Output-based and decentralized dynamic event-Triggered control with guaranteed Lp-Gain performance and zeno-freeness

V.S. Dolk, D.P. Borgers, W.P.M.H. Heemels

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377 Citations (Scopus)
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Networked control systems are often subject to limited communication resources. By only communicating output measurements when needed, event-Triggered control is an adequate method to reduce the usage of communication resources while retaining desired closed-loop performance. In this work, a novel event-Triggered control (ETC) strategy for a class of nonlinear feedback systems is proposed that can simultaneously guarantee a finite L p-gain and a strictly positive lower bound on the inter-event times. The new ETC scheme can be synthesized in an output-based and/or decentralized form, takes the specific medium access protocols into account, and is robust to (variable) transmission delays by design. Interestingly, in contrast with the majority of existing event-generators that only use static conditions, the newly proposed event-Triggering conditions are based on dynamic elements, which has several advantages including larger average inter-event times. The developed theory leads to families of event-Triggered controllers that correspond to different tradeoffs between (minimum and average) inter-event times, maximum allowable delays and L p}-gains. A linear and a nonlinear numerical example will illustrate all the benefits of this new dynamic ETC scheme.

Original languageEnglish
Article number7422711
Pages (from-to)34-49
Number of pages16
JournalIEEE Transactions on Automatic Control
Issue number1
Publication statusPublished - 1 Mar 2017


  • Decentralized control
  • dynamic output-based control
  • event-Triggered control systems
  • L gains.
  • lyapunov methods
  • medium access protocols
  • networked control systems
  • L-p gains
  • event-triggered control systems


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