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This paper considers the stabilization of nonlinear continuous-time dynamicalsystems employing periodic event-triggered control (PETC). Assuming knowledgeof a stabilizing feedback law for the continuous-time system with a certainconvergence rate, a dynamic, state dependent PETC mechanism is designed. Theproposed mechanism guarantees on average the same worst case convergencebehavior except for tunable deviations. Furthermore, a new approach todetermine the sampling period for the proposed PETC mechanism is presented.This approach as well as the actual trigger rule exploit the theory ofnon-monotonic Lyapunov functions. An additional feature of the proposed PETCmechanism is the possibility to integrate knowledge about packet losses in thePETC design. The proposed PETC mechanism is illustrated with a nonlinearnumerical example from literature. This paper is the accepted version of [1],containing also the proofs of the main results.

Nonlinear Dynamic Periodic Event-Triggered Control with Robustness to Packet Loss Based on Non-Monotonic Lyapunov Functions