Co-Design of Output Feedback Event-Triggered Tracking Controller for Nonlinear Systems

초록

This paper presents a systematic co-design framework for an output feedback event-triggered tracking controller for nonlinear systems. The nonlinear dynamics are modeled using a polytopic representation with state-dependent weighting, enabling the application of linear matrix inequality (LMI) techniques. An observer estimates the system states, while an event-triggering mechanism updates control signals only when necessary to reduce communication and computation. A unified LMI condition is proposed to jointly design the controller gain, observer gain, and triggering matrix, ensuring asymptotic tracking and closed-loop stability. A minimum inter-event time is also derived to avoid Zeno behavior. Simulation results confirm that the proposed method achieves stable tracking with fewer transmissions, making it well-suited for networked or embedded systems with limited resources.