  We propose a real-time control strategy that combines self-triggered control
with Control Lyapunov Functions (CLF) and Control Barrier Functions (CBF).
Similar to related works proposing CLF-CBF-based controllers, the computation
of the controller is achieved by solving a Quadratic Program (QP). However, we
propose a Zeroth-Order Hold (ZOH) implementation of the controller that
overcomes the main limitations of traditional approaches based on periodic
controllers, i.e., unnecessary controller updates and potential violations of
the safety constraints. Central to our approach is the novel notion of safe
period, which enforces a strong safety guarantee for implementing ZOH control.
In addition, we prove that the system does not exhibit a Zeno behavior as it
approaches the desired equilibrium.
