Self-triggered optimal control of linear systems using convex quadratic programming

Self-triggered control is a control method that the control input and the non-uniform sampling period are computed simultaneously in sampled-data control systems, and is extensively studied in the field of control theory of networked systems and cyber-physical systems. The authors have proposed a new method for self-triggered control. In this method, the control input and the sampling period are computed by solving a quadratic programming (QP) problem at each sampling interval. However, the convexity of the QP problem obtained is not guaranteed. In this paper, we discuss the convexity. The non-convex QP problem appeared in self-triggered control is approximated by the convex QP problem, which can be solved faster than the non-convex QP problem.