Self-triggered output feedback control for perturbed linear systems

In this work we propose a Self-Triggered Control (STC) strategy for linear time-invariant (LTI) systems subject to bounded disturbances, using LTI discrete-time dynamic output-feedback. The STC logic computes worst-case triggering times from available information, based on a Periodic Event Triggered Control (PETC) triggering function. In the case of no perturbation and full state information, the discrete times can be determined exactly, defining unions of cones in the state space. When bounded disturbances are present, we compute worst-case triggering times and their associated state-space regions. If full state information is also not available, we use a special observer to compute the worst-case triggering times, yielding an STC logic that only needs the current system output and the controller state. For all cases, we provide sufficient conditions for stability and L₂-gain from disturbance to output.