CAS 704 – Embedded, Real-Time Software Systems
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Instructor: Mark Lawford Office: ITB 160 e-mail: lawford@mcmaster.ca Office Hours: Friday 10:30-11:30 |
TA: Vera Pantelic Office: ITB 205 e-mail: pantelv@mcmaster.ca Office Hours: Monday 9:00-10:00 |
Lectures: Tuesday 10:00-11:30, Friday 9:00-10:30 in ITB/222
Grading:
Midterm exam |
25% |
Assignments |
10% |
Design problem |
15% |
Final exam |
50% |
(The instructor reserves the right to conduct deferred examinations orally. All work on assignments is to be done individually.)
References:
J. Dwight Apelvich, The Essentials of Linear State-Space Systems, John Wiley & Sons, 1999. ISBN: 0-471-24133-4.
A. Shaw, Real-Time Systems and Software, John Wiley & Sons Inc., 2001.
ISBN: 0-471-35490-2.
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 )
Course Website: http://www.cas.mcmaster.ca/~lawford/CAS704/
Additional References:
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.
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.
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:
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
Interaction of hardware/software in real-time embedded systems:
Sampling rate selection
Quantization
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
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
Formal methods for real time embedded systems
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
“The Faculty of Engineering is concerned with ensuring an environment that is free of all adverse discrimination. If there is a problem that cannot be resolved by discussion among the persons concerned individuals are reminded that they should contact there Chair, the Sexual Harassment Office or the Human Rights Consultant, as soon as possible."
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:
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.
Improper collaboration in group work.
Copying or using unauthorized aids in tests and examinations."