Scheduling packets for Event-triggered control

For a single control loop with communication rate constraints, Event-triggered control often outperforms periodic control. When multiple loops are being controlled over a shared contention-based medium, however, the advantage of event-triggered policies is less well understood. In this paper, we consider event-triggered impulse control under lossy communication. The sampling events are determined by level crossings of the plant output. It is shown how a stochastic control criterion depends on the level thresholds and the packet loss probability for a class of integrator plants. For multiple control loops, this result is used to derive a design guideline on how to assign the levels that lead to optimal use of the available communication resources. It is shown that the structure of the event generator depends critically on the loss probability.