  In this paper, we present a new class of event triggering mechanisms for
event-triggered control systems. This class is characterized by the
introduction of an internal dynamic variable, which motivates the proposed name
of dynamic event triggering mechanism. The stability of the resulting closed
loop system is proved and the influence of design parameters on the decay rate
of the Lyapunov function is discussed. For linear systems, we establish a lower
bound on the inter-execution time as a function of the parameters. The
influence of these parameters on a quadratic integral performance index is also
studied. Some simulation results are provided for illustration of the
theoretical claims.

Systems and Control;Optimization and Control