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The design of cyber-physical systems (CPSs) faces various new challenges thatare unheard of in the design of classical real-time systems. Power optimizationis one of the major design goals that is witnessing such new challenges. Thepresence of interaction between the cyber and physical components of a CPSleads to dependence between the time delay of a computational task and theamount of workload in the next iteration. We demonstrate that it is essentialto take this delay-workload dependence into consideration in order to achievelow power consumption.  In this paper, we identify this new challenge, and present the first formaland comprehensive model to enable rigorous investigations on this topic. Wepropose a simple power management policy, and show that this policy achieves abest possible notion of optimality. In fact, we show that the optimal powerconsumption is attained in a "steady-state" operation and a simple policy offinding and entering this steady state suffices, which can be quite surprisingconsidering the added complexity of this problem. Finally, we validated theefficiency of our policy with experiments.

A Formal Approach to Power Optimization in CPSs with Delay-Workload Dependence Awareness