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Proceedings of the 18th World Congress
The International Federation of Automatic Control
Milano (Italy) August 28 - September 2, 2011
Simple Lyapunov Sampling for
Event-Driven Control
Sylvain Durand ∗ Nicolas Marchand ∗∗
Jose Fermi Guerrero Castellanos ∗∗∗
∗ NeCS team, INRIA - GIPSA-lab - Univ. of Grenoble, Grenoble,
France (sylvain.******@).
∗∗ NeCS and SysCo teams, GIPSA-lab - CNRS - INRIA - Univ. of
Grenoble, Grenoble, France (nicolas.******@gipsa-)
∗∗∗ Autonomous University of Puebla (BUAP), Faculty of Electronics,
Puebla, Mexico (******@)
Abstract: In this paper, a simple Lyapunov sampling is proposed. Contrary to a periodic
fashion which samples the system uniformly in time, an event-based scheme updates the
control signal only when the system trajectory sufficiently changes. Furthermore, the present
triggering mechanism is based on a Lyapunov function in order to enforce the events only when
required from a stability point

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