Event-triggered Control With Self-triggered Sampling for Discrete-time Uncertain Systems

This paper proposes a resource-aware control approach for discrete-time linear uncertain systems. The approach uses a self-trigger condition to determine the sampling time to guarantee that the system is uniformly ultimately bounded and an event-trigger condition to determine control updates. The self-trigger condition is constructed using the skewed structured singular value to treat uncertainties in the prediction, and the event-trigger condition is constructed by considering the costs of sampling and control updates. A numerical example is provided to illustrate the approach.