Event-triggered active disturbance rejection control

Based on our discussions on event-triggered ESO in Chap. 3, we further consider the problem of event-triggered ADRC design in this chapter. Specifically, we consider the problem of event-triggered sampled-data control for networked systems. To do this, a nonlinear continuous-time system with uncertainty and disturbance is introduced, for which an event-triggered control problem based on an ADRC approach is formulated. For this problem, we consider two different scenarios. First, we investigate the scenario that the control signal is transmitted at each event instant while the output measurements are transmitted in real time. For this scenario, an easy-to-implement event-triggering strategy based on the state observation information provided by an ESO is proposed, for which the asymptotic boundedness of the observation error is obtained and the stability of the closed-loop system can be guaranteed. By introducing some mild restrictions on the initial values of the observer and plant, the boundedness of observation error can be maintained at any time.