*Article* **Event-Based PID Control of a Flexible Manufacturing Process**

**Octavian Duca 1,2,\*, Eugenia Minca 1,3, Adrian Filipescu 1,4, Daniela Cernega 4, Razvan Solea <sup>4</sup> and Claudiu Bidica <sup>1</sup>**


**Abstract:** In most cases, the system control is made in a sampled manner, measuring the controlled value at a predefined frequency given by the sampling time. However, not all processes provide relevant information at regular intervals, especially in manufacturing. To reduce the costs and complexity of systems, event-based measuring is necessary. To control this kind of process, an event-based controller is needed. This poses some challenges, especially between the event-triggered measurement, as the process runs in an open loop. In the literature, most event-based controllers are based on the comparison of the error value with a predefined value and activate the controller if this value is crossed. However, in this type of controller, the measured value is measured at a predefine interval and is not suited for most event-based processes. In manufacturing systems, the most usual event-based process is represented by the conveyor transportation system. In this process, the product position is measured only in key locations on the conveyor. For the optimal operation of a flexible manufacturing system, the presence of a product in a key location at predetermined intervals is necessary. For this purpose, this article presents an event-based PID controller implemented on a conveyor transportation system.

**Keywords:** flexible manufacturing; PID; event-based control
