An ℓ2-consistent event-triggered control policy for linear systems

Mohammadhadi Balaghiinaloo (Corresponding author), Duarte J. Antunes, W.P. Maurice H. Heemels

Research output: Contribution to journalArticleAcademicpeer-review

8 Citations (Scopus)
20 Downloads (Pure)


In this article, we consider the design of an event-triggered ℓ2-control policy, for a setting where a scheduler is arbitrating state transmissions from the sensors to the controller of a discrete-time linear system. We start by introducing a periodic time-triggered ℓ2-controller for different transmission time-periods with a given ℓ2-gain bound using the minimax game-theoretical approach. After that, we propose an ℓ2-consistent event-triggered controller in the sense that it guarantees at least the same ℓ2-gain bound as the designed periodic time-triggered ℓ2-controller, however with a larger, or at most equal, average inter-transmission time. In practice, for typical disturbances, the proposed event-triggered scheme can lead to significant gains, both in terms of communication savings and disturbance attenuation, compared to periodic time-triggered policies, which is illustrated through a numerical example.

Original languageEnglish
Article number109412
Number of pages11
Publication statusPublished - Mar 2021


  • Dynamic game theory
  • Networked control systems
  • ℓ-consistent event-triggered controller
  • ℓ-gain


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