  Control Lyapunov Functions (CLF) method gives a constructive tool for
stabilization of nonlinear systems. To find a CLF, many methods have been
proposed in the literature, e.g. backstepping for cascaded systems and sum of
squares (SOS) programming for polynomial systems. Dealing with continuous-time
systems, the CLF-based controller is also continuous-time, whereas practical
implementation on a digital platform requires sampled-time control. In this
paper, we show that if the continuous-time controller provides exponential
stabilization, then an exponentially stabilizing event-triggered control
strategy exists with the convergence rate arbitrarily close to the rate of the
continuous-time system.
