Extension and evaluation of model-based periodic event-triggered control

Periodic event-triggered control (PETC) is a control strategy that combines ideas from conventional periodic sampled-data control and event-triggered control. By communicating periodically sampled sensor and controller data only when needed to guarantee stability and performance properties, PETC is capable of reducing the number of transmissions significantly, while still retaining a satisfactory closed-loop behavior. In this paper, we provide an extension of an existing model-based PETC strategy for linear systems by including an (approximate) disturbance model. This extension can further enhance communication savings in the presence of disturbances. In addition, we evaluate the extended model-based PETC strategy by comparing this strategy to the standard model-based PETC and to a model-based periodic time-triggered control (PTTC) strategy. In this PTTC strategy, data is transmitted at fixed sampling times. For the evaluation, we present techniques for stability and ℓ
₂
-gain performance analysis for both the PETC strategy and the PTTC strategy. Finally, the advantage of the (extended) PETC strategy over the PTTC strategy will be demonstrated by providing numerical examples.