Matrix pencil based robust control for feedforward systems with event-triggered communications and sensor/actuator faults

Abstract

In this paper we address the issue of output-feedback robust control for a class of feedforward nonlinear systems. Essentially different from the related literature, the feedback/input signals are corrupted by additive noises and can only be transmitted intermittently due to the consideration of event-triggered communications, which bring new challenges to the control design. With the aid of matrix pencil based design procedures, regulating the output to near zero is globally solved by a non-conservative dynamic low-gain controller which requires only an a priori information on the upper-bound of the growth rate of nonlinearities. Theoretical analysis shows that the closed-loop system is input-to-state stable with respect to the sampled errors and additive noise. In particular, the observer and controller designs have a dual architecture with a single dynamic scaling parameter whose update law can be obtained by calculating the generalized eigenvalues of matrix pencils offline, which has an advantage in the sense of improving the system convergence rate.