Abstract
This article studies periodic event-triggered control for nonlinear systems with multiple outputs and disturbances. First, an approximate-model method is introduced to discretize nonlinear plants with a family of controllers parameterized by verification periods. Then, a novel summation-based event-triggering condition is designed to ensure input-to-state practical stability of closed-loop systems. It is shown that the proposed event-triggering condition can admit a positive lower bound of interevent times for a family of controllers. Furthermore, an improved event-triggering condition is given to maximize the ranges of allowable parameters. Finally, numerical simulations are provided to illustrate the efficiency and feasibility of the obtained results.
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