  This paper studies periodic event-triggered networked control for nonlinear
systems, where the plants and controllers are connected by multiple independent
communication channels. Several network-induced imperfections are considered
simultaneously, including time-varying inter-sampling times, sensor node
scheduling, and especially, large time-varying transmission delays, where the
transmitted signal may arrive at the destination node after the next
transmission occurs. A new hybrid system approach is provided to model the
closed-loop system that contains all communication related behavior. Then, by
constructing new storage functions on the system state and updating errors, the
relationship between the maximum allowable sampling period (MASP) and maximum
allowable delay number in sampling (MADNS) is analyzed, where the latter
denotes how many inter-sampling periods can be included in one transmission
delay. Moreover, to efficiently reduce unnecessary transmissions, a new dynamic
event-triggered control scheme is proposed, where the event-triggering
conditions are detected only at aperiodic and asynchronous sampling instants.
From emulation-based method, where the controllers are initially designed by
ignoring all the network-induced imperfections, sufficient conditions on the
dynamic event-triggered control are given to ensure closed-loop input-to-state
stability with respect to external disturbances. Moreover, according to
different capacities of the communication channels, the corresponding
implementation strategies of the designed dynamic event-triggered control
schemes are discussed. Finally, two nonlinear examples are simulated to
illustrate the feasibility and efficiency of the theoretical results.
