Networked Tracking Control Based on Internal Model Principle and Adaptive Event-Triggering Mechanism

In this paper, the non-static error tracking control issue for the networked control system is considered. First, the unstable modes of the external disturbance signal and the output signal of the reference system are established to form a new series system with the controlled objects. Then, an internal model compensation controller is presented to achieve non-static tracking error. Furthermore, an adaptive event-triggering mechanism is introduced as a communication method to improve network resource utilization. By formulating the tracking control problem of the networked control system as the stabilization problem of a time-varying time-delay system, a sufficient condition such that the closed-loop system is asymptotically stable and satisfies the
$H_{\infty }$
output tracking performance is derived. Finally, the simulation examples illustrate the feasibility and effectiveness of the proposed approach.