Event-based Observer and MPC with Disturbance Attenuation using ERM Learning

This paper presents a learning-based approach for disturbance attenuation for a non-linear dynamical system with event-based observer and model predictive control (MPC). Using the empirical risk minimization (ERM) method, we can obtain a learning error bound which is function of the number of samples, learning parameters, and model complexity. It enables us to analyze the closed-loop stability in terms of the learning property, where the state estimation error by the ERM learning is guaranteed to be bounded. Simulation results underline the learning's capability, the control performance and the event-triggering efficiency in comparison to the conventional event-triggered control scheme.