Event-Triggered Control of Nonlinear Systems With Updating Threshold

In this letter, the problems of event-triggered and self-triggered control of nonlinear systems are addressed. In particular, by exploiting certain stability assumptions for the continuous-time system as well as the Lipschitz properties of the system's dynamics, strategies are presented that guarantee the stability of the sampled closed-loop system. By enforcing an updating threshold strategy, at each event instant, the controller is updated to preserve the system's stability properties, while the triggering mechanism is also updated which may reduce future controller updates.