This work demonstrates that in event-triggered control, the timing of the events carries implicit information. In particular, we have found necessary and sufficient data rates, under bounded communication delays, for asymptotic stabilization of linear systems with event-triggered control. These data rates are far lower than the fundamental necessary data rates required for time-triggered control. Moreover, up to a critical delay an asymptotic data rate of zero suffices to stabilize with event-triggered control.
M. Khojasteh, P. Tallapragada, J. Cortes, M. Franceschetti, “The value of timing information in event-triggered control,” IEEE Transactions on Automatic Control, vol. 65, no. 3, pp. 925-940, 2020