Algorithm 1.

Closed-Loop Sampling General Algorithm

input : A set of samples (t̂i, v̂i) with (i = 1…3)

output: tmin, A number of samples m (with m ≥ 3)

repeat

find tmin = in f j ∈ J j;

if tmin − ts > Tmax then

ts = ts + Tmax;

else

if tmin − ts < Tmin then

ts = ts + Tmin;

else

ts = tmin;

end

end

Take a new sample at time ts;

until tmin > ts;