The main objective of this work is the design and implementation of self-adaptive capabilities in wireless sensors by applying control engineering and model-based design methodologies. It has been addressed the problem related to the changes in the flow of data packets through the network connection and the excess energy consumption that this causes in these devices. To design the solution, a systemic characterization of the scheduling and execution process of embedded tasks on the device has been carried out. This means defining cause-effect relationships in the system and its modelling theoretically and/or experimentally. In turn, these models facilitate the design of control strategies to improve the dynamic behavior of the system. As a solution, a self-adaptation strategy based on feedforward control algorithm has been designed and developed, which has been applied to improve the dynamic behavior and resource consumption. The developed solution has been satisfactorily evaluated experimentally.