Periodic event-based control with fast sampling and Lyapunov-based triggering

The context of this paper is periodic event-based feedback control with the sensor as the sole event source in the loop. We introduce a novel technique called fast-sensing dual-rate periodic event-based control (FSDR-PEBC), which allows the inter-event time quantum to be a multiple of the internal sensor's sampling time, to the advantage of control responsiveness while preserving low transmission burden. We also present a Lyapunov-based FSDR-PEBC event triggering rule, characterised by a single tuning parameter. We finally propose an interpretation of that parameter as a knob to trade event rate versus fidelity to a reference controller, typically designed in the continuous time, that the event-based one is expected to mimic.