A Uniform Analysis on Input-to-State Stability of Decentralized Event-Triggered Control Systems

In this paper, the effects of bounded disturbances on decentralized event-triggered control systems are studied. The input-to-state (practical) stability of integral-based event-triggered control systems and dynamic event-triggered control systems is analyzed in a uniform framework by utilizing a new Lyapunov functional approach. An estimation on the upper bound of the input-to-state stability gain is given analytically. First, Zeno behavior is excluded with the time-regularized mechanisms, that is, a prespecified lower bound of inter-event times is introduced. Then, the conditions are presented under which the considered event-triggered control systems ensure Zeno-freeness without time regularization. Finally, a numerical example is given to illustrate the efficiency and feasibility of the proposed results.