Robust practical output regulation for a class of uncertain linear minimum-phase systems by output-based event-triggered control

In this paper, we consider the robust practical output regulation problem for a class of SISO uncertain linear minimum-phase systems subject to external disturbances by an output-based event-triggered control law, where the reference inputs and the external disturbances are both generated by a so-called exosystem with known dynamics. Our approach consists of two steps. First, on the basis of the internal model principle, we convert the problem into the robust practical stabilization problem of a well-defined augmented system. Second, we design an output-based event-triggered mechanism and an output-based event-triggered control law to solve the stabilization problem, which in turn leads to the solvability of the original problem. What is more, we show that the event-triggered mechanism prevents the Zeno behavior from happening. A numerical example is given to illustrate the design. Copyright (c) 2017 John Wiley & Sons, Ltd.