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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.