Periodic event-triggered control for nonlinear systems

Romain Postoyan (1) , Adolfo Anta (2) , W.P.M.H. Heemels (3) , Paulo Tabuada (4) , Dragan Nesic (5)

1 CRAN - Centre de Recherche en Automatique de Nancy
2 Fachgebiet Regelungssysteme
3 Department of Mechanical Engineering [Eindhoven]
4 Cyber-Physical Systems Laboratory
5 Department of Electrical and Electronic Engineering [Melbourne]

Resources limitations of embedded systems and networked control systems have motivated the development of novel controller implementation paradigms in order to reduce the potential conservatism of traditional clock-driven setups. In this context periodic event-triggered control has recently been proposed. Based on a periodically evaluated and state-dependent criterion, it is decided, at every sampling instant, whether the control input needs to be updated or not. In this paper we propose a method for the design of periodic event-triggered controllers for nonlinear systems. We follow an emulation-based approach as we start from a known (continuously evaluated) event-triggered controller and we provide a systematic technique to select the sampling period and to redesign the triggering condition to approximately maintain the guarantees ensured by the original controller. The method is illustrated on a physical system and we compare the obtained results with other available event-based implementations.

Mots clés: Event-triggered control; hybrid systems; nonlinear systems; digital implementation; sampling

Domaines: Automatique / Robotique

Romain Postoyan, Adolfo Anta, W.P.M.H. Heemels, Paulo Tabuada, Dragan Nesic. Periodic event-triggered control for nonlinear systems. 52nd IEEE Conference on Decision and Control, CDC 2013, Dec 2013, Florence, Italy. pp.CD-ROM. ⟨hal-00875685⟩