  The wide adoption of wireless devices in the Internet of Things requires
controllers that are able to operate with limited resources, such as battery
life. Operating these devices robustly in an uncertain environment, while
managing available resources, increases the difficultly of controller design.
This paper proposes a robust self-triggered model predictive control approach
to optimize a control objective while managing resource consumption. In
particular, a novel zero-order-hold aperiodic discrete-time feedback control
law is developed to ensure robust constraint satisfaction for continuous-time
linear systems.
