Robust Self-Triggered Control Approaches Optimizing Sampling Sequences with Synchronous Measurements

Abstract

Feedback control algorithms traditionally rely on periodic execution on digital platforms. While this simplifies design and analysis, it often leads to inefficient resource usage (e.g., CPU, network bandwidth) in embedded control and shared networks. This work investigates self-triggering implementations of linear controllers in sampled-data systems with synchronous measurements. Our approach precomputes the next sampling sequence over a finite horizon based on current state information. We introduce a novel optimal self-triggering scheme that guarantees exponential stability for unperturbed systems and global uniform ultimate boundedness for perturbed systems. This ensures robustness against external disturbances with explicit performance guarantees. Simulations demonstrate the benefits of our approach.