In this article, the problem of event-driven output feedback control is addressed for discrete time-varying systems with external disturbances. To estimate the unmeasured system states and external disturbances, a novel time-varying extended state functional observer is designed. Then, an event-driven control scheme is proposed to reduce the utilization of the communication resources, and the optimal feedback gain is designed by minimizing the upper bound of the cost function. Moreover, the disturbance rejection analyses are performed.Finally, the effectiveness of the proposed control approaches is illustrated through the numerical simulations. K E Y W O R D Sdiscrete time-varying systems, disturbance rejection control, event-driven strategy, extended state functional observer INTRODUCTIONIn the past decade, with the widespread use of Internet technology, the cyber-physical systems (CPSs), which combine the cyber and physical worlds by seamlessly integrating sensing, control, communication, and computation, have received many attentions. [1][2][3] The CPSs can offer a number of benefits such as increased mobility, lower economic and maintenance cost. However, there are some undesirable network-induced phenomena during the data transmission in the communication networks, such as network bandwidth constraints. 4 It should be pointed out that, in the traditional time-driven communication networks, the measurements and control inputs are transmitted periodically, which may waste the communication resources. To address this problem, an event-driven control scheme is proposed for saving the network bandwidth in the work of Zhang and Feng. 5 With this strategy, the bandwidth of communication network can be effectively reduced by sending necessary control signals under a predesigned event-triggering condition. 6 Benefiting from the event-driven control strategy, some improved methods have been applied in various types of systems. [7][8][9] For example, considering the consensus problem of linear multiagent systems on directed graph, a novel adaptive event-driven state feedback protocol is designed in the work of Li et al. 8 In the work of Xiong et al., 9 combined with the aperiodic sampled-data mechanism, a novel pull-based event-driven protocol is presented for systems. Note that most of the existing literatures focus on time-invariant systems, but the time-varying systems widely exist in practical applications. More recently, an adaptive event-driven control mechanism is studied for economizing the communication resources in the work of Chen et al. 10 In practical systems resulting from load variations, model uncertainties, or environmental noises, external disturbances always affect the control performances of the systems. Therefore, the disturbance attenuation and rejection
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