LAUSR

The article puts forward an event-triggered controller with continuous-time $\boldsymbol{H_\infty }$ ($\boldsymbol{L_2}$-induced norm) performance guarantees. The sampling rate of the proposed controller never exceeds that of the optimal periodic sampled-data controller for the same performance level. The proposed event-triggered controller yields actually slower sampling than that in the optimal periodic case, unless certain internal signal belongs to a class of “worst-case” analogue signals. The class of such signals, termed spoilers, is exhaustively characterized and shown to be atypical.