This paper mainly discusses the controllability and observability property of event-based control system especially to the class of input-affine nonlinear system, which plays an important role in the designing event-based controllers. In this paper, the derivative geometry theory is used to prove the controllability and observability property of event-based control system which hasn't been discussed before. This work enriches the event-based theories and makes a base for the event-based theories to develop in the future. The event-based control theory is now becoming more very valuable in the tele-operation domain because that it can dispose the fixed or uncertain time delay problems. It can also be used in many other domains with good performances. In section I and II, the paper gives a brief review of event-based control system, discusses what the event-based control system and the model of the event based control system. The rest of the paper mainly discusses the controllability and observability property of event-based control system. A car-like robot is used to show the application of event-based control theory. A simulation result of a triangle-formation keeping using the event-based control theory also presents in this paper.
Chen YB,Xi N,Li HY,et al. The Controllability and Observability of the Event-based Control System[C]. 见:2010 8th World Congress on Intelligent Control and Automation (WCICA 2010). Jinan, China. July 7-9, 2010.