Event-Triggered Parameterized Control of Nonlinear Systems

This paper deals with event-triggered parameterized control (ETPC) of nonlinear systems with external disturbances. In this control method, between two successive events, each control input to the plant is a linear combination of a set of linearly independent scalar functions. At each event, the controller updates the coefficients of the parameterized control input so as to minimize the error in approximating a continuous time control signal and communicates the same to the actuator. We design an event-triggering rule that guarantees global uniform ultimate boundedness of trajectories of the closed loop system. We also ensure the absence of Zeno behavior by showing the existence of a uniform positive lower bound on the inter-event times. We illustrate our results through numerical examples, which indicate that the proposed control method leads to a significant improvement in average inter-event time and minimum inter-event time compared to the event-triggered zero-order-hold control.