Applied Mathematics and Computation 396 (2021) 125901

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Applied Mathematics and Computation

journal homepage: www.elsevier.com/locate/amc

Extended dissipative sliding mode control for nonlinear

networked control systems via event-triggered mechanism
with random uncertain measurementR
Yu-An Liu a, Shengdao Tang b, Yufan Liu c, Qingkai Kong a,∗, Jing Wang a
a
School of Electrical and Information Engineering, Anhui University of Technology, Ma’anshan 243002, China
b
School of Mathematics and Physics, Anhui University of Technology, Ma’anshan 243002, China
c
school of Logistics Engineering, Shanghai Maritime University, Shanghai 201306, China

a r t i c l e i n f o a b s t r a c t

Article history: This work concentrates on addressing the sliding mode control problem of continuous-
Received 6 October 2020 time nonlinear networked control systems. Considering the state information may not be
Revised 8 December 2020
utterly available in practice, a state observer model is designed to estimate the state infor-
Accepted 13 December 2020
mation. Meanwhile, a type of discrete-time event-triggered mechanism is utilized to filter
Available online 26 December 2020
the sampled signal for reducing the occupation of network bandwidths and the transmis-
Keywords: sion rate of resources. In addition, a random variable obeying the Bernoulli distribution
Nonlinear networked control systems is adopted to describe the phenomenon of uncertainties randomly occurring in the mea-
Event-triggered mechanism surement. With the aid of the Lyapunov stability and sliding mode control theory, some
Extended dissipativity sufficient criteria are given to both guarantee the mean-square asymptotic stability of the
Observer-based sliding mode control overall closed-loop system with an extended dissipative performance, and the reachabil-
Random uncertain measurement ity of predefined sliding surface. Whereafter, the event-triggered weighting matrix, and
gains of sliding mode controller and with observer are obtained by solving the matrix con-
vex optimization problem. Finally, the feasibility of the presented scheme is demonstrated
through two illustrative examples.
© 2020 Elsevier Inc. All rights reserved.

1. Introduction

Networked control systems (NCSs) are a new type of control systems in which the elements in the control loop exchange
data through a shared communication network [1–4]. Compared with the traditional point-to-point communication, NCSs
have excellent advantages including low cost, easy installation and high reliability, which have become one of the research
hot-spots in the field of the industrial process, automatic control and robotics, etc. [5]. Therefore, over the past years, the
related researches of stability, estimation, filtering and control problems for NCSs have attracted increasing attention from
many scholars (see [6–10] and the references therein). In addition, the modeling of NCSs is often accompanied with certain
complex nonlinear factors in actual engineering and practice, such as the nonlinear activation function in neural networks
[11], the nonlinear coupling relationships among different nodes in complex dynamic networks [12], and the nonlinear

R
This work was supported by the National Natural Science Foundation of China under grant 61703004, the Major Natural ScienceFoundation of Higher
Education Institutions of Anhui Province under grant KJ2020ZD28.
∗
Corresponding author.
E-mail addresses: tang630315@163.com (S. Tang), kqk1234@163.com (Q. Kong).

https://doi.org/10.1016/j.amc.2020.125901
0 096-30 03/© 2020 Elsevier Inc. All rights reserved.
Y.-A. Liu, S. Tang, Y. Liu et al. Applied Mathematics and Computation 396 (2021) 125901

communication topology structure of multi-agent systems [13]. Therefore, there is further practical significance to study
nonlinear NCSs.
It is worth mentioning that the rapid development of NCSs is accompanied with some thorny problems, such as network
delay, limited communication bandwidth and imperfect communication links [14]. Therefore, how to enable the communica-
tion and computation of the devices in NCSs to exchange data in a more efficient manner is always an interesting problem,
which has attracted much attention. Through the efforts of scholars, the event-triggered mechanism (ETM), as an aperiodic
scheduling scheme, provides an effective method to reduce redundant communication transmission [13,15–17]. Different
from the traditional periodic time-triggered mechanism, the transmission rate of network resources is further reduced in
ETM owing to the fact that only when the deviation of the currently sampled signal value and latest released signal value
exceeds the presetting threshold, the channel of the network transmission will be generated. Benefited from the developed
ETM, a variety of remarkable results have attained. For examples, the stabilization issue of uncertain nonlinear system via an
adaptive output-feedback ETM was studied in [18]. The H∞ controller was designed for a class of T-S fuzzy systems under
an ETM communication scheme in [16]. Furthermore, taking the practical factors into consideration, such as the aging of
components, sudden external interferences and abrupt environmental noises, the uncertainty occurring in the measure out-
put cannot be ignored [19–22]. The quantization of the signal also can be regarded as the randomly uncertain phenomenon
during the measuring signal [23,24]. Accompanied by the appearance of such uncertainty, the stability and performance of
the systems will be affected. Therefore, ETM is adopted in this paper to reduce the utilization of network transmission, and
the phenomenon of uncertain measurement will also be considered.
As is well-known that sliding mode control (SMC) has become one of the hottest control methods in theoretical analysis
and practical implementation due to the advantages of its insensitivity to external disturbances, strong robustness and high
response speed, which has achieved excellent research results in switched systems [25], singularly perturbed systems [26],
multi-agent systems [27] and fuzzy systems [28], etc. In general, the fundamental idea of SMC is to impel system state
trajectories into the predefined stable switching surface function under the effect of the designed SMC law, where the
systems have the favorable stability and performance on this switching surface function [29]. With the development of
research for NCSs based on ETM, a number of scholars have attempted to study event-triggered SMC problems for NCSs, and
fruitful results have been achieved [30,31]. In addition, because of the limited environmental factors, the state information
of the systems may not be completely observable in reality, and even unable to find some actual physical quantities to
represent its state information. For this reason, an observer-based SMC method gradually entered the vision of scholars.
Just to name a few, the stochastically exponentially stable issue for switched neural networks was studied in [32] via an
observer-based event-triggered SMC method. The authors designed an observer for a class of fractional-order T-S fuzzy
systems via SMC method was investigated in [33]. The authors in [34] designed the disturbance observer of continuous-time
linear systems for H∞ control problem with unknown uncertain and mismatched disturbances via integral SMC method.
The existence of external disturbance may affect the stability and performance of systems. With the help of some perfor-
mance indexes into system analysis, which can better measure the stability for the systems. Common performance indexes
include H∞ [35–37], passivity [38–40], L2 −L∞ [41,42] and standard dissipativity [43]. In recent years, some scholars have
attempted to unify several different performance indexes under a uniform framework, which provides a more flexible robust
control design in practical engineering. The authors proposed a more general performance called extended dissipative perfor-
mance, which comprehensively discussed four common performance indexes under the same framework in [44]. Benefited
from this, extended dissipativity has been employed in many systems analysis [45–47]. However, to the extent of authors’
knowledge, the SMC issue of nonlinear NCSs under ETM with extended dissipative performance, until now, has received
little attention from scholars, not to mention the practical factors that measurability of state information and uncertain
measurement are also considered. Therefore, this paper attempts to address these problems, which is also the motivation of
this work.
From the aforementioned discussions, in this paper, the primary objective is to study the event-triggered SMC issue for a
class of continuous-time nonlinear NCSs with the random uncertain measurement. Furthermore, the main contributions of
this paper can be described in the following three aspects:

1. This work shows a first attempt to research the SMC issue for continuous-time nonlinear NCSs is studied under the
comprehensive practical factors such as measurability of state information, uncertain phenomenon of measured output,
and resource utilization in network transmission.
2. An ETM-based observer model is designed for the systems, which can not only obtain state information but also reduce
the transmission rate of network bandwidth resources effectively. Based on this, the stability of the overall closed-loop
system and the reachability of the sliding surface are analyzed. In the simulation examples, a Chua’s circuit model is
considered to demonstrate the potential practicability of the presented SMC scheme.
3. The analysis of the above discussions is consolidated under the uniformed framework of one performance index, namely,
extended dissipative performance. By adjusting the scalar and weighting matrices, the extended dissipative performance
can be converted into four common performance indexes, which increases the comprehensiveness and generality of the
analysis results.
The rest of this paper is organized as follows. In Section 2, the system model, ETM-based observer model, and an integral
sliding surface are given, subsequently, the overall closed-loop system is derived. In Section 3, some sufficient criteria are
given to ensure the stability of the overall closed-loop system and meet an extended dissipative performance level. Mean-

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Y.-A. Liu, S. Tang, Y. Liu et al. Applied Mathematics and Computation 396 (2021) 125901

while, the designed SMC law can guarantee the reachability of the sliding surface. In Section 4, two simulation examples are
shown to verify the feasibility of the proposed control scheme. Finally, the summary of this work is concluded in Section 5.
Notations: The relevant notations employed are standard, I and 0 are the identity matrix and zero matrix with compatible
dimensions, respectively. Some other details are shown as follows.

Notations Meanings Notations Meanings

E/D{β (t )} The expectation / variance of β (t ) R n

The n-dimensional Euclidean space

Rn×m The set of all real matrices of n × m AT/−1 The transposition / inverse of matrix A

∗ The entries caused by symmetry · The Euclidean norm

A>0 The real symmetric positive definite matrix sym{A} The symmetrized expression for A + AT

diag{· · · } The block-diagonal matrix L2 [0, ∞ ) The space of square-integrable vectors

2. Problem formulation

2.1. System model

Consider the following continuous-time nonlinear system:


x˙ (t ) = Ax(t ) + E f (x(t ) ) + Bu(t ) + F w(t )
y(t ) = (C + β (t )C )x(t ) (1)
z (t ) = Dx(t )
in which x(t ) ∈ Rn is the state vector, y(t ) ∈ Rr and z (t ) ∈ Rq are the measured output and actual output vectors, respec-
tively; u(t ) ∈ Rl represents the control input; f (x(t ) ) = [ f1 (x1 (t )), . . ., fn (xn (t ))]T means the nonlinear functions; w(t ) ∈ Rs
denotes the external disturbance belonging to L2 [0, ∞ ). Furthermore, A, E, B, C, D and F are the given system matrices with
suitable dimensions.
The real valued matrix C means the parameter uncertainty of the measured output, which can be described as:
C = X (t )Y (2)
where X, Y are given matrices with suitable dimensions, and (t ) means a matrix function which satisfies ≤ I. (t )T (t )
Besides, the random variable β (t ) is a Bernoulli distributed white sequence taking the values of 0 and 1, which obeys the
following probability distribution laws:
Pr{β (t ) = 1} = Pr{β (t )} = β ; Pr{β (t ) = 0} = 1 − β . (3)
Remark 1. In practical engineering, due to the aging of components, sudden external disturbances and abrupt environmental
noises, the phenomenon of randomly uncertain measurement cannot be ignored. The existence of uncertain measurement
may bring negative influence on the stability and performance of the system. Furthermore, it is also worth noting that
β (t ) = 1 indicates that the uncertainty occurring in the measurement, completely; on the contrary, β (t ) = 0 indicates that
uncertainty not occurring in the measurement, which means that the measured output signal from the plant is exact. In
this work, we use β to represent the occurring probability of uncertain measurement.

Assumption 1. In this paper, the nonlinear function f k (· ) (k = 1, 2, . . . , n ) is supposed to be continuous and bounded,
meanwhile, the following condition is satisfied for any υ1 , υ2 ∈ R, υ1 = υ2 :
fk (υ1 ) − fk (υ2 )
αk− ≤ ≤ αk+ (4)
υ1 − υ2
where αk− , αk+ are known scalars, fk (0 ) = 0.

Remark 2. For the selection of nonlinear function fk (· ), there are two other forms which are similar to the condition in
Assumption 1:
| fk (υ1 ) − fk (υ2 )| f (υ1 ) − fk (υ2 )
≤ αk , 0 ≤ k ≤ αk (5)
|υ1 − υ2 | υ1 − υ2
obviously, we can find that the nonlinear function described in this work is more general than the inequalities in (5), so
that the conservatism of results can be reduced.

2.2. Observer design based on event-triggered mechanism

In this work, a discrete-time ETM is employed to economize limited bandwidth resources and avoid unnecessary infor-
mation transmission. Fig. 1 shows the scheme of observer-based SMC under ETM. Based on the measurement output y(t ),
the signal y( jh ) means the current sampled measurement from sampler (h is the sampling period, and j is the sampling

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Y.-A. Liu, S. Tang, Y. Liu et al. Applied Mathematics and Computation 396 (2021) 125901

Fig. 1. Observer-based SMC under ETM scheme.

frequency); the signal y( jl h ) means the latest released measurement received by Zero-order-holder (ZOH) (l is the number
of triggering). Meanwhile, the following condition is employed to judge whether the current sampled signal value should be
utilized:
[y( ( jl + n )h ) − y( jl h )] [y( ( jl + n )h ) − y( jl h )] > ρ yT ( jl h )y( jl h )
T
(6)
in which n ∈ {1, 2, . . . , n},  > 0 is the weighting matrix to be designed, and ρ is the given trigger threshold which could
be preset according to the actual demand. Hence, the next signal release time jl+1 h could be obtained:
 
jl+1 h = jl h + min nh | [y( ( jl + n )h ) − y( jl h )]T [y( ( jl + n )h ) − y( jl h )] > ρ yT ( jl h )y( jl h ) . (7)
n≥1

From the above analysis, the latter sampled measure signals y( ( jl + n )h ) will satisfy the following condition opposite to (7):

[y( ( jl + n )h ) − y( jl h )] [y( ( jl + n )h ) − y( jl h )] ≤ ρ yT ( jl h )y( jl h )

T
(8)
that is because the latter sampled measure signals y( ( jl + n )h ) will not be transmitted until the next release moment jl+1 h
arrives.
Taking the phenomenon of time delay occurring in the actual event-triggered situation into account (for example the
updating data signal successfully transmitted from the event detector to ZOH will be experienced a time delay). The delay
can be denoted by dl = tl − jl h in which t1 < t2 , · · · , < tl , and tl means the time moment that updates data signal y( jl h )
received by ZOH.
n̄
Let the time interval [tl , tl+1 ) be divided into the several subintervals [tl , tl+1 ) =∪n=0
l
I, where n̄l = min{n | tl + (n − 1 )h ≥
tl+1 }
⎧
⎪I1 = [tl , tl + h )
⎪
⎨
I2 = [tl + h, tl + 2h )
I= . (9)
⎪
⎪.
⎩.
In̄l = [tl + (n̄l − 1 )h, tl+1 )
and we can get the delay function as follows
⎧
⎪t − jl h, t ∈ I 1
⎪
⎨t − ( jl + 1 )h, t ∈ I2
d (t ) = . (10)
⎪
⎪.
⎩.
t − [ jl + (n̄l − 1 )]h, t ∈ In̄l
where d (t ) satisfies 0 ≤ d (t ) ≤ d, and d˙ (t ) ≤ τ . And error function can be expressed as
⎧
⎪y ( jl h ) − y ( jl h ), t ∈ I1
⎪
⎨y( jl h ) − y(( jl + 1 )h ), t ∈ I2
m(t ) = . (11)
⎪
⎪.
⎩.
y( jl h ) − y( jl + (n̄l − 1 )h ), t ∈ In̄l .
According to the above discussions, the transmitted measurement ȳ(t ) judged by ETM could be formulated by:
ȳ(t ) = y( jl h ) = m(t ) + y[t − d (t )], t ∈ [tl , tl+1 ). (12)
Remark 3. In this work, a discrete-time type of ETM is employed to the subsequent observer design under the uncertain
measured output values y(t ). What needs to be pointed out is that different from the periodic time-triggered mechanism,

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Y.-A. Liu, S. Tang, Y. Liu et al. Applied Mathematics and Computation 396 (2021) 125901

the network transmission channel will be open only when predefined event-triggered conditions are met. Therefore, in
practice, the trigger threshold can be appropriately relaxed or increased according to the current control demand, so as to
reduce the occupation of communication resources, further avoiding the insignificant utilization of network resources by
the time-triggered mechanism. Moreover, with the unremitting efforts of many scholars, some improved event-triggered
strategies have been proposed, such as dynamic ETM [48], hybrid ETM [49] and adaptive ETM [50], which will be one of
our future work directions.

Based on the transmitted measurement ȳ(t ), we design the following observer model to obtain state information of
system (1):

xˆ˙ (t ) = Axˆ(t ) + E f xˆ(t ) + Bu(t ) + BL(ȳ(t ) − yˆ(t ) )

(13)
yˆ(t ) = C˜xˆ(t )
in which xˆ(t ) ∈ Rn and yˆ(t ) ∈ Rr mean the estimated state and estimated measurement output vectors, respectively;
f xˆ(t ) = [ f1 (xˆ1 (t )), . . . , fn (xˆn (t ))]T is the estimated nonlinear function; L ∈ Rn is the observer gain to be designed. The
other vectors and matrices have identical explanations with (1). To simplify the expression, denote C˜  C + β (t )C.
In the light of the system model constructed above, define the error vectors: e(t )  x(t ) − xˆ(t ) and g(e(t ))  f (x(t ) ) −
f xˆ(t ) . Whereafter, the observation error dynamic can be given as:

e˙ (t ) = Ae(t ) + Eg(e(t )) + F w(t ) − BL(ȳ(t ) − yˆ(t ) ). (14)

2.3. Overall closed-loop system

By resorting to SMC theory, the design of SMC can be concluded in the following two parts: (1) Select sliding surface
according to the system model and parameters. Once the sliding surface is given, the dynamic model of the sliding motion
is determined. (2) According to the selected sliding surface, SMC law which can impel system state trajectory to the sliding
surface is synthesized. In this part, an integral-type sliding surface is proposed.
t t
s(t ) = G xˆ(t ) − G (A + BK1 )xˆ(s )ds − G (E + BK2 ) f xˆ(s ) ds (15)
0 0

in which the vectors xˆ(t ), f xˆ(t ) and matrices A, B, E have been introduced. G ∈ Rm×n is a given known matrix such that
GB is nonsingular. K1 , K2 ∈ Rm×n are the real gain matrices to be designed.
t
Remark 4. In this work, an integral term 0 G (E + BK2 ) f xˆ(s ) ds for nonlinear function is added on the basis of the tradi-
tional integral sliding surface. The selection of this integral sliding surface is inspired by literature [29,32], which has been
widely applied in research of sliding mode control. Compared with linear sliding surface, the integral sliding surface can
eliminate the approach phase, and the initial state trajectory of the system is on the sliding surface, which makes the sys-
tem globally robust stable. In general, the linear sliding surface takes the form of s(t ) = cx(t ). The initial state x(0 ) of the
system is generally not zero, that is, the initial position of the system cannot be guaranteed to be located on the sliding
surface. However, the form of integral sliding surface is s(t ) = x(t ) + c x(t )dt . It is clear to know that the sliding surface
s(t ) = 0 can be guaranteed by setting the integral x(0 )dt = − x(c0 ) for any initial state x(0 ) at any time. Therefore, integral
sliding mode control can reduce disadvantages of chattering and steady-state error than traditional sliding mode control.

Based on (15), for t ∈ [tl , tl+1 ), we have

E{s˙ (t )} = E{G [Axˆ(t ) + E f xˆ(t ) + Bu(t ) + BL(ȳ(t ) − yˆ(t ) )]

−G (A + BK1 )xˆ(t ) − G (E + BK2 ) f xˆ(t ) }. (16)
According to the equivalent control theory in SMC, let s(t ) = s˙ (t ) = 0, the equivalent control law can be calculated:
ueq = K1 xˆ(t ) + K2 f xˆ(t ) − L(ȳ(t ) − yˆ(t ) ). (17)
Substituting ueq into (13), we have:

xˆ˙ (t ) = (A + BK1 )xˆ(t ) + (E + BK2 ) f xˆ(t )

(18)
e˙ (t ) = Ae(t ) + Eg(e(t )) + F w(t ) − BL m(t ) + C˜x[t − d (t )] − C˜xˆ(t ) .
Subsequently, the following overall closed-loop system can be derived:

η˙ (t ) = Aη (t ) + Eφ (η (t )) + L1 m(t ) + L2 η (t − d (t )) + Fw(t )
(19)
z(t ) = Dη (t )

where η (t )  [xˆT (t ) eT (t )]T , φ (η (t ))  [ f T (xˆ(t )) gT (e(t ))]T and

   
A + BK1 0 E + BK2 0
A , E , D  [D D]
BLC˜ A 0 E

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Y.-A. Liu, S. Tang, Y. Liu et al. Applied Mathematics and Computation 396 (2021) 125901

     
0 0 0 0
L1  , L2  , F .
−BL −BLC˜−BLC˜ F

In addition, the event-triggered condition (8) is equivalent to:

 
0 ≤ (ρ − 1 )mT (t )m(t ) + ρ sym η (t − d (t ))CT mT (t ) + ρηT (t − d (t ))CT Cη (t − d (t )) (20)

where C  [C˜ C˜].

2.4. Some definitions and lemmas

Up to now, the overall closed-loop system (19) has been established. Before the subsequent discussion, some necessary
definitions and lemmas should be given in advance.

Definition 1. [31] The overall closed-loop system (19) is mean-square asymptotically stable if

lim η (t )2 = 0 (21)

t→∞

holds for all initial conditions.

Definition 2. [51] For pre-defined scalar σ ∈ {0, 1}, and known real matrices J1 = J1T ≤ 0, J2 , J3 = J3T > 0, J4 = J4T > 0, the over-
all closed-loop system (19) achieves extended dissipativity, if the overall closed-loop system (19) is mean-square asymptoti-
cally stable, meanwhile, for any S > 0 and non-zero w(t ) ∈ L2 [0, ∞ ) such that the following inequality satisfies:
∞
J (J1 , J2 , J3 , t )dt ≥ σ sup zT (t )J4 z (t ) (22)
0 0≤t≤S

where
  
J (J1 , J2 , J3 , t )  (1 − σ ) zT (t )J1 z (t ) + sym zT (t )J2 w(t ) + wT (t )J3 w(t ).

Remark 5. As is known to all, the stability of the system will be affected by the presence of external disturbance. Some
performance indexes are introduced in the analysis of the system which can provide a better measure of the stability for
the systems. Four common single performance, H∞ , passive, L2 − L∞ and standard dissipative are often employed in the
system analysis. Extended dissipative performance can be transformed into four common single performance by adjusting
weighting matrices and scalars, which offers more comprehensive and general result for the systems analysis as much as
possible. The details are as follows:

Lemma 1. [32] For a fixed constant matrix Q with full column rank. The unknown matrix Y can be calculated by the following
equality for any real matrices X , Y, V with suitable dimensions:
−1
Y = (Q X Q )
T
QT QV (23)

if the following condition satisfies:

X QY = QV . (24)

Lemma 2. [52] For given matrices B = BT , A, C with appropriate dimensions, for any matrix F (t ) satisfying F T (t )F (t ) ≤ I, the
condition

B + AF (t )C + C T F T (t )AT < 0 (25)

holds if there exists a positive scalar λ such that the following inequality satisfies:

B + λ−1 AT A+ λ C T C < 0. (26)

3. Main results

The stability issue is investigated for the overall closed-loop system (19) based on the Lyapunov stability theory in this
section. Firstly, sufficient conditions of stability with the extended dissipativity for the overall closed-loop system (19) are
derived in Theorem 1. Then, gains of the controller and observer are presented in Theorem 2. The reachability analysis of
the sliding surface is given in Theorem 3.

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3.1. Stability and performance analysis

Theorem 1. Given some positive scalars d, τ , σ ∈ {0, 1} and ρ ∈ [0, 1], matrices J1 = J1T ≤ 0, J2 , J3 = J3T > 0, J4 = J4T > 0, 1 and
2 , the overall closed-loop system (19) under the event-triggered SMC is mean-square asymptotically stable with an extended
dissipative performance, presumed the existence of matrices P, R, H, W and , event-triggered weighting matrix , and any
appropriate dimension matrices N1 , N2 such that the following conditions hold:

σ DT J4 D − P < 0 (27)

<0 (28)

where
⎡ ⎤
1,1 1,2
N1 L2 W N1 E + 2  N1 L1 1 ,7

⎢ ∗ 2,2
N2 L2 0 N2 E N2 L1 N2 F ⎥
⎢ ∗ ∗ 3 ,3
ρ CT  0 ⎥
⎢ 0 0 ⎥
=⎢
⎢ ∗ ∗ ∗ −H − W 0 0 0 ⎥ ⎥
⎢ ∗ ∗ ∗ ∗ − 0 0 ⎥
⎣ ∗ ∗ ∗ ∗ ∗ (ρ − 1 ) 0
⎦
∗ ∗ ∗ ∗ ∗ ∗ −J3
with
1 ,1
 sym{N1 A} − 1  + R + H − W− (1 − σ )DT J1 D
1 ,2
 P − N1 + AT NT2 , 1,7
 N1 F − (1 − σ )DT J2
2 ,2
= d W − sym{N2 },
2 3 ,3
= ρ C T C − ( 1 − τ ) R .

Proof. Select the Lyapunov-Krasovskii functional as follows

t t
V (t ) = ηT (t )Pη (t ) + ηT (θ )Rη (θ )dθ + ηT (θ )Hη (θ )dθ
t −d (t ) t−d
t t
+d η˙ T (θ )Wη˙ (θ )dθ dr. (29)
t−d r

Then, calculate the derivative of V (t ), one can obtain that

 
E V˙ (t ) ≤ E{sym{ηT (t )Pη˙ (t )} + ηT (t )Rη (t ) − (1 − τ )ηT (t − d (t ) )Rη (t − d (t ) ) + ηT (t )Hη (t )
(30)
−ηT (t − d )Hη (t − d ) + d2 η˙ T (t )Wη˙ (t ) − d t−d η˙ T (s )Wη˙ (s )ds}.
t

According to Jensen inequality, it holds that

t t t
−d η˙ T (s )Wη˙ (s )ds ≤ − η˙ T (s )dsW η˙ (s )ds
t−d t−d t−d
 T 
= − η (t ) − ηT (t − d ) W[η (t ) − η (t − d )]. (31)
Then, it is noting that for any appropriately dimensioned matrices N1 and N2 , we have
 
0 = E{sym ηT (t )N1 + η˙ T (t )N2 [−η˙ (t ) + Aη (t ) + Eφ (η (t )) + L1 m(t ) +
L2 η (t − d (t ) ) + Fw(t )]}. (32)
In addition, based on Assumption 1, for any appropriately dimensional diagonal matrix , the following inequality holds
 T   
η (t ) −1  2  η (t )
E ≥ 0. (33)
φ (η (t ) ) ∗ − φ (η (t ) )

Denote

 (t )  [ηT (t ) η˙ T (t ) ηT (t − d (t )) ηT (t − d ) φ T (η (t )) mT (t ) wT (t )]T .
Recalling the event-triggered condition (20), we can obtain
 
E V˙ (t ) − J (J1 , J2 , J3 , t ) ≤  T (t )  (t ). (34)
According to (28), for any small scalar ξ > 0 under the initial condition, the following inequality holds
 
E V˙ (t ) − J (J1 , J2 , J3 , t ) ≤ −ξ η (t )2 (35)

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Y.-A. Liu, S. Tang, Y. Liu et al. Applied Mathematics and Computation 396 (2021) 125901

which means lim η (t )2 = 0. Therefore, based on Definition 1, the overall closed-loop system (19) is mean-square asymp-
t→∞
totically stable.
Furthermore, it follows from (35) that
    
E V˙ (t ) − (1 − σ ) zT (t )J1 z (t ) + sym zT (t )J2 w(t ) − wT (t )J3 w(t ) ≤ 0. (36)
Let σ = 0, for any 0 < t < S under zero initial condition, we have
E{V˙ (t )} ≤ E{J (J1 , J2 , J3 , t )}

S

0 ≤ E{V (t )} ≤ E J (J1 , J2 , J3 , t )dt
0

that is means

  S
0≤E η (t )Pη (t ) ≤ E
T
J (J1 , J2 , J3 , t )dt
0

which implies
S

0≤E J (J1 , J2 , J3 , t )dt . (37)
0

Let σ = 1, for any 0 < t < S, we can get

t
 S

E{V (t )} ≤ E wT (t )J3 w(t )dt ≤E wT (t )J3 w(t )dt
0 0

which means

  S
E η (t )Pη (t ) ≤ E
T
w (t )J3 w(t )dt
T
0

then, from (27), we obtain

 
E σ DT J4 D − P ≤ 0
 
E σ ηT (t )DT J4 Dη (t ) − ηT (t )Pη (t ) ≤ 0
it means that

  S
E σ zT (t )J4 z(t ) ≤ E wT (t )J3 w(t )dt . (38)
0

According to Definition 2, the overall closed-loop system (19) is mean-square asymptotically stable and meets an ex-
tended dissipative performance. Thus, the proof of Theorem 1 is accomplished.

Remark 6. It should be pointed out that there exist many nonlinear terms in Theorem 1, which caused difficulty to obtain
the gains of the designed observer and controller. In Theorem 2, we will perform a mathematical transformation of the
sufficient conditions in Theorem 1 to solve the gains of the sliding surface (15) and observer (13), and the event-triggered
weighting matrix (8) by using some decoupling techniques.

Theorem 2. For given scalars d > 0, τ > 0, σ ∈ {0, 1}, ρ ∈ [0, 1], β ∈ [0, 1] and εi j (i, j = 1, 2), matrices J1 = J1T ≤ 0, J2 ,
J3 = J3T > 0, J4 = J4T > 0, 1  diag{11 , 12 }, 2  diag{21 , 22 }, X and Y, the overall closed-loop system (19) based on the
event-triggered SMC is mean-square asymptotically stable and meets an extended dissipative performance, supposed the existence
of scalars δk (k = 1, 2, 3 ), matrices Q1 , Q2 , Q3 , and event-triggered weighting matrix  > 0, diagonal positive definite matrices
  diag{1 , 2 }, P  diag{P1 , P2 }, R  diag{R1 , R2 }, H  diag{H1 , H2 } and W  diag{W1 , W2 }, and with any appropriate
dimensions matrix N such that the following conditions hold:
σ DT J4 D − P < 0 (39)

⎡ ⎤
(7×7) 1 2 3
0
⎢ ∗ − ρ  I 7 0
1
0 ⎥
⎢ ⎥
⎢ ∗ ∗ −δ1 I 0 0 ⎥<0 (40)
⎣ ∗ ∗ ∗ −δ2 I 0 ⎦
∗ ∗ ∗ ∗ −δ3 I

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Y.-A. Liu, S. Tang, Y. Liu et al. Applied Mathematics and Computation 396 (2021) 125901

where
⎡ ⎤
1,1 P − 2 3 W 4 + 2  5 1,7
⎢ ∗ 2,2 8 0 9 10 11 ⎥
⎢ ∗ ∗ 3,3 13 0 ⎥
⎢ 0 0 ⎥
=⎢
⎢ ∗ ∗ ∗ −H − W 0 0 0 ⎥ ⎥
⎢ ∗ ∗ ∗ ∗ − 0 0 ⎥
⎣ ∗ ∗ ∗ ∗ ∗ (ρ − 1 ) 0
⎦
∗ ∗ ∗ ∗ ∗ ∗ −J3
with
1,1  sym{1 } − 1  + R + H − W−(1 − σ )DT J1 D+1
1,7  6 − (1 − σ )DT J2 , 2,2  d2 W − sym{7 }, 3,3 = 12 − (1 − τ )R + 2
and
 
1  δ2 ψ T ψ , 2  (δ3 + δ1 )ψ T ψ , 1  col 0(2×1) 5 0(2×1) 6 0(1×1)
     
  col 1 7 , 2  col 1 2 0(6×1 ) , 3  col 3 4 0(6×1 )
   
Y 0 ε21 AT NT + Q1T BT − ε11 N ε22C T Q3T BT
ψ , 2 
0 Y 0 ε22 AT NT − ε12 N
   
ε11 (NA + BQ1 ) 0 0 0
1  , 3 
ε12 BQ3C ε12 NA −ε12 BQ3C −ε12 BQ3C
     
ε11 (NE + BQ2 ) 0 0 0
4  , 5  , 6 
0 ε12 NE −ε12 BQ3 ε12 NF
     
ε N 0 0 0 ρC T 
7  21 , 8  , 13 
0 ε22 N −ε22 BQ3C −ε22 BQ3C ρC T 
     
ε (NE + BQ2 ) 0 0 0
9  21 , 10  , 11 
0 ε22 NE −ε22 BQ3 ε22 NF
     
ρC T C ρC T C 0 0 0 0
12  ,   ,  
ρC T C ρC T C 1
βε12 BQ3 X 0 2
βε22 BQ3 X 0
   
0 0 0 0
3  , 4 
−βε12 BQ3 X −βε12 BQ3 X −βε22 BQ3 X −βε22 BQ3 X
  
C X C X
T T    
5  βρ T , 6  βρ X  X , 7  β  X  X .
C X C X T

In addition, the event-triggered weighting matrix  can be solved directly, and the gain matrices K1 , K2 and L of the sliding
mode controller and observer can be calculated as :
K1 = N −1 O1 , K2 = N −1 O2 , L = N −1 O3 (41)
with N = BT NB, Oi = BT BQi (i = 1, 2, 3 ).

P roo f : Firstly, define

P  diag{P1 , P2 }, R  diag{R1 , R2 }, N1  diag{N11 , N12 }
W  diag{W1 , W2 }, H  diag{H1 , H2 }, N2  diag{N21 , N22 }. (42)
and Ni j  εi j N (i, j = 1, 2 ). Then, by employing Lemma 1, one can obtain that
N BK1 = BQ1 , N BK2 = BQ2 , N BL = BQ3 . (43)
 
Whereafter, substituting (42) and (43) into (28), and utilizing Schur complement for ρβ C T C (noting E β 2 (t ) =
D{β (t )} + E2 {β (t )} = β ), the condition (28) equals to
 
(7×7) 0
+ sym{
¯}<0 (44)
∗ − ρ1 I
 
where 
¯  1 2 3 0(8×1 ) 0(8×1 ) 4 0(8×1 ) 5 with
⎡ ⎤
    ϒ3  
0(2×1 )
ϒ1 ϒ2 ⎢ ϒ4 ⎥
1  , 2  , 3  ⎣ ,  ϒ6
0(7×1 ) 0(7×1 ) ϒ5 ⎦ 4
0(5×1 )
0(5×1 )

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Y.-A. Liu, S. Tang, Y. Liu et al. Applied Mathematics and Computation 396 (2021) 125901

     
0(2×1 )
0 ε12 β C T Q3T BT 0 ε22 β C T Q3T BT
5  ϒ7 , ϒ1  , ϒ2 
0 0 0 0
0(5×1 )
   
0 0 0 0
ϒ3  β , ϒ4  β
−ε12 BQ3 C −ε12 BQ3 C −ε22 BQ3 C −ε22 BQ3 C
     C T 
C T C C T C C T 
ϒ5  ρβ , ϒ6  ρβ , ϒ7  β .
C T C C T C C T  C T 
Considering C = X (t )Y, and using Lemma 2 for sym{
¯ }, it is easy to obtain that
   T
sym{
¯ } = 2 (t ) ψ 0(1×7) + ψ 0(1×7) T (t )T2
   T
+3 (t ) 0(1×2 ) ψ 0(1×5 ) + 0(1×2 ) ψ 0(1×5 ) T (t )T3
   T
+(t ) 0(1×2 ) ψ 0(1×5 ) + 0(1×2 ) ψ 0(1×5 ) T (t )T
≤ δ1−1 T + δ2−1 2 T2 + δ3−1 3 T3
 T  
+δ2 ψ 0(1×7 ) ψ 0(1×7)
 T  
+δ1 0(1×2 ) ψ 0(1×5 ) 0(1×2 ) ψ 0(1×5 )
 T  
+δ3 0(1×2 ) ψ 0(1×5 ) 0(1×2 ) ψ 0(1×5 ) .
Then, by applying Schur complement to (44), we can get (40). Hence, the proof is accomplished.

Remark 7. The relevant problems of this work are solved based on the linear matrix inequality (LMI), where the balance
of conservatism and computation is an attractive question worth discussing. About the issue of conservatism, the Jensen
inequality is employed to deal with the integral term: −d t−d η˙ T (s )Wη˙ (s )ds ≤ − t−d η˙ T (s )dsW t−d η˙ (s )ds, and Lemma 2 is
t t t

used to deal with uncertain parameter C = X (t )Y, which the conservatism of results is increased. But the method of
free weighting matrix is introduced in the proof to reduce conservatism to some extent. Moreover, the issue of computation
is mainly reflected in the following aspects: (1) The conditions derived from Theorem 1 are based on the results of the
augmented system. In the process of converting to LMI, dimension matching is required, which will increase the dimensions
of the matrix correspondingly. (2) Uncertain item C is handled by integral inequality and Schur complement, which will
further increase the dimensions of the matrix. Furthermore, there is still some room to obtain sufficient conditions with less
conservatism, such as using more accurate inequality techniques or improving control methods, which will be the direction
of our future work.

3.2. Reachability analysis for sliding surface

According to the selected sliding surface in (15), in this section, an SMC law will be synthesized to ensure the reachability
of the sliding surface.

Theorem 3. The state trajectory of the system will be driven onto the sliding surface (15) in mean square sense if the following
SMC law is satisfied:
u(t ) = −ψ s(t ) + K1 xˆ(t ) + K2 f (xˆ(t )) − ϑ sign(s(t ))
where ψ > 0, and ϑ = Lȳ(t ) + Lyˆ(t )+ μ where μ is an enough small positive constants.

Proof. Consider the following Lyapunov function based on the sliding surface s(t )
1 T
V0 (t ) = s (t )(GB )−1 s(t ). (45)
2
From (15) and (16), one can calculate that
    
E V˙ 0 (t ) = E sT (t )(G B )−1 G Bu(t ) − GBK1 xˆ(t ) − GBK2 f (xˆ(t )) + GBLȳ(t ) − GBLyˆ(t ) . (46)
Substitute u(t ) into the above formula, it is obvious to obtain that:
   
E V˙ 0 (t ) = E{sT (t )(G B )−1 [G B −ψ s(t ) + K1 xˆ(t ) + K2 f (xˆ(t )) − ϑ sign(s(t ))
−GBK1 xˆ(t ) − GBK2 f (xˆ(t )) + GBLȳ(t ) − GBLyˆ(t )]}
 
= E sT (t )[−ψ s(t ) − ϑ sign(s(t )) + Lȳ(t ) − Lyˆ(t )]
 
= E −ψ sT (t )s(t ) − ϑ sT (t )sign(s(t )) + sT (t )Lȳ(t ) − sT (t )Lyˆ(t )
 
≤ E −ψ s(t )2 − ϑ s(t ) + s(t )Lȳ(t ) + s(t )Lyˆ(t )

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Y.-A. Liu, S. Tang, Y. Liu et al. Applied Mathematics and Computation 396 (2021) 125901

Fig. 2. State response of the systems and observer (Case1).

≤ E{−μs(t )}. (47)

It is clear to know that for any s(t ) = 0, V˙ 0 (t ) < 0, which means the SMC law u(t ) designed in Theorem 3 can drive the
system state trajectories to the predefined sliding surface. Therefore, the proof of Theorem 3 is accomplished. 

4. Illustrative examples

For the observer-based event-triggered SMC scheme presented in the above work, we will demonstrate the feasibility by
two simulation examples.

Example 1. Consider the system models described by (1) and (13) with the following parameters [29]:
     
1.95 −1.03 −1.68 0.65 0.178 0
A= ,E = ,B =
2.79 −1.56 −1.28 0.17 0 0.111
     
−0.125 0.12 −0.3 0.1 0.18 0.11
C= ,D = ,F = .
0.12 0.14 0.1 −0.11 0.12 0.11

In order to describe the uncertain measurement, select β = 0.5, and

   
−0.45 0.11 −0.25 0.23
X= ,Y = , (t ) = sin(t ).
0.12 −0.61 0.11 −0.28
Furthermore, the nonlinear function is taken as follows
f (x ) = 0.5(|x + 1| − |x − 1| )
it is clear to know that 1 = diag{0, 0}, 2 = diag{0.5, 0.5}. Then, delay function is d (t ) = 0.1sin(t ), so d = 0.1, τ = 0.1;
Furthermore set the event-triggered parameter as ρ = 0.1, given matrix of sliding surface G = diag{1, 1}.
It is worth noting that four common performance indexes L2 −L∞ , H∞ , standard dissipativity and passivity are the
special form of extended dissipativity (22). In this example, we give two cases by adjusting the weighting coefficient σ and
weighting matrices Ji (i = 1, · · · , 4).

Case 1. Let σ = 0, J2 = 1, J3 = 1, the condition (22) can be evolved into the passive performance index. After that, solving
the conditions shown in Theorem 2, the gains of sliding mode controller and observer can be obtained:
     
−1.0034 0.9540 −0.5130 0.0602 −0.0017 0.0011
K1 = , K2 = ,L =
1.6096 −1.1510 1.0809 −0.2170 0.0032 −0.0021
and event-triggered weighting matrix  = 2.3837.
 T  T
Whereafter, preset some initial state values: x0 = −0.2 −0.32 , xˆ0 = −0.15 −0.15 , external disturbance w(t ) =

1+t 2
The related SMC law parameters are given as ψ = 10, μ = 0.001. Fig. 2 show the responses of the system state x(t ),
0.5 sin t
.
and the responses of the error e(t ) of the observer and system, respectively. Furthermore, Fig. 3 show the response curves
of the sliding surface s(t ), and the event-triggered release instants, respectively.

Case 2. Let σ = 0, J1 = −1, J3 = 1, the condition (22) can be transformed into a standard dissipative performance index. The
following gains of sliding mode controller and observer can be obtained:
     
1.0249 −1.4082 −0.0668 0.1752 0.0748 −0.0483
K1 = , K2 = ,L =
−2.9777 2.0155 0.2792 −0.3758 −0.0412 0.1338

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Y.-A. Liu, S. Tang, Y. Liu et al. Applied Mathematics and Computation 396 (2021) 125901

Fig. 3. Sliding surface and event-trigger released intervals (Case1).

Fig. 4. State response of the systems and observer (Case2).

Fig. 5. Sliding surface and event-trigger released intervals (Case2).

and event-triggered weighting matrix  = 2.6081.

 T  T
Take the following system initial values x0 = −0.3 −0.4 , xˆ0 = −0.35 −0.35 , and the external disturbance
−2 cos t
w(t ) = 0.51+
e
t2
. The relevant simulation results are displayed in Figs. 4–5. On the other hand, it needs to be given that
the upper bound of time delay d, which calculated by the dichotomy method is 0.1872 (Case 1) and 0.1903 (Case 2).

Example 2. In this example, a Chua’s circuit model [29] is utilized to demonstrate the potential practicability for the pre-
sented SMC scheme. The electric circuit is shown in Fig. 6, which can be described as:
uC2 (t ) − uC1 (t )
V˙ C1 (t )C1 = − f (uC1 (t ) )
R1
uC (t ) − uC1 (t )
V˙ C2 (t )C2 = 2 − i(t )
−R1

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Y.-A. Liu, S. Tang, Y. Liu et al. Applied Mathematics and Computation 396 (2021) 125901

Fig. 6. A Chua’s circuit model.

i(t )L = −R2 i(t ) − uC2 (t ) (48)

in which C, R and L are the capacitor, linear resistor and inductor, respectively. Furthermore, f (· ) means the piecewise-linear
resistor, which has the following form:
(κ2 − κ1 )(|g(t ) + 1| − |g(t ) − 1|)
f (g(t ) ) = κ1 g(t ) + (49)
2
where κ1 and κ2 are given scalars.

Combined with the above analysis and (48), define x1 (t )  uC1 (t ), x2 (t )  uC2 (t ) and x3 (t )  R1 i(t ). Then, consider the
following system model:

x˙ (t ) = Ax(t ) + E f (x(t )) (50)

where
T
x(t )  [x1 (t ) x2 (t ) x3 (t )]T , f (x(t ) )  [ f (x1 (t ) ) f (x2 (t ) ) f (x3 (t ) )]
with
⎡ ⎤  
− R11C1 1
R1 C1
0 − R11C1 0 0
A⎣ 1
R1 C2
− R11C2 1
R1 C2
⎦, E  0 0 0 .
0 − 1L − RL2 0 0 0

Then, define reference signal as v(t )  [v1 (t ) v2 (t ) v3 (t )]T , and with let r (t )  v(t ) − x(t ) and g(r (t ))  f (v(t )) − f (x(t )).
The system model is shown as below:

r (t ) = Ar (t ) + Eg(r (t )) + Bu(t ) + F w(t )
y(t ) = (C + β (t )C )r (t )
z(t ) = Dr (t )
where y(t ) and z(t ) are the measured output and actual output of the circuit, respectively. The parameters in the circuit
are given as L = 4, C1 = 0.4, C2 = 0.5, R1 = 2, R2 = 4, κ1 = 0.1, κ2 = 0.2, the remaining parameters and matrices are set as
ρ = 0.1, G = diag{1, 1, 1}, β = 0.5, B = diag{1, 1, 1} and
     
0.2 0 0.2 0.1 0.35 0.15 1.81.1 1
C= 0.04 0 0.12 , D = 0.15−0.20.55 , F = 1.21.1 1 .
0 0.22 0 1.2 −0.2 0.2 1.1 1 0.6
In addition, C can be represented in (3) with
   
−0.45−0.45−0.45 −0.25 0.23 0.09
X= 0.12 0.12 0.22 , Y = 0.11 −0.28−0.18 , (t ) = sin(t ).
0.11 0.14 −0.12 0.22 −0.15 0.37
And let σ = 0, J1 = −1, J2 = 0, J3 = 1, the condition (22) can be evolved into the H∞ performance index. After that,
by solving the conditions presented in Theorem 2, the event-triggered weighting matrix is  = 69.8908, and the following
gains of sliding mode controller and observer can be obtained:
 
0.0147 0.0024 −0.0059
L= −0.0013 0.1177 0.0949
−0.0022−0.0046 0.0092

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Y.-A. Liu, S. Tang, Y. Liu et al. Applied Mathematics and Computation 396 (2021) 125901

Fig. 7. State response of the systems and observer.

Fig. 8. Sliding surface and event-trigger released intervals.

   
−5.4424 −0.8081 −0.3100 0.5501 0.0206 0.0162
K1 = −1.1444 −3.5655 −1.4326 , K2 = −0.2092 −0.0860 0.0717 .
0.0631 −2.0855 −4.1943 −0.4759 0.0715 −0.1108
 T  T
Then, take the following system initial values: r0 = 0.3 −0.3 −0.5 , rˆ0 = 0 −0.1 −0.2 . And the external dis-
turbance w(t ) = 0.1+
1t sin t
t2
. Fig. 7 shows the state responses x(t ) of system, and the error responses e(t ) of the observer and
system, respectively. Fig. 8 shows the response curves of the sliding surface s(t ) and event-triggered release instants, re-
spectively. Furthermore, the upper bound of time delay calculated by the dichotomy method is 0.1645.

5. Conclusion

In this paper, the sliding mode control issue has been discussed for continuous-time nonlinear networked control system
with randomly uncertain measurement. Considering the situation of state information is not available, an observer model
has been devised. In addition, an event-triggered mechanism has been considered in the network transmission to decrease
the occupation of networked bandwidth and the rate of data transmission. By using the Lyapunov stability theory, some
sufficient conditions of stability and extended dissipative performance analysis for the constructed augmented system have
been given. Meanwhile, the presented sliding mode control law can also impel the system state trajectory onto sliding
surface. Whereafter, the gains of the sliding mode controller and observer have been obtained by solving the matrix convex
optimization problem. Finally, two illustrative simulations have been given to testify the feasibility of the developed control
scheme. In addition, the developed control method can be extended to more complex systems, such as switched networked
systems, multi-time scales singular networked systems, fuzzy networked systems and so on, and the impact of cyber-attacks
on systems during information transmission will be also considered, which will be the focus of our future work.

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