Event-triggered anti-disturbance anti-saturation tracking control for systems with nonlinearity : application to helicopter elevation angle model

![CDATA[This article concerns a disturbance observer-based (DOB) event-triggered anti-disturbance tracking control strategy for CE150 Helicopter system. At the same time, actuator saturation is introduced compulsively, which is expressed by convex combination. On the one hand, it is to verify the performance of the system in the saturated state, and on the other hand, the actuator can be avoided from being damaged by excessive impact. Then, the purpose of introducing the event-triggered mechanism is to save communication resources and the function of DOB proportional-integral (PI) controller is to suppress the disturbance and track the trajectory of the reference value. Furthermore, the feasible gain can be obtained by utilizing the convex optimization and linear matrix inequation (LMI) toolbox. Finally, simulation is provided to demonstrate the feasibility and validity of the proposed control method.]]