Robust Event-Triggered Control of Nonlinear Systems with Partial State Feedback

This paper studies an event-triggered control problem for nonlinear systems subject to both external disturbances and dynamic uncertainties. To avoid infinitely many sampling times on any finite length interval, a new event trigger is proposed, which depends not only on the measurable system state but also on an estimation of the influence of the external disturbance and the unmeasurable state. With the proposed design, the inter-sampling intervals can be proved to be lower bounded by a positive constant, and the closed-loop eventtriggered system is proved to be input-to-state stable with the external disturbance as the input.