In this paper, we introduce a passivity-based design framework for event-triggered networked control systems. We consider the effects of network-induced time delays, signal quantization, and data loss in communication links between the plant and controller and show $L_2$ -stability and robustness for the control design. We introduce simple asynchronous triggering conditions that do not rely on the exact knowledge of the systems’ dynamics and are located on both sides of the communication network. This leads to a great decrease in the communication rate between systems. Additionally, we show lower bounds on interevent time intervals for the triggering conditions and characterize the design's robustness against external disturbances. We illustrate the relationship among stability, robustness, and passivity levels of the plant and controller. Moreover, we analyze our design's robustness against packet dropouts. Finally, we calculate the passivity levels for the entire event-triggered networked control system. This is beneficial in design of compositional networked control systems. Our results are design-oriented. By following our proposed framework, the designer can characterize clear tradeoffs among passivity levels, design parameters, time delays, effects of signal quantization and triggering conditions, stability, robustness, and performance, and make design decisions accordingly.

中文翻译：

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基于无源的事件触发网络控制系统设计

在本文中，我们为事件触发的网络控制系统介绍了一个基于被动的设计框架。我们考虑了网络引起的时间延迟、信号量化和设备和控制器之间通信链路中数据丢失的影响，并展示了 $L_2$ - 控制设计的稳定性和鲁棒性。我们引入了简单的异步触发条件，这些条件不依赖于系统动态的确切知识，并且位于通信网络的两侧。这导致系统之间的通信速率大大降低。此外，我们展示了触发条件的事件间时间间隔的下限，并表征了设计对外部干扰的鲁棒性。我们说明了设备和控制器的稳定性、鲁棒性和被动水平之间的关系。此外，我们分析了我们的设计对数据包丢失的鲁棒性。最后，我们计算整个事件触发网络控制系统的无源水平。这有利于组合网络控制系统的设计。我们的结果是面向设计的。通过遵循我们提出的框架，设计人员可以在无源电平、设计参数、时间延迟、信号量化和触发条件的影响、稳定性、稳健性和性能之间进行明确的权衡，并相应地做出设计决策。