Patent ID: 11943688
Assignee: WHELEN ENGINEERING COMPANY, INC.
Field: Digital communication (Electrical engineering)
Classification: CPC G  H  B | IPC H

Claim 4:
5. The system of claim 4, wherein the PID controller is configured to tune a rate at which the local timer of the slave node increments by actively adjusting a reload value of the local timer based on the following equation:, u
      ⁡
      
        (
        t
        )
      
    
    =
    
      
        
          K
          p
        
        ⁢
        
          e
          ⁡
          
            (
            t
            )
          
        
      
      +
      
        
          K
          i
        
        ⁢
        
          
            ∫
            0
            t
          
          ⁢
          
            
              e
              ⁡
              
                (
                
                  t
                  ′
                
                )
              
            
            ⁢
            
              dt
              ′
            
          
        
      
      +
      
        
          K
          d
        
        ⁢
        
          
            de
            ⁡
            
              (
              t
              )
            
          
          dt
        
      
    
  
  ,, wherein u(t) is an adjustment amount added to the reload value of the local timer, Kp, Ki, and Kd are constants, and e(t) is the difference between the tx timestamp and the rx timestamp.