Event-Triggered Global Robust Practical Output Regulation for Lower Triangular Nonlinear Systems.

In this paper, we study the event-triggered global robust practical output regulation problem for a class of lower triangular nonlinear systems. We first augment our system by an event-triggered internal model that will reproduce not only the desired steady-state input but also the desired steady-state state based on the sampled data. Then, we further recursively construct a state feedback event-triggered control law and a state-based Zeno-free event-triggered mechanism to globally stabilize the augmented system, which in turn leads to the solution of our original problem.