Robust event-triggered control of nonlinear system subject to external disturbance

This paper studies an event-triggered control problem for nonlinear systems in the presence of external disturbances. To avoid infinitely fast sampling caused by disturbances, a new event-triggering mechanism is proposed, which depends not only on the system state but also on an estimation of the influence of the external disturbance. Moreover, the closed-loop event-triggered system is proved to be input-to-state stable (ISS) with the external disturbance as the input. Refined tools of input-to-state stability (ISS) and the small-gain theorem are employed in solving the problem.