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Self-Triggered Feedback Control Systems With Finite-Gain {cal L}_{2} Stability

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2 Author(s)
Wang, Xiaofeng ; Dept. of Electr. Eng., Univ. of Notre Dame, Notre Dame, IN ; Lemmon, M.D.

This paper examines a class of real-time control systems in which each control task triggers its next release based on the value of the last sampled state. Prior work used simulations to demonstrate that self-triggered control systems can be remarkably robust to task delay. This paper derives bounds on a task's sampling period and deadline to quantify how robust the control system's performance will be to variations in these parameters. In particular we establish inequality constraints on a control task's period and deadline whose satisfaction ensures that the closed-loop system's induced L 2 gain lies below a specified performance threshold. The results apply to linear time-invariant systems driven by external disturbances whose magnitude is bounded by a linear function of the system state's norm. The plant is regulated by a full-information H infin controller. These results can serve as the basis for the design of soft real-time systems that guarantee closed-loop control system performance at levels traditionally seen in hard real-time systems.

Published in:

Automatic Control, IEEE Transactions on  (Volume:54 ,  Issue: 3 )