Figure 8.

Illustration of the event-triggering approach in [25] for the cases of successful and failed transmissions at time $t_i$. A transmission is triggered at time $t_{i+1}$ when the state is predicted to make the move indicated with red dotted lines. In the case of successful transmissions (Left), the state is guaranteed to stay inside the level set $\{x\in {\mathbb{R}}^n:V(x)=\beta V(x(t_i))\}$ in between two event-triggering instants.