Event-triggered Control of Uncertain Nonlinear Discrete-time Systems with Extended State Observer

Abstract This paper is dedicated to extended state observer-based event-triggered model free iterative learning control (ET-MFILC) for nonlinear systems with disturbances. A modified MFILC scheme is proposed by using the estimated uncertainties for the disturbed system. With the help of the estimated errors, an iterative extended state observer (IESO) is constructed to estimate the unknown uncertainties. New triggering mechanism integrated true tracking errors, the estimated errors and the estimated uncertainties is designed for multiple inputs and multiple outputs (MIMO) systems. Sufficient conditions are proposed to make the resultant ET-MFILC tracking error systems be uniformly ultimately bounded. An illustrative example is presented to demonstrate the effectiveness of the proposed scheme.