  In this work, we propose a region-based self-triggered control (STC) scheme
for nonlinear systems. The state space is partitioned into a finite number of
regions, each of which is associated to a uniform inter-event time. The
controller, at each sampling time instant, checks to which region does the
current state belong, and correspondingly decides the next sampling time
instant. To derive the regions along with their corresponding inter-event
times, we use approximations of isochronous manifolds, a notion firstly
introduced in [1]. This work addresses some theoretical issues of [1] and
proposes an effective computational approach that generates approximations of
isochronous manifolds, thus enabling the region-based STC scheme. The
efficiency of both our theoretical results and the proposed algorithm are
demonstrated through simulation examples.
