Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE credits
Event-triggered control is a recent approach in control theory which aims
at reducing the communication load in networked control systems by adapting the
communication among the components to the current needs. In more detail, the
information exchange over the feedback link only takes place if certain event conditions,
that guarantee a desired control performance, are satisfied. This thesis analyzes the
consequences of actuator saturation on the stability of the event-triggered control
loop. Based on linear matrix inequalities, stability criteria have been derived which
can be used to determine regions in the state space that guarantee a stable behavior.
Furthermore, the existence of a lower bound on the minimum inter-event time is shown.
Due to integrator windup, actuator saturation may severely degrade the performance
of the event-triggered closed-loop system. In order to overcome this problem, the
stability criteria have been extended by incorporating a static anti-windup structure.
Finally, the effects of transmission delays in the feedback link are analyzed and a
procedure to deal with their consequences is proposed. The results are illustrated by
simulations and by experiments with a wirelessly controlled first-order tank system.
2012. , 87 p.