Event-triggered internally stabilizing sporadic control for MIMO plants with non measurable state

Abstract

AbstractThis paper proposes a new approach to the sporadic networked control problem: the output of a remotely controlled sampled plant is required to track an external reference with a reduced communication cost. The main novelty is that internal stability conditions are derived without assuming a measurable state of the plant. The new event driven Communication Logic (CL) is composed of a Sensor CL (SCL) and of a Controller CL (CCL). The SCL is based on the explicit computation of a Lyapunov-like functional of the tracking error and of a corresponding time-varying threshold: a network message from the sensor to the controller is triggered only if the functional exceeds the current value of the threshold. The CCL is directly driven by the SCL: the dynamic output controller sends a feedforward message to the plant only if it has received a message from the sensor at the previous time instant.