Event-triggered control and interactive LQR tuning for improved control efficiency

This work investigates the application of event-triggered control (ETC) in combination with the linear quadratic regulator (LQR) for discrete-time systems. A methodology is presented that uses an iterative approach to tune the LQR controller and reduces control effort by replacing periodic control with ETC. Lyapunov’s stability theory is applied to design triggering mechanisms and analyse their effects on control design. Using the inverted pendulum on a cart as a reference system, it is demonstrated that proper tuning of the LQR controller and the implementation of an event-based control mechanism can reduce control energy and actuator effort.