Software induced delays degrade the performance of a digital control system which can result in violation of performance requirements. Shortcomings of the state-of-the-art include, not considering satisfying plant response characterizing performance requirements, implementation complexity, and extra overhead for the solution. Additionally, a proportional integral derivative (PID) controller solution to compensate for input-output and output jitter, to the best of our knowledge was not found.
This research proposes a jitter compensating PID controller. Firstly, the worst case sampling to
output delay, which is one sampling period, is modeled. Secondly, this delay placed between the controller and plant. Finally, the PID controller is designed to satisfy performance requirements. Advantages of this solution include satisfying performance requirements, and unchanged implementation complexity and execution overhead.
Performance results validate the effectiveness of the proposed solution by demonstrating its ability to meet performance requirements in response to a step function, and by tracking a square wave.