Minimizing control cost in resource-constrained control systems: From feedback scheduling to event-driven control

This paper evaluates approaches aimed at minimizing aggregated control cost of a set of controllers that concurrently execute sharing limited computing resources. The evaluation focuses on feedback scheduling and event-driven control methods. The performance results drive the analysis to explore self-triggered controllers in the context of minimizing control cost when given a fixed amount of computing resources. This leads to the formulation of an optimization problem, that for given example, is numerically solved. The solution helps understanding the behavior of self-triggered controllers.