  In this paper, we present a model-based periodic event-triggered control
mechanism for nonlinear continuous-time Networked Control Systems. A
sampled-data prediction of the system behavior is used at the actuator to
reduce the amount of required communication while maintaining a user-defined
performance level. This prediction is based on a possibly inaccurate
discretization of the nonlinear system dynamics and can be implemented on
simple hardware. Nevertheless, guarantees for asymptotic stability and a
user-defined performance level are given for the periodic event-triggered
control (PETC) mechanism, whilst the reduction of the required amount of
transmissions of state information depends on the quality of the prediction. We
discuss furthermore how the prediction can be implemented. The performance of
the proposed PETC mechanism is illustrated with a numerical example. This paper
is the accepted version of [1], containing also the proofs of the main results.
