Self-triggered feedback systems with state-independent disturbances

This paper studies self-triggering in sampled-data systems, where the next task release time and finishing time are predicted based on the sampled states. We propose a new self-triggering scheme that ensures finite-gain L₂ stability of the resulting self-triggered feedback systems. This scheme relaxes the assumptions in that the magnitude of the process noise is bounded by a linear function of the norm of the system state. We show that the sample periods generated by this scheme are always greater than a positive constant. We also provide dynamic deadlines for delays and propose a way that may enlarge predicted deadlines without breaking L₂ stability, especially when the predicted deadlines are very short. Simulations show that the sample periods generated by this scheme are longer than those generated by the schemes. We also show that the predicted deadlines can be extended by our scheme. Moreover, this scheme appears to be robust to the external disturbances.