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In this paper, we study the event-triggered global robust practical outputregulation problem for a class of nonlinear systems in output feedback formwith any relative degree. Our approach consists of the following three steps.First, we design an internal model and an observer to form the so-calledextended augmented system. Second, we convert the original problem into theevent-triggered global robust practical stabilization problem of the extendedaugmented system. Third, we design an output-based event-triggered control lawand a Zeno-free output-based event-triggered mechanism to solve thestabilization problem, which in turn leads to the solvability of the originalproblem. Finally, we apply our main result to the tracking problem of thecontrolled hyper-chaotic Lorenz systems.

Global Robust Practical Output Regulation for Nonlinear Systems in Output Feedback Form by Output-Based Event-Triggered Control