Periodic Event-Triggered Observation and Control for Nonlinear Lipschitz Systems using Impulsive Observers

In this paper, we investigate the observation and stabilization problems for a class of nonlinear Lipschitz systems, subject to network constraints, and partial state knowledge. In order to address these problems, an impulsive observer is designed, making use of the event-triggered technique in order to diminish the network communications. Sufficient conditions are given to ensure a milder version of the separation principle for these systems, controlled via an event-triggered controller. The proposed observer ensures practical state estimation, while the corresponding dynamic controller ensures practical stabilization. The sampling and the data transmission are carried out asynchronously. The dynamic controller is tested in simulation on a flexible joint.