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This paper addresses the design and presents the experimental results of an aperiodic remote-controlled mechatronic plant using a MiniDK2 electronic development board. We compare the classic periodic control solution with our self-triggered approach. The triggering mechanism consists of evaluating if the measurement error exceeds a predefined value. This measurement error is defined as the difference between the output signal of a model with and without a sample-and-hold that is activated only at the triggering instants. The minimum inter-execution time is the reference period and the maximum time is set by the designer, guaranteeing the stability of the closed loop system. At each new triggering instant, the remote controller receives a new measurement of the system and sends the actuation signal to the mechatronic plant.

Digital implementation of a self-triggered control approach for a mechatronic platform: experimental results