Event-triggered robust output regulation for nonlinear systems: A time regularization approach

In this article, we investigate the event-triggered robust output regulation problem for a class of nonlinear systems. Using the idea of time regularization, an event-triggered mechanism with dwell time is proposed together with a model-based control law, which avoids a practical convergence bound and excludes the Zeno behavior as well. The problem is further converted into an event-triggered robust stabilization problem for an augmented system, which is further solved by a model-based event-triggered control law combined with the proposed event-triggered mechanism. Finally, the proposed method achieves an exact solution to the original event-triggered output regulation problem.