  In this paper, a self-triggered control scheme for constrained discrete-time
control systems is presented. The key idea of our approach is to construct a
transition system or a graph structure from a collection of polyhedral sets,
which are generated based on the notion of {set-invariance theory}. The
inter-event time steps are then determined through a standard graph search
algorithm to obtain the minimal total cost to a terminal state. The proposed
strategy is illustrated through a numerical example.
