Event-Triggered Control Through the Eyes of a Hybrid Small-Gain Theorem

A unifying design perspective is presented for emulation-based (dynamic) event-triggered state-feedback control of nonlinear systems. The main component of this new approach is to interpret event-triggered controlled systems as the interconnection of hybrid dynamical systems and to analyze the overall system using a hybrid small gain theorem. Based on this new perspective, we unify several event-triggered schemes that were previously proposed in the literature under one umbrella. Moreover, the design approach offers great flexibility and can be used for the development of novel event-triggered schemes and systematic modification and improvement of existing triggering strategies. In this article, we illustrate via simulations that these novel and/or modified event-triggered controllers can lead to a further reduction in the required number of transmissions, while still guaranteeing stability.