Event-triggered extended state observer

Based on the performance analysis on discrete-time ESO and the gain parameter design provided in Chap. 2, we consider the event-triggered extended state observer (ET-ESO) design for a continuous-time nonlinear system with uncertainty and disturbance in this chapter. The aim of the design is to guarantee the observation performance while saving communication source. Since the convergence of the ET-ESO directly depends on the design of the event-triggering condition, the primary task is to ensure an implementable event-triggering condition design that does not rely on the unknown plant state. For the ET-ESO introduced, we perform a rigorous analysis on its asymptotic performance. The obtained theoretical results are validated through numerical simulations.