Region-Based Self-Triggered Control for Perturbed and Uncertain Nonlinear Systems

In this work, we derive a region-based self-triggered control (STC) scheme for nonlinear systems with bounded disturbances and model uncertainties. The proposed STC is able to guarantee different performance specifications (e.g., stability, boundedness, etc.), depending on the event-triggered (ETC) triggering function that chosen be emulated. To deal uncertainties, employ differential inclusions (DIs). By introducing ETC/STC notions in context of DIs, extend well-known results perturbed uncertain systems. Given these results, adapting tools from our previous inner approximations isochronous manifolds ETC These dictate partition state space into regions, each which associated uniform intersampling time. At sampling time instant, controller checks region measured belongs correspondingly decides next instant.