Lyapunov event-triggered stabilization with a known convergence rate

Anton V. Proskurnikov*, Manuel Mazo

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

16 Citations (Scopus)
13 Downloads (Pure)


A constructive tool of nonlinear control system design, the method of control Lyapunov functions (CLFs), has found numerous applications in stabilization problems for continuous-time, discrete-time, and hybrid systems. In this paper, we address the fundamental question: Given a CLF, corresponding to a continuous-time controller with some predefined (e.g., exponential) convergence rate, can the same convergence rate be provided by an event-triggered controller? Under certain assumptions, we give an affirmative answer to this question and show that the corresponding event-based controllers provide positive dwell times between consecutive events. Furthermore, we prove the existence of self-triggered and periodic event-triggered controllers, providing stabilization with a known convergence rate.

Original languageEnglish
Pages (from-to)507-521
JournalIEEE Transactions on Automatic Control
Issue number2
Publication statusPublished - 2020

Bibliographical note

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Control Lyapunov function (CLF)
  • event-triggered control
  • nonlinear systems
  • stabilization


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