# Event-Triggered Stabilization of Nonlinear Systems with Time-Varying Sensing and Actuation Delay

arXiv: https://arxiv.org/abs/1709.02055 · HTML: https://mlsanity.com/paper/1709.02055/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Sep 2017.

## Built on by (most cited first, 1 of 1)

- [Delay compensation of multi-input distinct delay nonlinear systems via neural operators](https://mlsanity.com/paper/2509.17131/) (2025)

## Abstract (arXiv)

This paper studies the problem of stabilization of a nonlinear system with time-varying delays in both sensing and actuation using event-triggered control. Our proposed strategy seeks to opportunistically minimize the number of control updates while guaranteeing stabilization and builds on predictor feedback to compensate for arbitrarily large known time-varying delays. We establish, using a Lyapunov approach, the global asymptotic stability of the closed-loop system as long as the open-loop system is globally input-to-state stabilizable in the absence of time delays and sampling. We further prove that the proposed event-triggered law has inter-event times that are uniformly lower bounded and hence does not exhibit Zeno behavior. For the particular case of a stabilizable linear system, we show global exponential stability of the closed-loop system and analyze the trade-off between the rate of exponential convergence and a bound on the sampling frequency. We illustrate these results in simulation and also examine the properties of the proposed event-triggered strategy beyond the class of systems for which stabilization can be guaranteed.