To solve energy constraint of embedded mechatronic control systems(EMCS), an energy management method based on feedback scheduling and power aware was proposed. The static optimization model of EMCS was discussed. A joint optimization target based on the control cost and the system energy consumption was proposed, and the optimal solution was given. In dynamic scheduling, the overhead of static optimization is very high and difficult to realize, so intelligent computing methods were used to approximate the optimal solution. Scheduling overhead and approximation accuracy of four intelligent computing methods were compared, and wavelet neural network was used to approach optimal results. Results of simulations show that the energy consumption on the base of maintaining control performance was reduced effectively by the proposed method.