Event-Triggered Global Robust Exact Output Regulation for a Class of Nonlinear Uncertain Systems

Recently, the event-triggered global robust practical output regulation problem of a class of nonlinear uncertain systems has been solved with the exact output regulation problem remaining open. In this paper, we investigate the exact output regulation problem by dynamic event-triggered output feedback control. To solve the problem, we first convert the event-triggered global robust output regulation problem into the event-triggered global robust stabilization problem of an augmented system based on the internal model principle. Then, we develop the dynamic event-triggered mechanism and the dynamic output feedback control law. By Lyapunov analysis, we show that the event-triggered global robust stabilization problem can be solved, thus leading to the solution of the event-triggered global robust output regulation problem, and meanwhile, the Zeno behavior can be strictly excluded.