Event-triggered sampling algorithms based on a Lyapunov function

Usually feedback laws are implemented in a periodic fashion on digital hardware. The main reason for using this periodicity in the hardware comes from the difficulties to analyze the stability of aperiodic or asynchronous systems. However it also seems natural to hold the same control input longer if the system behaves in a suitable way or shorter if the system requires an updated input. In this paper, an algorithm is suggested to sample the control input based on the behavior of a Lyapunov-like function. This algorithm is called event-triggered since the Lyapunov-like function directly depends on the state of the systems.