Event-based triggering mechanisms for nonlinear control systems

This study examines triggered implementations of stabilizing controllers for general nonlinear systems. By using perturbation theory and Taylor's theorem, we propose new event-triggering and selftriggering mechanisms for general nonlinear control systems that are not necessarily input-to-state stable with respect to measurement errors. Both mechanisms are presented based on mild conditions and can ensure the uniform ultimate boundedness of the solutions of the resulting closed-loop control systems. The ultimate bounds can be made arbitrarily small by adjusting the design parameters. The effectiveness of the theoretical results is illustrated by simulations.