Event based control for control affine nonlinear systems: A Lyapunov function based approach

In this paper, we propose an event based control strategy for control affine nonlinear systems. The proposed method ensures sufficient reduction in communication by only invoking a communication when some event has occurred. The error between the continuous state feedback nonlinear system and the event based system can be bounded in an invariant set. The upper bound of this error is derived which can be controlled by appropriately choosing the parameters for the event triggering function. This method is then applied to a networked nonlinear system of inverted pendulum and a non-linearizable nonlinear system.