  We propose a self-triggered control algorithm to reduce onboard processor
usage, communication bandwidth, and energy consumption across a linear
time-invariant networked control system. We formulate an optimal control
problem by penalizing the l0-measures of the feedback gain and the vector of
control inputs and maximizing the dwell time between the consecutive triggering
times. It is shown that the corresponding l1-relaxation of the optimal control
problem is feasible and results in a stabilizing feedback control law with
guaranteed performance bounds, while providing a sparse schedule for collecting
samples from sensors, communication with other subsystems, and activating the
input actuators.
