Event-triggered controller design from the control input perspective

In this article, we propose a novel event-triggered control (ETC) method from the control input perspective. Different from existing results in which event conditions are designed based on the variation of system states, this method designs event conditions from the control input perspective, that is, based on the control input variations. Through this method, it is shown that for nonlinear systems, the commonly used input-to-state stable assumption can be removed. For linear systems, this method is shown equivalent to conventional results established based on state signals. Moreover, it provides flexibility in designing different event conditions for uncertain nonlinear systems. The effectiveness of the proposed method is demonstrated through two simulation examples.