Event-Triggered Observation of Nonlinear Lipschitz Systems via Impulsive Observers

In this paper we investigate the observation problems for a class of nonlinear Lipschitz systems, subject to network constraints. In order to address this problem, an impulsive observer is designed, making use of the event-triggered technique in order to diminish the network usage. The proposed observer ensures practical state estimation. The output sampling is done on a periodic basis, but the data transmission is regulated by an event–triggering mechanism. The performance of the observer is tested in simulations of a flexible joint.