Simple Lyapunov Sampling for Event-Driven Control

In this paper, a simple Lyapunov sampling is proposed. Contrary to a periodic fashion which samples the system uniformly in time, an event-based scheme updates the control signal only when the system trajectory sufficiently changes. Furthermore, the present triggering mechanism is based on a Lyapunov function in order to enforce the events only when required from a stability point of view. Nevertheless, whereas the Lyapunov sampling mechanism initially introduced in Velasco et al. (2009) requires to execute a computationally heavy off-line algorithm, a fully on-line version is developed in this paper. The different approaches are tested (in simulation and practice) to show the efficiency of such an event-based control and, eventually, the performance remains ensured even if the constraint on the stability is relaxed.