A Delay-Aware Switching Framework for Binary Actuator Systems Under Sensing Delay and Measurement Noise.

Binary actuator systems are widely used in industrial and agricultural automation because of their simple structure and low implementation cost. However, sensing delay and measurement noise can cause repeated triggering when threshold conditions are continuously evaluated using delayed feedback signals. This paper proposes a delay-aware switching framework for binary actuator systems operating under sensing uncertainty. The proposed framework structures the control cycle into sequential actuation, protected waiting, and idle phases. During the protected waiting phase, switching-condition evaluation is temporarily suspended to prevent redundant actuator commands caused by stale measurements. In addition, an adaptive supervisory mechanism updates the actuation duration and waiting interval using simple performance indicators obtained directly from sensor measurements, without requiring plant-model identification. The timing properties of the proposed switching sequence are analyzed, showing that the inter-event time is bounded below by a positive constant, thereby ensuring Zeno-free behavior. Simulation results demonstrate that the proposed framework eliminates repeated triggering and reduces oscillation amplitude under delayed and noisy measurements. Experimental validation using a Raspberry Pi-based thermal chamber further confirms bounded and regular switching behavior under artificially added measurement noise.