A simplified event-triggering condition non-dependent on measurement error

This paper presents a simplified triggering mechanism for event-triggered control systems. The novelty of our work resides in the use of a triggering condition that only updates the controller when the time derivative of the Lyapunov function becomes non-negative, without taking into account the measurement error. Directly or indirectly, most previous works use the measurement error in the triggering condition, usually defining this error as the difference between the states of the plant under continuous and aperiodic implementation. The main idea of our proposal is to force the system to maintain the last control update whenever it is approaching the equilibrium point. To demonstrate the advantages of our triggering condition, we compare it with other control alternatives using the double integrator problem as a case study.