Contents 1 Introduction 1 1.1 Event-Based Sampled-Data Control 1 1.1.1 Sampled-Data Systems 2 1.1.2 Event-Based Sampling and Control 4 1.2 Active Disturbance Rejection Control 6 1.2.1 Functions f han and f al 7 1.2.2 Tracking Differentiator 8 1.2.3 Extended State Observer 9 1.2.4 Nonlinear Feedback 10 1.3 Related Literature 11 1.3.1 Event-Based Sampled-Data Control 11 1.3.2 Active Disturbance Rejection Control 18 1.3.3 Event-Based Active Disturbance Rejection Control 21 1.4 Organization of the Book 22 References 23 Part I Theoretic Developments 2 Performance Assessment of Discrete-Time Extended StateObservers 31 2.1 Problem Formulation 31 2.1.1 Discrete-Time Nonlinear System 31 2.1.2 Discrete-Time Extended State Observer 33 2.1.3 Description of the Problem 34 2.2 Observation Performance Analysis of Discrete-Time Extended State Observer 34 2.2.1 Gain Parameters Design Based on Spectral Radius Method 34 2.2.2 Observation Performance Analysis Through Ellipsoidal Set Approach 36 2.2.3 Extensions and Special Cases 46 2.3 Numerical Example 50 2.4 Experimental Results 53 2.5 Summary 58 References 58 3 Event-Triggered Extended State Observer 61 3.1 Problem Formulation 61 3.1.1 Continuous-Time Nonlinear System 61 3.1.2 Event-Triggered Extended State Observer 63 3.1.3 ET-ESO Design Problem 64 3.2 Main Theoretic Results 64 3.2.1 Event-Triggering Condition Design 65 3.2.2 Non-existence of Zeno Phenomenon 65 3.2.3 Convergence Analysis of Event-Triggered Extended State Observer 67 3.2.4 Other Extensions 71 3.2.5 Event-Triggered Extended State Observer with Designed Initial Value 72 3.3 Numerical Example 73 3.3.1 Observation Performance Verification for ET-ESO 76 3.4 Summary 78 References 78 4 Event-Triggered Active Disturbance Rejection Control 81 4.1 Problem Description 81 4.2 Event-Triggered Control Based on Continuous-Time Observations 83 4.3 Separate Event-Triggered Observation and Control 91 4.4 Experimental Results 96 4.5 Summary 102 References 102 5 A High-Gain Approach to Event-Triggered Control 105 5.1 Problem Formulation 106 5.2 Theoretic Results 110 5.3 Discussions on Special Sampling Schemes 117 5.3.1 Case 1:Only Sampling Output 117 5.3.2 Case 2:Only Sampling Control Signal 122 5.4 Numerical Example 126 5.5 Experimental Performance Evaluation 128 5.6 Summary 134 References 134 6 Event-Triggered Active Disturbance Rejection Control of DC Torque Motors 137 6.1 Background 137 6.2 Problem Description and System Dynamics 139 6.3 Event-Triggered ADRC Design 144 6.4 Experimental Performance Evaluation 149 6.4.1 Experimental Results with Squarewave-Type Input 150 6.4.2 Experimental Results with Multitone Sinusoid Input 154 6.5 Summary 157 References 157 7 Event-Triggered ADRC for Electric Cylinders with PD-Type Event-Triggering Conditions 161 7.1 Background 161 7.2 Nonlinear Modeling and Problem Formulation 163 7.3 Event-Triggered ADRC of Electric Cylinders 168 7.4 Experiment Results 175 7.4.1 Squarewave-Type Reference 177 7.4.2 Multitone Sinusoid Reference 179 7.5 Discussion 181 References 181 8 Event-Triggered Attitude Tracking for Rigid Spacecraft 183 8.1 Background 183 8.2 Problem Formulation 184 8.3 ET-ADRC Design 190 8.4 Numerical Evaluation 195 8.4.1 Desired Angular Velocity in Sinusoidal Form 196 8.4.2 Desired Angular Velocity in Square Wave Form 200 8.5 Summary 201 References 203 9 Event-Triggered Adaptive Disturbance Rejection for Artificial Pancreas 205 9.1 Background 205 9.2 Related Literature 206 9.3 Controller Structure Design 207 9.3.1 Time-Optimal Control Synthesis Function 208 9.3.2 Tracking Differentiator 209 9.3.3 Extended State Observer 210 9.3.4 Nonlinear Feedback 210 9.3.5 Safety Constraints 211 9.3.6 Pump-Discretization 211 9.4 Event-Triggered Parameter Adaptation for ADRC 212 9.4.1 Adaptation of ESO and IOB 212 9.4.2 Parameter Adaptation for Nonlinear Feedback 213 9.4.3 Parameter Design 216 9.5 In Silico Performance Analysis 216 9.5.1 Announced Meals with Nominal Basal Rate 217 9.5.2 Unannounced Meals with Nominal Basal Rate 219 9.5.3 Robust Performance Evaluation 220 9.6 Summary 221 References 223 10 Summary and Future Work 227 Correction to:Event-Triggered Active Disturbance Rejection Control C1