Robust Output Regulation of a Class of Minimum-Phase Linear Uncertain Systems by Event-Triggered Control

In this article, we investigate the event-triggered output regulation problem for minimum-phase single input single output (SISO) linear uncertain systems. In comparison with existing works, we solve the event-triggered output regulation problem exactly instead of practically, that is, the tracking error of the system tends to zero asymptotically instead of some neighborhood of the origin. To solve the problem, based on the internal model, we convert the exact event-triggered robust output regulation problem into an event-triggered robust stabilization problem. We further develop an output-based dynamic event-triggered control law and a dynamic triggering mechanism. Then, a rigorous proof is provided to show that the exact robust output regulation problem can be solved by the proposed event-triggered control law, and the Zeno behavior can be excluded strictly. Finally, our main result is illustrated by providing a simulation example.