I. Introduction
Control over shared communication resources imposes various imperfections, such as capacity limitation, congestion, time delays and packet dropouts, that impair the control performance and can even lead to instability. These network-induced phenomena give rise to the notion of Networked Control Systems (NCSs) [1]. In order to utilize the limited communication and energy resources in NCSs more efficiently, event-triggered control and scheduling strategies have been proposed recently [2]–[7].