  Recent studies have shown that adaptively regulating the sampling rate
results in significant reduction in computational resources in embedded
software based control. Selecting a uniform sampling rate for a control loop is
robust, but overtly pessimistic for sharing processors among multiple control
loops. Fine grained regulation of periodicity achieves better resource
utilization, but is hard to implement online in a robust way. In this paper we
propose multi-mode sampling period selection, derived from an offline control
theoretic analysis of the system. We report significant gains in computational
efficiency without trading off control performance.
