  We present an event-triggered control strategy for stabilizing a scalar,
continuous-time, time-invariant, linear system over a digital communication
channel having bounded delay, and in the presence of bounded system
disturbance. We propose an encoding-decoding scheme, and determine lower bounds
on the packet size and on the information transmission rate which are
sufficient for stabilization. We show that for small values of the delay, the
timing information implicit in the triggering events is enough to stabilize the
system with any positive rate. In contrast, when the delay increases beyond a
critical threshold, the timing information alone is not enough to stabilize the
system and the transmission rate begins to increase. Finally, large values of
the delay require transmission rates higher than what prescribed by the classic
data-rate theorem. The results are numerically validated using a linearized
model of an inverted pendulum.
