In this work, a dynamic system is controlled by multiple sensor-actuator agents, each of them commanding and observing parts of the systems input and output. The different agents sporadically exchange data with each other via a common bus network according to local event-triggering protocols. From these data, each agent estimates the complete dynamic state of the system and uses its estimate for feedback control. We propose a synthesis procedure for designing the agents state estimators and the event triggering thresholds. The resulting distributed and event-based control system is guaranteed to be stable and to satisfy a predefined estimation performance criterion. The approach is applied to the control of a vehicle platoon, where the methods trade-off between performance and communication, and the scalability in the number of agents is demonstrated.
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