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Event‐triggered robust output regulation for nonlinear systems: A time regularization approach

In this article, we investigate the event‐triggered robust output regulation problem for a class of nonlinear systems. Using the idea of time regularization, an event‐triggered mechanism with dwell time is proposed together with a model‐based control law, which avoids a practical convergence bound and excludes the Zeno behavior as well. The problem is further converted into an event‐triggered robust stabilization problem for an augmented system, which is further solved by a model‐based event‐triggered control law combined with the proposed event‐triggered mechanism. Finally, the proposed method achieves an exact solution to the original event‐triggered output regulation problem.