Modified 2018-06-22 by Andrea Censi
Summary. In spite of the success of traditional sampled-data theory in computer control it has some disadvantages particularly for distributed, asynchronous, and multi-rate system. Event based sampling is an alternative which is explored in this paper. A simple example illustrates the differences between periodic and event based sampling. The architecture of a general structure for event based control is presented. The key elements are an event detector, an observer, and a control signal generator, which can be regarded as a generalized data-hold. Relations to nonlinear systems are discussed. Design of an event based controller is illustrated for a simple model of a micro-mechanical accelerometer.Edward A Lee and David G Messerschmitt. Synchronous data flow. Proceedings of the IEEE, 75(9):1235–1245, 1987. Rajit Manohar and K Mani Chandy. Delta-dataflow networks for event stream processing. pages 1–6, June 2010. Richard Szeliski. Computer Vision: Algorithms an Applications. Springer, 2010. http David Forsyth and Jean Ponce. Computer Vision: A Modern Approach. Prentce Hall, Upper Saddle River, NJ, 2011. Richard Hartley and Andrew Zisserman. Multiple View Geometry in Computer Vision. Cambridge University Press, second edition, 2004. Romano M DeSantis. Modeling and path-tracking control of a mobile wheeled robot with a differential drive. Robotica, 13(4):401–410, 1995. Albert Einstein. Zur Elektrodynamik bewegter Körper. (German) On the electrodynamics of moving bodies. Annalen der Physik, 322(10):891–921, 1905. DOI Kaare Brandt Petersen and Michael Syskind Pedersen. The matrix cookbook. .pdf
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