Self-triggered and event-driven control for linear systems with stochastic delays

S. Prakash, E.P. van Horssen, D. Antunes, W.P.M.H. Heemels

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)
4 Downloads (Pure)


Delays are often present in embedded and networked control loops and represent one of the main sources of performance limitations. In this paper, we propose two aperiodic control strategies to optimize closed-loop performance in the presence of stochastic delays: (i) a self-triggered strategy, in which the deadline to drop data is decided on-line based on the current state; (ii) an event-driven strategy, whereby the control input is updated immediately after the delayed data becomes available, leading in general to faster but time-varying control loops. These schemes are designed and analyzed using a standard LQG framework, which allows for assessing and comparing closed-loop performance. We establish that our self-triggered strategy always achieves a better closed-loop performance than periodic control with an optimal sampling period. Moreover, we provide examples where the event-driven strategy outperforms the self-triggered strategy and examples where the opposite is observed.

Original languageEnglish
Title of host publication2017 American Control Conference, ACC 2017
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781509059928
Publication statusPublished - 29 Jun 2017
Event2017 American Control Conference (ACC 2017) - Sheraton Seattle Hotel, Seattle, United States
Duration: 24 May 201726 May 2017


Conference2017 American Control Conference (ACC 2017)
Abbreviated titleACC 2017
Country/TerritoryUnited States
Internet address


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