Event-Based Set-point Tracking Based on a State Observer

We propose an event-based framework for set-point tracking involving three linear time invariant systems, a real, a reference and an observer system. To be actually event-based using only the knowledge of the output of the real system, we show that the two systems (reference and observer) involved in the event generator have to take into account the output observation error. The resulting setup is proved to be able to follow a Lipschitz predefined set-point trajectory with no Zeno phenomenon.