CAS 704 – Embedded, Real-Time Software Systems
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Instructor: Mark Lawford
Office: ITB 160
Office Hours: Friday 10:30-11:30
TA: Vera Pantelic
Office: ITB 205
Office Hours: Monday 9:00-10:00
Lectures: Tuesday 10:00-11:30, Friday 9:00-10:30 in ITB/222
(The instructor reserves the right to conduct deferred examinations orally. All work on assignments is to be done individually.)
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.
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/
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 (3rd 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, (3rd 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:
Solutions of state-space
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
Scheduling for soft and hard real-time software systems:
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
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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."