Observer-based event-triggered control for systems with slope-restricted nonlinearities

This article presents an observer-based event-triggering strategy for systems with slope-restricted nonlinearities that depend on the state. Both the emulation and codesign problems are addressed. To avoid Zeno behavior, a minimum dwell time is considered. By using a looped-functional approach and the cone-bounded properties of the nonlinearity, sufficient conditions based on linear matrix inequalities are derived to ensure global asymptotic stability of the origin of the closed-loop system under the proposed event-triggering strategy. These conditions are incorporated into convex optimization problems to optimally determine the event-triggering function parameters and the observer gain (in the codesign case) aiming at reducing the number of control updates. Numerical examples illustrate the potentialities of the approach.