Event density analysis for event triggered control systems

In event triggered control systems, events occur aperiodically. For the real-time analysis of such systems, an appropriate approximation of the events´ stimulation is necessary. Upper bounds have already been found for event triggered systems. For now, lower bounds have been assumed zero within the real-time analysis of event triggered systems. This work derives an approximated lower bound representing the maximum inter-sampling time. The bounds depend on the control system and the event generating mechanism. The beneficial effect is shown by analyzing an event triggered control system in a real-time analysis framework.