自驾游成都 碧峰峡 上里古镇 泸定桥三日旅游攻略

自驾游成都三日游攻略:

第一日:成都—碧峰峡

可在成都市区游览文殊院、武侯祠等,然后驱车前往碧峰峡景区,途径罗江古镇与黄龙溪,约2个小时车程。

碧峰峡景区有峡谷漂流和过峡索道等项目,玩耍一日。晚上住宿碧峰峡镇上。

第二日:碧峰峡—上里古镇

早上从碧峰峡出发前往上里古镇,途径宜宾市,全程约3个小时。

上里古镇保存了很多明清古建筑,可以游览古戏台、文昌阁等,体验古镇风情。傍晚离开上里古镇。

如果时间充裕,可以选择继续前往泸定桥,约1.5小时车程。 晚上住宿泸定桥桥头。

第三日:泸定桥—成都

上午游览泸定桥,这里是四川境内最长的石拱桥,横跨澜沧江,可在桥上漫步欣赏两岸风光。

离开泸定桥返回成都,全程约6小时,可途径绵阳涪陵温泉,游玩涪江风景区。傍晚到达成都,结束三日游。

自驾线路推荐:

成都—涪江—罗江—碧峰峡—宜宾—上里古镇—泸定桥—绵阳—成都

自驾车型推荐:

五座及以上SUV或面包车为佳,道路蜿蜒山路较多,需要有一定<EOT>Event-Based PID Control

M. Hassani*, M.J. Khosrowjerdi**

Abstract: In this paper, an event-based PID control strategy is proposed to overcome the intensive computational

burden of conventional high-rate PID controllers. The basic idea is to update the control signal only at the

event instants at which the control error signal violates a given threshold. Analytical stability conditions for the

proposed event-based PID controller are derived using the Lyapunov theory. Using simulations, it is shown

that the proposed controller leads to reduced computational load with negligible loss of performance. The

applicability of the proposed method is demonstrated through an experimental application to control a DC

motor position.

Keywords: Event-based control, PID control, Lyapunov stability, computational efficiency.

1 Introduction1

PID controllers are widely used in industrial control

applications due to their simplicity and robust

performance [1]. In the conventional PID control

strategy, the control signal is updated at every sampling

instant, based on the latest measurements of the process

output. However, in many practical applications, such

frequent updates of the control input may lead to

excessive and unnecessary usage of computational and

communication resources.

Recently, a new paradigm has been proposed in the

control community to address the aforementioned issue,

which is called the event-based control. In event-based

control, the control updates do not necessarily occur at

every sampling instant. They rather happen only at

certain event times in an asynchronous and statedependent manner. It has been shown that eventbased control strategies can significantly reduce the

computational load, while achieving almost the same

control performance as the traditional periodic

controllers [2-4].

Most efforts on event-based control have focused on

stabilization of linear systems [3, 5-11]. However, in the

recent years, nonlinear event-based control strategies

have also gained increasing attention. For example,

event-based integral control [12], event-based sliding

mode control [13], and event-based model predictive

control [14] have been reported for stabilization of

nonlinear systems.

Among the available control methodologies, PID

control is by far the most dominant industrial control

technique. Therefore, developing event-based versions

of PID controllers is of particular importance for

practical applications. Some results on event-based PID

Iranian Journal of Electrical & Electronic