Dynamic event-triggered control: tradeoffs between transmission intervals and performance

In this work, a novel dynamic event-triggered control (ETC) strategy for state-feedback systems is proposed that can simultaneously guarantee a finite p-gain from disturbance to output and a strictly positive lower bound on the inter-event times (implying Zeno-freeness). The developed theory leads to tradeoff curves between (minimum and average) inter-event times and p-gains that depend on the selected medium access protocol