Robust Output Regulation of Linear Uncertain Systems by Dynamic Event-Triggered Output Feedback Control
针对线性不确定系统，提出一种动态事件触发输出反馈控制律，在实现精确输出调节的同时，严格避免Zeno行为，并通过内模原理设计控制器，使跟踪误差渐近收敛到零。
In this article, the robust output regulation problem of the linear uncertain system is investigated by the event-triggered control approach. Recently, the same problem is addressed by an event-triggered control law where the Zeno behavior may happen when time tends to infinity. In comparison, a class of event-triggered control laws is developed to achieve output regulation exactly, and meanwhile, explicitly exclude the Zeno behavior for all time. In particular, a dynamic triggering mechanism is first developed by introducing a dynamic changing variable with specific dynamics. Then, by the internal model principle, a class of dynamic output feedback control laws is designed. Later, a rigorous proof is provided to show that the tracking error of the system converges to zero asymptotically while prohibiting the Zeno behavior for all time. Finally, we give an example to illustrate our control approach.