<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1390-6712</journal-id>
<journal-title><![CDATA[Maskay]]></journal-title>
<abbrev-journal-title><![CDATA[Maskay]]></abbrev-journal-title>
<issn>1390-6712</issn>
<publisher>
<publisher-name><![CDATA[Universidad de las Fuerzas Armadas]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1390-67122017000100015</article-id>
<article-id pub-id-type="doi">10.24133/maskay.v7i1.344</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Mejoramiento del Desempeño del Control Auto-Disparado Inspirado en Muestreo Óptimo en la Fase de Implementación]]></article-title>
<article-title xml:lang="en"><![CDATA[On the Performance Improvement of the Optimal-Sampling-inspired Self-Triggered Control at Implementation Stage]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Rosero]]></surname>
<given-names><![CDATA[Carlos Xavier]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Vaca]]></surname>
<given-names><![CDATA[Cristina]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Benavides]]></surname>
<given-names><![CDATA[Juan]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Técnica del Norte Applied Sciences Faculty ]]></institution>
<addr-line><![CDATA[Ibarra ]]></addr-line>
<country>Ecuador</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad Técnica del Norte Health Sciences Faculty ]]></institution>
<addr-line><![CDATA[Ibarra ]]></addr-line>
<country>Ecuador</country>
</aff>
<aff id="Af3">
<institution><![CDATA[,Universidad Técnica del Norte Applied Sciences Faculty ]]></institution>
<addr-line><![CDATA[Ibarra ]]></addr-line>
<country>Ecuador</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>12</month>
<year>2017</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>12</month>
<year>2017</year>
</pub-date>
<volume>7</volume>
<numero>1</numero>
<fpage>15</fpage>
<lpage>21</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://scielo.senescyt.gob.ec/scielo.php?script=sci_arttext&amp;pid=S1390-67122017000100015&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.senescyt.gob.ec/scielo.php?script=sci_abstract&amp;pid=S1390-67122017000100015&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.senescyt.gob.ec/scielo.php?script=sci_pdf&amp;pid=S1390-67122017000100015&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[RESUMEN: El control auto-disparado incluye una atractiva estrategia de muestreo que se enfoca en disminuir el uso de recursos computacionales (procesador y red) mientras se preserva el mismo rendimiento de control que el obtenido a través de un controlador con muestreo periódico. Dentro de este marco, se ha desarrollado recientemente una técnica de control auto- disparado inspirada en un patrón de muestreo cuya densidad óptima minimiza el costo de control, se llama &#8220;control auto-disparado inspirado en muestreo óptimo&#8221;. Sin embargo, las estrategias utilizadas para implementarlo en sistemas controlados por microprocesadores que funcionan bajo perturbación aún no son claras; este documento aborda algunas técnicas para organizar y mejorar la implementación sobre controladores reales. La solución propuesta comprende la formulación de dos algoritmos para organizar la implementación y también la inserción de un observador de lazo cerrado para lidiar con las perturbaciones que normalmente aparecen en las plantas reales. En cuanto a los algoritmos, ciertos procesos computacionalmente costosos implicados en su implementación son tratados mediante la sustitución por polinomios ligeros ajustados en la fase de diseño. Tanto simulaciones como experimentos confirman que la solución es efectiva y que podría haber un tema de investigación abierto relacionado con la observación en las estrategias de control auto-disparado con muestreo óptimo.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[ABSTRACT: The self-triggered control includes a sampling strat- egy that focuses on decreasing the use of computational resources (processor and network) while preserving the same control performance as the one obtained via a controller with periodic sampling. Within this framework it has been developed recently a self-triggered control technique inspired by a sampling pattern whose optimal density minimizes the control cost, this approach is called &#8220;optimal-sampling inspired self-triggered control&#8221;. How- ever, the strategies used to implement it on microprocessor- controlled systems working under perturbation are still unclear; this paper addresses some techniques to organize and improve the implementation on actual controllers. The proposed solution comprises both the formulation of two algorithms to organize the implementation and the insertion of a closed-loop observer to deal with the perturbation that normally appears on real plants. Regarding the former, certain computationally expensive processes involved in the implementation of this control technique are treated through their replacement by lightweight polynomials fitted at design stage. Simulations and practical experiments confirm the solution is effective and there could be an open research topic concerning observation in optimal-sampling self- triggered control strategies.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Control manejado por eventos]]></kwd>
<kwd lng="es"><![CDATA[muestreo aperiódico]]></kwd>
<kwd lng="es"><![CDATA[sistemas de control empotrados de tiempo real]]></kwd>
<kwd lng="es"><![CDATA[observador aperiódico]]></kwd>
<kwd lng="en"><![CDATA[Event-driven control]]></kwd>
<kwd lng="en"><![CDATA[aperiodic sampling]]></kwd>
<kwd lng="en"><![CDATA[real-time embedded control systems]]></kwd>
<kwd lng="en"><![CDATA[aperiodic observer]]></kwd>
</kwd-group>
</article-meta>
</front><back>
<ref-list>
<ref id="B1">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Velasco]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Fuertes]]></surname>
<given-names><![CDATA[J.M.]]></given-names>
</name>
<name>
<surname><![CDATA[Martí]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
</person-group>
<source><![CDATA[The Self triggered Task Model for Real-Time Control Systems]]></source>
<year>2003</year>
<conf-name><![CDATA[ Proc. RTSS]]></conf-name>
<conf-loc>Cancun, Mexico </conf-loc>
<page-range>pp. 67-70</page-range></nlm-citation>
</ref>
<ref id="B2">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Anta]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;To Sample or Not to Sample: Self-Triggered Control for Nonlinear Systems]]></source>
<year>2010</year>
<month>.</month>
<volume>vol. 55</volume>
<numero>no. 9</numero>
<conf-name><![CDATA[ IEEE Trans. Autom. Control]]></conf-name>
<conf-loc> </conf-loc>
<issue>no. 9</issue>
<page-range>pp. 2030-42</page-range></nlm-citation>
</ref>
<ref id="B3">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Mazo Jr.]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Anta]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Tabuada]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;An ISS Self-Triggered Imple- mentation of Linear Controllers,]]></source>
<year>2010</year>
<volume>vol. 46</volume>
<numero>no. 8</numero>
<issue>no. 8</issue>
<page-range>pp. 1310-4</page-range><publisher-name><![CDATA[Automatica]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B4">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Almeida]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Silvestre]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
<name>
<surname><![CDATA[Pascoal]]></surname>
<given-names><![CDATA[A.M.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;Self-Triggered Output Feedback Control of Linear Plants]]></source>
<year>2011</year>
<month>,</month>
<conf-name><![CDATA[ Proc. ACC]]></conf-name>
<conf-loc>San Francisco, CA, USA </conf-loc>
<page-range>pp. 2831-6</page-range></nlm-citation>
</ref>
<ref id="B5">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Molin]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Hirche]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8221;On the Optimality of Certainty Equivalence for Event-Triggered Control Systems]]></source>
<year>2013</year>
<volume>vol. 58</volume>
<numero>no. 2</numero>
<issue>no. 2</issue>
<page-range>pp. 470-4</page-range><publisher-name><![CDATA[IEEE Trans. Autom. Control]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B6">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Bini]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
<name>
<surname><![CDATA[Buttazzo]]></surname>
<given-names><![CDATA[G.M.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;The Optimal Sampling Pattern For Linear Control Systems]]></source>
<year>2014</year>
<volume>vol. 59</volume>
<numero>no. 1</numero>
<issue>no. 1</issue>
<page-range>pp. 78-90</page-range><publisher-name><![CDATA[IEEE Trans. Autom. Control]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B7">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Velasco]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Marti]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[Bini]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;Optimal-Sampling-inspired Self- Triggered Control,]]></source>
<year>2015</year>
<conf-name><![CDATA[ Int. Conf. EBCCSP]]></conf-name>
<conf-loc>Krakow, Poland </conf-loc>
<page-range>pp. 1-8</page-range></nlm-citation>
</ref>
<ref id="B8">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Astom]]></surname>
<given-names><![CDATA[K. J.]]></given-names>
</name>
<name>
<surname><![CDATA[Wittenmark]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
</person-group>
<source><![CDATA[Computer-Controlled Systems: Theory and Design]]></source>
<year>1997</year>
<edition>3rd ed.</edition>
<publisher-loc><![CDATA[NJ, USA ]]></publisher-loc>
<publisher-name><![CDATA[Prentice Hall]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B9">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Gommans]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
<name>
<surname><![CDATA[Antunes]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
<name>
<surname><![CDATA[Donkers]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
<name>
<surname><![CDATA[Tabuada]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[Heemels]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
</person-group>
<source><![CDATA[Self-Triggered Linear Quadratic Control]]></source>
<year>2014</year>
<volume>vol. 50</volume>
<numero>no. 4</numero>
<issue>no. 4</issue>
<page-range>pp. 1279-87</page-range><publisher-name><![CDATA[Automatica]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B10">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Rosero]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
<name>
<surname><![CDATA[Vaca]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
<name>
<surname><![CDATA[Tobar]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Rosero]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;Performance of Self- Triggered Control Approaches,]]></source>
<year>2017</year>
<volume>vol. 8</volume>
<numero>no. 2</numero>
<issue>no. 2</issue>
<page-range>pp. 107-20</page-range><publisher-name><![CDATA[Enfoque UTE]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B11">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Almeida]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Silvestre]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
<name>
<surname><![CDATA[Pascoal]]></surname>
<given-names><![CDATA[A.M.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;Observer Based Self- Triggered Control of Linear Plants with Unknown Disturbances,]]></source>
<year>2012</year>
<conf-name><![CDATA[ Proc. ACC]]></conf-name>
<conf-loc>Montreal, Canada </conf-loc>
<page-range>pp. 5688-93</page-range></nlm-citation>
</ref>
<ref id="B12">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Wang]]></surname>
<given-names><![CDATA[X.]]></given-names>
</name>
<name>
<surname><![CDATA[Lemmon]]></surname>
<given-names><![CDATA[M.D.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;Self-Triggering Under State-Independent Disturbances]]></source>
<year>2010</year>
<volume>vol. 55</volume>
<numero>no. 6</numero>
<issue>no. 6</issue>
<page-range>pp. 1494-500</page-range><publisher-name><![CDATA[IEEE Trans. Autom. Control]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B13">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Arnold]]></surname>
<given-names><![CDATA[W.F.]]></given-names>
</name>
<name>
<surname><![CDATA[Laub]]></surname>
<given-names><![CDATA[A.J.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;Generalized Eigenproblem Algorithms and Software for Algebraic Riccati Equations,]]></source>
<year>1984</year>
<volume>vol. 72</volume>
<numero>no. 12</numero>
<issue>no. 12</issue>
<page-range>pp. 1746-54</page-range><publisher-name><![CDATA[Proc. IEEE]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B14">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Luenberger]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;An Introduction to Observers]]></source>
<year>1971</year>
<volume>vol. 16</volume>
<numero>no. 6</numero>
<issue>no. 6</issue>
<page-range>pp. 596-602</page-range><publisher-name><![CDATA[IEEE Trans. Autom. Control]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B15">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Ackermann]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;On the Synthesis of Linear Control Systems with Specified Characteristics,]]></source>
<year>1977</year>
<volume>vol. 13</volume>
<numero>no. 1</numero>
<issue>no. 1</issue>
<page-range>pp. 89-94</page-range><publisher-name><![CDATA[Automatica]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B16">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Paez]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
<name>
<surname><![CDATA[Cayssials]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Urriza]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Ferro]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
<name>
<surname><![CDATA[Orozco]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;Frequency Domain Analysis of a RTOS in Control Applications]]></source>
<year>2016</year>
<conf-name><![CDATA[ Cong. CASE]]></conf-name>
<conf-loc>Buenos Aires, Argentina </conf-loc>
<page-range>pp. 21-6</page-range></nlm-citation>
</ref>
<ref id="B17">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Dyer]]></surname>
<given-names><![CDATA[S.A.]]></given-names>
</name>
<name>
<surname><![CDATA[He]]></surname>
<given-names><![CDATA[X.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;Least-squares fitting of data by polynomials]]></source>
<year>2001</year>
<volume>vol. 4</volume>
<numero>no. 4</numero>
<issue>no. 4</issue>
<page-range>pp. 46-51</page-range><publisher-name><![CDATA[IEEE Instrum. Meas. Mag.]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B18">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Lozoya]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
<name>
<surname><![CDATA[Mart´&#305;]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[Velasco]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Fuertes]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Martin]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
</person-group>
<source><![CDATA[&#8220;Resource and Performance Trade-offs in Real-Time Embedded Control Systems,]]></source>
<year>2013</year>
<volume>vol. 49</volume>
<numero>no. 3</numero>
<issue>no. 3</issue>
<page-range>pp. 267-307</page-range><publisher-name><![CDATA[J. Real-Time Systems]]></publisher-name>
</nlm-citation>
</ref>
</ref-list>
</back>
</article>
