Subpredictor approach for event-triggered control of discrete-time systems with input delays

Frédéric Mazenc, Michael Malisoff, Corina Barbalata, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review


We propose a new output event-triggered control design for linear discrete-time systems with constant arbitrarily long input delays, using delay compensating subpredictors. We prove input-to-state stability of the closed loop system, using framers and the theory of positive systems. A novel feature of our approach is our use of matrices of absolute values, instead of Euclidean norms, in our discrete-time event triggers for our delay compensating control design. We illustrate our approach using a model of the BlueROV2 marine vehicle, where our new event triggers lead to a smaller number of control recomputation times as compared with standard event triggers that were based on Euclidean norms, without sacrificing on settling times or on other performance metrics.

Original languageEnglish (US)
Article number100664
JournalEuropean Journal of Control
StatePublished - Nov 2022


  • Chain prediction
  • Delay systems
  • Event-triggered
  • Positive systems

ASJC Scopus subject areas

  • General Engineering


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