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Self-triggered control (STC) and periodic event-triggered control (PETC) areaperiodic sampling techniques aiming at reducing control data communicationwhen compared to periodic sampling. In both techniques, the effects ofmeasurement noise in continuous-time systems with output feedback areunaddressed. In this work we prove that additive noise does not hinderstability of output-feedback PETC of linear time-invariant (LTI) systems. Thenwe build an STC strategy that estimates PETC's worst-case triggering times. Toaccomplish this, we use set-based methods, more specifically ellipsoidal sets,which describe uncertainties on state, disturbances and noise. Ellipsoidalreachability is then used to predict worst-case triggering conditionviolations, ultimately determining the next communication time. The ellipsoidalstate estimate is recursively updated using guaranteed state estimation (GSE)methods. The proposed STC is designed to be computationally tractable at theexpense of some added conservatism. It is expected to be a practical STCimplementation for a broad range of applications.

Self-Triggered Output-Feedback Control of LTI Systems Subject to Disturbances and Noise