Preface	7
	Contents	9
	Acronyms	12
	Symbols	13
	1 Introduction	15
	1.1 Computer-Controlled Systems	16
	1.1.1 Basic Architecture	16
	1.1.2 Design Techniques	17
	1.2 Event-Triggered Control	19
	1.2.1 Preliminary Idea	21
	1.2.2 Stability of Event-Triggered Systems	22
	1.2.3 Need of Event-Triggered Control	25
	1.3 Sliding Mode: An Introduction	27
	1.3.1 Dynamics During Sliding Mode	28
	1.3.2 Design of Sliding Mode Control	31
	1.4 Discrete-Time Sliding Mode	35
	1.4.1 Switching-Based Reaching Law	36
	1.4.2 Switching-Free Reaching Law	37
	1.5 Summary	37
	1.6 Notes and References	38
	References	38
	2 Event-Triggered Sliding Mode Control for Linear Systems	40
	2.1 System Description	40
	2.2 Event-Triggered Sliding Mode Control	41
	2.2.1 Stability of Sliding Motion	45
	2.2.2 Stability of Event-Triggered System	46
	2.2.3 Simulation Results	48
	2.3 Global Event-Triggered Sliding Mode Control	50
	2.3.1 Global Event-Triggering Rule	50
	2.3.2 Design of Sliding Mode Control	51
	2.3.3 Global Stability of Event-Triggered System	54
	2.3.4 Simulation Results	55
	2.4 Event-Triggered Sliding Mode Control for Multivariable Systems	57
	2.4.1 Event-Triggered Design of SMC	58
	2.4.2 Event-Triggering Rule	61
	2.4.3 Simulation Results	62
	2.5 Summary	65
	2.6 Notes and References	65
	References	65
	3 Event-Triggered Sliding Mode Control for Nonlinear Systems	67
	3.1 System Description	67
	3.1.1 Design of Sliding Mode Control	68
	3.2 Event-Triggered Sliding Mode Control	69
	3.2.1 Stability of Sliding Motion	72
	3.3 Event-Triggering Strategy	73
	3.3.1 Design of Event-Triggering Scheme with Constraints	75
	3.4 Event-Triggering with Delay	77
	3.5 Simulation Results	83
	3.5.1 Without Delay	84
	3.5.2 With Delay	85
	3.6 Summary	86
	3.7 Notes and References	87
	References	87
	4 Self-Triggered Sliding Mode Control for Linear Systems	0
	4.1 System Description	89
	4.2 Self-Triggering Scheme Without Delay	90
	4.2.1 Simulation Results	91
	4.3 Self-Triggering Scheme with Delay	93
	4.3.1 Design of Self-Triggered Sliding Mode Control	97
	4.3.2 Simulation Results	100
	4.4 Summary	101
	4.5 Notes and References	102
	References	102
	5 Discrete Event-Triggered Sliding Mode Control for Linear Systems	104
	5.1 System Description	104
	5.2 Discrete-Time Sliding Mode	106
	5.2.1 Bartoszewicz's Reaching Law	107
	5.2.2 Design of Discrete-Time Sliding Mode Control	108
	5.3 Discrete Event-Triggered Sliding Mode Control: State Feedback Approach	109
	5.3.1 Event-Triggered Bartoszewicz's Reaching Law	110
	5.3.2 Event-Triggering Rule	112
	5.3.3 Simulation Results	112
	5.4 Discrete Event-Triggered Sliding Mode Control: Output Feedback Approach	114
	5.4.1 Multirate Output Feedback Technique	114
	5.4.2 Multirate-Based Event-Triggered Discrete-Time Sliding Mode	117
	5.4.3 Simulation Results	119
	5.5 Summary	120
	5.6 Notes and References	121
	References	121
	6 Event-Triggered Sliding Mode Control with Quantized State Measurements	124
	6.1 System Description	124
	6.1.1 Quantizer	125
	6.2 Design of Sliding Mode Control	127
	6.3 Design of Event-Triggered Sliding Mode Control	128
	6.3.1 Design of Event-Triggering Rule	130
	6.4 Simulation Results	133
	6.5 Summary	135
	6.6 Notes and References	136
	References	136
	Index	138