Event-triggered sampled-data energy control of a pendulum * *This work was supported by Saint Petersburg State University, (grant 6.38.230.2015) and by Government of Russian Federation, Grant 074-U01. The proof of avoidance of Zeno phenomenon in continuous event-trigger was performed in IPME RAS under support of Russian Science Foundation (grant 14-29-00142). The results for event-trigger with a constant threshold (Proposition 2) was performed under support of the Russian Foundation for Basic Research, Grant 17-01-00102-a

The problem of event-triggered sampled-data nonlinear control of Hamiltonian system is considered by the example of controlling the pendulum’s energy. A feedback control law based on the speed gradient method is chosen. The main contribution consists in precisely characterizing energy deviation bounds depending on event-trigger switching parameter.