Input-to-state stabilization of nonlinear systems using event-triggered output feedback controllers

We synthesize robust output-based event-triggered controllers for a class of nonlinear systems subject to external disturbances and noises in both the plant measurement and the control input. We follow an emulation approach to this purpose: we first assume that we know a robust feedback law in continuous time, we then take into account the sampling and we explain how to construct the triggering condition to preserve stability. The triggering strategy enforces a minimum time between two consecutive transmissions by combining ideas from event-triggered control and periodic sampled-data control. The closed-loop system is shown to satisfy an input-to-state stability (ISS) property with respect to the external disturbances, the noises as well as their time-derivatives. The analysis reveals a tradeoff between the enforced minimum inter-transmission time and the magnitude of the ISS gains. The results are also new in the particular case where the triggering condition is only time-dependent as in traditional sampled-data control.