5. Robust control

Robustness is a fundamental issue in control engineering, and lies at the very heart of the closed-loop principle. By robustness, we mean the right behavior of a controlled system, despite :

• the uncertainties to which the model used to synthesize the controller is subject;

• possible exogenous disturbances that may affect the dynamics ;

• noise on the measurements collected.

Each of these three aspects is discussed in this section in the context of event-triggered control. It is assumed that the complete state x is measured.