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In this paper, a self-triggered control scheme for constrained discrete-timecontrol systems is presented. The key idea of our approach is to construct atransition system or a graph structure from a collection of polyhedral sets,which are generated based on the notion of {set-invariance theory}. Theinter-event time steps are then determined through a standard graph searchalgorithm to obtain the minimal total cost to a terminal state. The proposedstrategy is illustrated through a numerical example.

Self-triggered control for constrained systems: a contractive set-based approach (Technical report)