Runtime Trade-Offs Between Control Performance and Resource Usage in Embedded Self-Triggered Control Systems

During the recent years, researchers in control engineering have proposed more resource-efficient control strategies than the traditional periodic control paradigm, resulting in two main control approaches: event-based and self-triggered control. Such nonperiodic, state-based control methods, although subject to many open research problems, can provide similar control performance as periodic control implementations but with less use of computation and communication resources. An important research direction, which is the central part of this paper, is to find new runtime scheduling techniques to trade off control performance with resource usage in self-triggered control systems. We present in this paper the current state of our research on scheduling of self-triggered control tasks under the consideration of the control-performance versus resource-usage trade-off.