Analysis of Dual-Based PID Controllers through Convolutional Mirror Descent

Dual-based proportional-integral-derivative (PID) controllers are often employed in practice to solve online allocation problems with global constraints, such as budget pacing in online advertising. However, controllers are used in a heuristic fashion and come with no provable guarantees on their performance. This paper provides the first regret bounds on the performance of dual-based PID controllers for online allocation problems. We do so by first establishing a fundamental connection between dual-based PID controllers and a new first-order algorithm for online convex optimization called Convolutional Mirror Descent (CMD), which updates iterates based on a weighted moving average of past gradients. CMD recovers, in a special case, online mirror descent with momentum and optimistic mirror descent. We establish sufficient conditions under which CMD attains low regret for general online convex optimization problems with adversarial inputs. We leverage this new result to give the first regret bound for dual-based PID controllers for online allocation problems. As a byproduct of our proofs, we provide the first regret bound for CMD for non-smooth convex optimization, which might be of independent interest.