Periodic event-triggered control of nonlinear systems using overapproximation techniques

D.P. Borgers, R. Postoyan, A. Anta, P. Tabuada, D. Nešić, W.P.M.H. Heemels

Research output: Contribution to journalArticleAcademicpeer-review

65 Citations (Scopus)


In event-triggered control, the control task consisting of sampling the plant's output and updating the control input is executed whenever a certain event function exceeds a given threshold. The event function typically needs to be monitored continuously, which is difficult to realize in digital implementations. This has led to the development of periodic event-triggered control (PETC), in which the event function is only evaluated periodically. In this paper, we consider general nonlinear continuous event-triggered control (CETC) systems, and present a method to transform the CETC system into a PETC system. In particular, we provide an explicit sampling period at which the event function is evaluated and we present a constructive procedure to redesign the triggering condition. The latter is obtained by upper-bounding the evolution of the event function of the CETC system between two successive sampling instants by a linear time-invariant system and then by using convex overapproximation techniques. Using this approach, we are able to preserve the control performance guarantees (e.g., asymptotic stability with a certain decay rate) of the original CETC system.

Original languageEnglish
Pages (from-to)81-87
Number of pages7
Publication statusPublished - 1 Aug 2018


  • Continuous time systems
  • Digital implementation
  • Event-triggered control
  • Nonlinear systems
  • Polytopic overapproximation
  • Sampling periods


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