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


Midterm exam




Design problem


Final exam


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


  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.

  1. W.M. Wonham, Notes on Control of Discrete Event Systems, Dept. of Electrical and Computer Engineering, University of Toronto, 2004. (Available from )

  2. Course Website:

Additional References:

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

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

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

Outline of Topics:

  1. Continuous and discrete time dynamical systems:

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

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

  1. Software development for real-time embedded control systems

  1. Formal methods for real time embedded systems

  2. Discrete event dynamical system & supervisory control theory



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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

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."