The controllability and observability of the event-based control system

This paper mainly discusses the controllability and observability property of event-based control system especially to the class of input-affine nonlinear system, which plays an important role in the designing event-based controllers. In this paper, the derivative geometry theory is used to prove the controllability and observability property of event-based control system which hasn´t been discussed before. This work enriches the event-based theories and makes a base for the event-based theories to develop in the future. The event-based control theory is now becoming more very valuable in the tele-operation domain because that it can dispose the fixed or uncertain time delay problems. It can also be used in many other domains with good performances. In section I and II, the paper gives a brief review of event-based control system, discusses what the eventbased control system and the model of the event based control system. The rest of the paper mainly discusses the controllability and observability property of event-based control system. A car-like robot is used to show the application of event-based control theory. A simulation result of a triangle-formation keeping using the event-based control theory also presents in this paper.