The value of timing information in event-triggered control: The scalar case

The problem of event-triggered control with rate-limited communication is considered. For continuous-time scalar systems without disturbances, a phase transition behavior of the transmission rate required for stabilization as a function of the communication delay is revealed. It is shown that for low values of the delay the timing information carried by the triggering events is large and the system can be stabilized with any positive rate. On the other hand, when the delay exceeds a certain threshold that depends on the given triggering strategy, the timing information alone is not enough to achieve stabilization and the rate must begin to grow, eventually becoming larger than what required by the classic data-rate theorem. The critical point where the transmission rate equals the one imposed by the data-rate theorem occurs when the delay equals the inverse of the entropy rate of the plant, representing the intrinsic rate at which the system generates information. At this critical point, the timing information supplied by event triggering is completely balanced by the information loss due to the communication delay. Exponential convergence guarantees are also discussed, and an explicit construction providing a sufficient condition for stabilization is given.