Model-Based Event-Triggered Control for Systems With Quantization and Time-Varying Network Delays

This paper combines two important control techniques for reducing communication traffic in control networks, namely, model-based networked control systems (MB-NCS) and event-triggered control. The resulting framework is used for stabilization of uncertain dynamical systems and is extended to systems subject to quantization and time-varying network delays. The use of a model of the plant in the controller node not only generalizes the zero-order-hold (ZOH) implementation in traditional event-triggered control schemes but it also provides stability thresholds that are robust to model uncertainties. The effects of quantized measurements are especially important in the selection of stabilizing thresholds. We are…