Self-triggered networked control systems: An experimental case study

A self-triggered controller is characterized, in general, by a non-periodic sequence of job activations. And each job execution, apart from performing sampling, control algorithm computation and actuation, calculates the next job activation time as a function of the plant state. This paper describes the implementation of self-triggered controllers in networked control systems (NCS). The implementation corroborates that self-triggered control can be used for minimizing bandwidth utilization while providing similar control performance than periodic controllers.