Self-triggered output-feedback control of LTI systems subject to disturbances and noise

Gabriel de Albuquerque Gleizer*, Manuel Mazo

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

6 Citations (Scopus)
27 Downloads (Pure)


Self-triggered control (STC) and periodic event-triggered control (PETC) are aperiodic sampling techniques aiming at reducing control data communication when compared to periodic sampling. In both techniques, the effects of measurement noise in continuous-time systems with output feedback are unaddressed. In this work we prove that additive noise does not hinder stability of output-feedback PETC of linear time-invariant (LTI) systems. Then we build an STC strategy that estimates PETC's worst-case triggering times. To accomplish this, we use set-based methods, more specifically ellipsoidal sets, which describe uncertainties on state, disturbances and noise. Ellipsoidal reachability is then used to predict worst-case triggering condition violations, ultimately determining the next communication time. The ellipsoidal state estimate is recursively updated using guaranteed state estimation (GSE) methods. The proposed STC is designed to be computationally tractable at the expense of some added conservatism. It is expected to be a practical STC implementation for a broad range of applications.

Original languageEnglish
Article number109129
Number of pages11
Publication statusPublished - 2020

Bibliographical note

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Bounded disturbances
  • Bounded noise
  • Control systems
  • Digital control
  • Dynamic output feedback
  • Linear systems
  • Networked control
  • Self-triggered control
  • State estimation


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