Dynamic Triggering Mechanisms for Event-Triggered Control

In this paper, we present a new class of event triggering mechanisms for\nevent-triggered control systems. This class is characterized by the\nintroduction of an internal dynamic variable, which motivates the proposed name\nof dynamic event triggering mechanism. The stability of the resulting closed\nloop system is proved and the influence of design parameters on the decay rate\nof the Lyapunov function is discussed. For linear systems, we establish a lower\nbound on the inter-execution time as a function of the parameters. The\ninfluence of these parameters on a quadratic integral performance index is also\nstudied. Some simulation results are provided for illustration of the\ntheoretical claims.\n