Hybrid Dynamic Event-Triggered Interval Observer Design for Nonlinear Cyber–Physical Systems with Disturbance

This paper investigates the state estimation problem for nonlinear cyber–physical systems (CPSs). To conserve system resources, we propose a novel hybrid dynamic event-triggered mechanism (ETM) that prevents the occurrence of Zeno behavior. This work is based on designing an interval observer under the hybrid dynamic ETM to solve the state reconstruction problem of Lipschitz nonlinear CPSs subject to disturbances. That is, the designed triggering mechanism is integrated into the design of the Interval Observer (IO), resulting in a hybrid dynamic event-triggered interval observer (HDETIO), and the system stability and robustness are proved using a Lyapunov function, demonstrating that the observer can effectively provide interval estimation for CPSs with nonlinearity and disturbances. Compared to existing work, the primary contribution of this work is its ability to pre-specify the minimum inter-event time (MIET) and apply it to interval state estimation, enhancing its practicality for real-world physical systems. Finally, the correctness and effectiveness of the designed hybrid dynamic ETM and IO framework are validated with an example.