Event-triggered control subject to external disturbance

This paper studies the event-triggered control problem for continuous-time systems subject to external disturbances. In particular, we consider continuous-time systems with bounded external disturbances. To overcome infinitely fast sampling caused by the disturbance, a combination of time-based trigger and event-based trigger is proposed, and an estimation of the magnitude of the external disturbance is also employed to further increase the inter-sampling periods. If the system dynamics satisfy the global Lipschitz condition, then the inter-sampling periods can be proved to be lower bounded by a positive constant, which is independent of the external disturbance.