Formal Analysis of the Sampling Behaviour of Stochastic Event-Triggered Control

Abstract

Analyzing Event-Triggered Control's (ETC) sampling behaviour is of paramount importance, as it enables formal assessment of its sampling performance and prediction of its sampling patterns. In this work, we formally analyze the sampling behaviour of stochastic linear periodic ETC (PETC) systems by computing bounds on associated metrics. Specifically, we consider functions over sequences of state measurements and intersampling times that can be expressed as average, multiplicative or cumulative rewards, and introduce their expectations as metrics on PETC's sampling behaviour. We compute bounds on these expectations, by constructing appropriate Interval Markov Chains equipped with suitable reward structures, that abstract stochastic PETC's sampling behaviour. Our results are illustrated on a numerical example, for which we compute bounds on the expected average intersampling time and on the probability of triggering with the maximum possible intersampling time in a finite horizon.