Ho‐Lim Choi

We consider a global regulation problem for almost feedforward nonlinear systems with uncertain time‐varying parameters using an adaptive event‐triggered controller. The systems we consider are called “almost” feedforward systems because, in addition to the feedforward nonlinearity with the unknown linear growth rate, there is a non‐zero input‐matching term. Notably, this input‐matching term is a non‐feedforward term and it cannot be directly canceled due to the presence of input uncertainty and the use of event‐triggered control. To solve our considered problem, we propose an adaptive event‐triggered controller with multi‐triggering conditions and dynamic gain. We show that the closed‐loop system is globally regulated and the times between executions are positively lower bounded. Moreover, we show that the positive lower bounds of interexecution times can be enlarged by a control parameter. For a clear illustration, a practical example is given.