Isochronous Partitions for Region-Based Self-Triggered Control.

In this work, we propose a region-based self-triggered control (STC) scheme for nonlinear systems. The state space is partitioned into a finite number of regions, to each of which a uniform inter-event time is assigned. The controller, at each sampling time instant, checks to which region does the current state belong, and correspondingly decides the next sampling time instant. To derive the regions along with their corresponding inter-event times, we use approximations of isochronous manifolds of nonlinear event-triggered control systems, a notion firstly introduced in [1]. This work addresses some theoretical issues of [1] and proposes an effective computational approach that generates approximations of isochronous manifolds, thus enabling the region-based STC scheme. The efficiency of both our theoretical results and the proposed algorithm are demonstrated through simulation examples.