Self-triggered, prediction-based control of Lipschitz nonlinear systems

We consider the design of self-triggered controllers for Lipschitz nonlinear systems subject to additive disturbances. The goal of the controller design is to avoid measurements and input changes as long as possible, while guaranteeing good performance subject to the worst case disturbances. Furthermore, the controller should be practically implementable. The controller is based on the emulation of a continuous-time feedback and a triggering mechanism employing simple predictions of the uncertain state evolution. An example illustrates the approach.