Event-Triggered Robust Practical Output Regulation for Output Feedback Nonlinear Systems

Abstract

This paper studies the event-triggered global robust practical output regulation problem (ETGRPORP) for output feedback nonlinear systems with any relative degree. We first convert the problem, based on the internal model principle and the high-gain observer method, into the event-triggered global robust practical stabilization problem (ETGRPSP) of a well defined extended augmented system. Then, we design an output-based event-triggered control law (OBETCL) and an output-based event-triggered mechanism (OBETM) to stabilize this extended augmented system and show that the Zeno phenomenon does not happen, which leads to the solvability of the ETGRPORP.