On the Local Input-Output Stability of Event-Triggered Control Systems

This paper studies performance preserving event design in nonlinear event-based control systems based on a local L2-type performance criterion. Considering a finite gain local L2-stable disturbance driven continuous-time system, we propose a triggering mechanism so that the resulting sampled-data system preserves similar disturbance attenuation local L2-gain property. The results are applicable to nonlinear systems with exogenous disturbances bounded by some Lipschitz-continuous function of state. It is shown that an exponentially decaying function of time, combined with the proposed triggering condition, extends the inter-event periods. Compared to the existing works, this paper analytically estimates the increase in intersampling periods at least for an arbitrary period of time. We also propose a so-called discrete triggering condition to quantitatively find the improvement in inter-event times at least for an arbitrary number of triggering iterations. Illustrative examples support the analytically derived results.