  Networked Control Systems typically come with a limited communication
bandwidth and thus require special care when designing the underlying control
and triggering law. A method that allows to consider hard constraints on the
communication traffic as well as on states and inputs is self-triggered model
predictive control (MPC). In this scheme, the optimal length of the sampling
interval is determined proactively using predictions of the system behavior.
However, previous formulations of self-triggered MPC have neglected the
widespread phenomenon of packet loss, such that these approaches might fail in
practice. In this paper, we present a novel self-triggered MPC scheme which is
robust to bounded packet loss by virtue of a min-max optimization problem. We
prove recursive feasibility, constraint satisfaction and convergence to the
origin for any possible packet loss realization consistent with the boundedness
constraint, and demonstrate the advantages of the proposed scheme in a
numerical example.
