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Most research in control engineering considers periodic or time-triggered control systems with equidistant sample intervals. However, practical cases abound in which it is of interest to consider event-driven control in which the sampling is event-triggered. Although there are various benefits of using event-driven control like reducing resource utilization (e.g., processor and communication load), their application in practice is hampered by the lack of a system theory for event-driven control systems. To provide a first step in developing an event-driven system theory, this paper considers an event-driven control scheme for perturbed linear systems. The event-driven control scheme triggers the control update only when the (tracking or stabilization) error is large. In this manner, the average processor and/or communication load can be reduced significantly. The analysis in this paper is aimed at the control performance in terms of practical stability (ultimate boundedness). Several examples illustrate the theory.
Heemels et al. (Tue,) studied this question.