fractional controller was designed at CSOIS (IFAC2008) based on PID controller designed by Lasse Eriksson (ACC2007) • This paper is extension of ACC2007 work by Lasse Eriksson (CDC2007) • Filters of different orders are used to get any desired jitter margin at slight decrease in performance. • Our goal:- extend IFAC 2008 work and apply to networked control system ( Smartwheel)