Event-Triggered Control of Nonlinear Systems With State Quantization

This paper studies event-based control of nonlinear systems with state quantization. Two configurations of the event-based quantized controller are considered: Quantization after sampling and quantization before sampling. The considered quantizer is assumed to have a finite quantization range. With input-to-state stability (ISS) tools, new event-triggering, and dynamic quantization mechanisms are designed to deal with the interaction of the quantizer and the sampler. For both of the configurations, infinitely fast sampling, and in particular the Zeno phenomenon, is avoided. And the system state asymptotically converges to the origin, if a growth condition is satisfied by the ISS gain of the controlled system.