Event-Triggered Control Under Unknown Input and Unknown Measurement Delays Using Interval Observers

We provide a new input-to-state stabilizing event-triggered feedback design for linear systems with unknown input delays, unknown measurement delays, and unknown additive disturbances. Our trigger times are computed using only the matrices defining the system and time-lagged sampled state values. We use the theory of positive systems, interval observers, and a vector version of Halanay’s inequality. We illustrate our method using a marine robotic model.