Event-Based Asynchronous Update of Control Input and Sampling Interval for Cyber-Physical Systems

A cyber-physical system (CPS) is a system where physical and information components are connected through a communication network. From the viewpoints of energy conservation and reduction of communication amount, the control input update and the sampling should be asynchronously performed only when necessary. In this paper, an event-based design method for asynchronously updating the control input and the sampling interval is proposed. A switched system is used as a mathematical model of CPSs. In the proposed method, based on the upper bound of the Lyapunov function, the update time of the control input, the switching signal, and the next sampling time are determined. As a control specification, it is guaranteed that the closed-loop system is uniformly ultimately bounded. Through a numerical example, the effectiveness of the proposed method is presented.