Combined event‐ and self‐triggered control approach with guaranteed finite‐gain stability for uncertain linear systems

A networked control strategy that maintains the finite‐gain stability for uncertain linear systems is proposed. The focus is placed on the reduction of the communication and energy usage that are required for the sampling and control signal updates. The approach differs from many existing approaches in that it computes the time instance of the sampling and the time instance of the control signal update separately; a self‐trigger condition is used to determine the time instance of sampling, while an event‐trigger condition is used at every time of sampling to decide if a new control signal should be transmitted to the actuator. This approach not only reduces the number of the control signal updates compared with the case of using only the standard self‐triggered control, but also allows one to balance the cost associated with the sampling and the cost associated with the control signal update. The approach and its benefits are illustrated by simulations.