Dynamic thresholds in robust event-triggered control for discrete-time linear systems

We propose a model-based event-triggered control scheme where state measurements are transmitted to the controller only if the deviation between the real system state and the state of a nominal closed-loop model crosses a certain threshold. In contrast to earlier results, the size of the thresholds is dynamically adapted to the unknown magnitude of the disturbances acting on the system. The closed-loop system is shown to be input-to-state stable. For a particular choice of the parameters, the guaranteed asymptotic bound on the system state is the same as for a periodically triggered scheme while still allowing a reduction in communication.