I. Introduction
EVENT-triggered algorithms have emerged as an alternative approach to the traditional periodic implementation of estimators and controllers, and are often able to achieve good performance using significantly reduced communication rates. A reduced communication rate decreases the energy at the transmitter side and could also reduce congestion when the communication takes place over a shared medium. For this reason, there are several potential applications of event-triggered algorithms, e.g., control over communication networks [1], [2], multi-agent systems [3], distributed optimization [4], and embedded control systems [5].