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An event-triggered observer-based output feedback control issue together with triggered input is investigated for a class of uncertain nonlinear systems subject to unknown external disturbances. Two separate event-triggered conditions are located on the measurement channel and control channel, respectively. An event-triggered extended state observer (ETESO) is employed to estimate unmeasurable states and compensate uncertainties and disturbances in real time while it is not required for real-time output measurement. Then, combined with backstepping method and active disturbance rejection control, an output feedback control scheme is proposed, where an event-triggered input is developed for reducing the communication rate between the controller and the actuator. The triggered instants are determined by a time-varying event-triggered condition. Two simulations, including a numerical example and an permanent-magnet motor, are illustrated to verify the effectiveness of the proposed schemes.

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