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

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