Event-triggered control for continuous-time linear systems with a delay in the input

We provide an event-triggered control technique for a family of linear time-varying continuous-time systems with constant known pointwise delay in the input. adopt subpredictor based prediction technique, and we sufficient conditions that ensure Zeno behavior does not occur. At each time, only delayed measurements are needed to implement control. Also, can be arbitrarily large constant. prove input-to-state stability property closed-loop system, using theory cooperative systems. apply our method gyroscopic problem curve tracking dynamics arising marine robotics.