Event-Triggered Saturating Control for Practical Synchronization of Lur’e Systems

This paper addresses the practical master-slave synchronization of nonlinear discrete-time Lur’e systems subject to saturation using event-triggered control. Considering an emulation approach, the aim is to design an event generator that features a relaxed triggering criterion to reduce the number of control updates. Constructive conditions for generic slope-restricted nonlinearities are derived to ensure the regional practical stabilization of the synchronization error, i.e., to guarantee that it converges to a specified vicinity of the origin. In order to tune the event generator parameters, an optimization problem is proposed aiming at reducing the number of events when compared to triggering functions without relaxations. An illustrative example shows the advantages of our approach.