CAS 704 – Embedded, Real-Time Software Systems

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Lectures: Tuesday 10:00-11:30, Friday 9:00-10:30 in ITB/222

Grading:

(The instructor reserves the right to conduct deferred examinations orally. All work on assignments is to be done individually.)

References:

1. J. Dwight Apelvich, The Essentials of Linear State-Space Systems, John Wiley & Sons, 1999. ISBN: 0-471-24133-4.

2. A. Shaw, Real-Time Systems and Software, John Wiley & Sons Inc., 2001.

ISBN: 0-471-35490-2.

3. W.M. Wonham, Notes on Control of Discrete Event Systems, Dept. of Electrical and Computer Engineering, University of Toronto, 2004. (Available from http://www.control.toronto.edu/people/profs/wonham/wonham.html )

4. Course Website: http://www.cas.mcmaster.ca/~lawford/CAS704/

Additional References:

1. William S. Levine (Editor), The Control Handbook, CRC Press, 1996. ISBN: 0849385709.

• Section VIII Subsection 37 Observers p. 607-620.

• Section IVX Subsection 39 Linear Quadratic Regulator P. 635-650.

2. Norman S. Nise, Control Systems Engineering (3^rd Edition), John Wiley & Sons Inc, 2000. ISBN:0-471-36601-3.

• Chapter 12 Design via State Space p. 719-777.

3. G.F. Franklin, J.D. Powell, M. Workman, Digital Control of Dynamic Systems, (3^rd Edition), Addison Wesley, 1997. ISBN: 0-201-82054-4.

• Chapter 10 Quantization Effects

• Chapter 11 Sample Rate Selection

Outline of Topics:

1. Continuous and discrete time dynamical systems:

• State-space models

• Linearization

• Solutions of state-space

• Transform methods

• Stability of state-space models

• Design of state-space controls

• Controllability and observability and the separation principle

• Minimal State Space Representations

2. Interaction of hardware/software in real-time embedded systems:

• Sampling rate selection

• Quantization

3. Scheduling for soft and hard real-time software systems:

• Process characteristics

• Cyclic executives

• Scheduling policies – RM, DM, EDF, LST

• Resource sharing, deadlock and priority inheritance

4. Software development for real-time embedded control systems

• Specification of timing requirements

• The 4-variable model and its role in practical software development for embedded systems

• Hardware hiding modules

5. Formal methods for real time embedded systems

6. Discrete event dynamical system & supervisory control theory

• Languages and automata

• Controllable and uncontrollable events

• Modeling discrete event systems and their requirements

• Controllability

OFFICIAL STATEMENTS:

Discrimination

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Academic Dishonesty

Academic dishonesty consists of misrepresentation by deception or by other fraudulent means and can result in serious consequences, e.g. the grade of zero on an assignment, loss of credit with a notation on the transcript (notation reads: `Grade of F assigned for academic dishonesty'), and/or suspension or expulsion from the university. It is your responsibility to understand what constitutes academic dishonesty. For information on the various kinds of academic dishonesty please refer to the Academic Integrity Policy, especially Appendix 3, located at http://www.mcmaster.ca/senate/academic/ac_integrity.htm.

The following illustrates only three forms of academic dishonesty:

1. Plagiarism, e.g. the submission of work that is not one's own or for which other credit has been obtained. An example is copying all or part of someone's assignment and handing it in as your own.

2. Improper collaboration in group work.

3. Copying or using unauthorized aids in tests and examinations."