Robust $H_{\infty }$ Self-Triggered Control of Networked Systems Under Packet Dropouts

This paper is concerned with robust H
_∞
self-triggered control of networked systems. The system considered here includes parameter uncertainties, packet dropouts, and time delays. The time delay is described in a stochastic way, which takes a value from a given finite set. In order to compensate for the existence of deterministic packet dropouts, a new self-triggered control scheme is proposed. The main feature of the proposed self-triggered control strategy is that the next control task is predicted based on the self-triggered technique, in which the predicted event interval is divided equally for the sake of packet dropouts. The triggered condition is developed to ensure the stability of the uncertain sampled system by utilizing an uncertain algebraic Riccati equation and the comparison principle. Finally, an example of the inverted pendulum of a cart is provided to illustrate the effectiveness of the proposed results.