  This paper considers the stabilization of nonlinear continuous-time dynamical
systems employing periodic event-triggered control (PETC). Assuming knowledge
of a stabilizing feedback law for the continuous-time system with a certain
convergence rate, a dynamic, state dependent PETC mechanism is designed. The
proposed mechanism guarantees on average the same worst case convergence
behavior except for tunable deviations. Furthermore, a new approach to
determine the sampling period for the proposed PETC mechanism is presented.
This approach as well as the actual trigger rule exploit the theory of
non-monotonic Lyapunov functions. An additional feature of the proposed PETC
mechanism is the possibility to integrate knowledge about packet losses in the
PETC design. The proposed PETC mechanism is illustrated with a nonlinear
numerical example from literature. This paper is the accepted version of [1],
containing also the proofs of the main results.
