Event-based control of nonlinear systems with partial state and output feedback

This paper studies the event-triggered control problem for nonlinear systems with partial state and output feedback. We first consider the control systems that are transformable into an interconnection of two input-to-state stable (ISS) subsystems with the sampling error as the external input. It is shown that infinitely fast sampling can be avoided and asymptotic stabilization can be achieved by appropriately choosing the decreasing rate of the threshold signal of the event-trigger. Then, we focus on the event-triggered output-feedback control problem for nonlinear uncertain systems in the output-feedback form. The key idea is to introduce a novel nonlinear observer-based control design and to transform the control system into the form of interconnected ISS systems. ISS small-gain methods are used as a fundamental tool in the discussions.