Abstract: This paper considers the problem of designing robust periodic event-triggered controllers for networked PieceWise Affine（PWA） systems with parameter perturbation and state delays. Periodic event-triggered mechanism is developed to reduce the transmission of messages. By constructing piecewise-quadratic Lyapunov functions and based on the Lyapunov stability theory, the co-design of robust controllers and periodic event-triggered mechanism is realized by solving Linear Matrix Inequalities（LMIs）. A numerical example is given to verify the effectiveness of the proposed approach.

Key words: PieceWise Affine（PWA） system, periodic event-triggered mechanism, parameter perturbation, time delays, robust control, co-design

摘要： 针对带有参数摄动以及状态时延的网络化分段仿射系统，提出了基于周期事件触发机制的鲁棒控制器设计方法，引入周期事件触发机制来减少通讯网络中信号的传输次数从而降低网络带宽占用。通过构建分段Lyapunov函数，结合李雅普诺夫稳定性定理，将系统的控制器设计问题转换为求线性矩阵不等式可行解问题，实现周期事件触发机制与鲁棒控制器的协同设计。仿真结果说明了该方法的有效性。

关键词: 分段仿射系统, 周期事件触发机制, 参数摄动, 时延, 鲁棒控制, 协同设计