An ISS self-triggered implementation of linear controller

TL;DR

This paper introduces a self-triggered approach for linear controllers in digital and networked control systems, reducing resource usage while maintaining stability and robustness against disturbances.

Contribution

It presents a novel self-triggered implementation that minimizes controller updates and guarantees performance and robustness, addressing resource constraints in digital control.

Findings

Reduces controller updates while ensuring stability.

Proves robustness against additive disturbances.

Provides explicit performance guarantees.

Abstract

Nowadays control systems are mostly implemented on digital platforms and, increasingly, over shared communication networks. Reducing resources (processor utilization, network bandwidth, etc.) in such implementations increases the potential to run more applications on the same hardware. We present a self-triggered implementation of linear controllers that reduces the amount of controller updates necessary to retain stability of the closed-loop system. Furthermore, we show that the proposed self-triggered implementation is robust against additive disturbances and provide explicit guarantees of performance. The proposed technique exhibits an inherent trade-off between computation and potential savings on actuation.