Adaptive Zero‐Order‐Hold‐Based Event‐Triggered Reference Tracking Control for A Chain of Integrators Under Measurement Noise by Output Feedback: A Two‐Stage Control Strategy

ABSTRACT We propose an adaptive zero‐order‐hold‐based event‐triggered control strategy for a chain of integrators under measurement noise. Unlike existing approaches, the proposed method explicitly accounts for unknown measurement noise containing both DC and AC components. To tackle this challenge, we develop a novel zero‐order‐hold (ZOH) based event‐triggered reference tracking control (ETC) integrating a dynamic scaling factor and a two‐stage control strategy. Compared with existing ETC methods, the proposed ZOH‐based ETC achieves comparable tracking performance while significantly reducing the number of control input updates. Moreover, due to the ZOH based implementation, the proposed scheme eliminates the need for explicit Zeno‐behavior analysis, which is commonly required in conventional event‐triggered designs. The dynamic scaling factor is designed to attenuate the AC component of measurement noise, while the two‐stage control strategy effectively compensates for the DC component of measurement noise. The closed‐loop system is rigorously analyzed using Lyapunov and Razumikhin theories, showing that the ultimate bounds of both system and observer states can be made arbitrarily small. In consequence, our proposed control method exhibits the sufficiently small tracking error. The effectiveness and superiority of the proposed approach are demonstrated through an illustrative example with comprehensive performance comparisons.