  Self-triggered control (STC) is a well-established technique to reduce the
amount of samples for sampled-data systems, and is hence particularly useful
for Networked Control Systems. At each sampling instant, an STC mechanism
determines not only an updated control input but also when the next sample
should be taken. In this paper, a dynamic STC mechanism for nonlinear systems
is proposed. The mechanism incorporates a dynamic variable for determining the
next sampling instant. Such a dynamic variable for the trigger decision has
been proven to be a powerful tool for increasing sampling intervals in the
closely related concept of event-triggered control, but was so far not
exploited for STC. This gap is closed in this paper. For the proposed
mechanism, the dynamic variable is chosen to be the filtered values of the
Lyapunov function at past sampling instants. The next sampling instant is,
based on the dynamic variable and on hybrid Lyapunov function techniques,
chosen such that an average decrease of the Lyapunov function is ensured. The
proposed mechanism is illustrated with a numerical example from the literature.
For this example, the obtained sampling intervals are significantly larger than
for existing static STC mechanisms. This paper is the accepted version of [1],
containing also proofs of the main results.
