EE 554: Embedded Control Systems
Instructor: Kevin Wedeward, office: Workman 221, phone: 835-5708,
e-mail: wedeward@ee.nmt.edu, web-page: www.ee.nmt.edu/~wedeward/
Class Time/Place: W 08:00am-10:30am in Workman 117
Office Hours: MWF 10:00AM-12:00PM
Textbook:
Handbook of Networked and Embedded Control Systems,
by Dimitrios Hristu-Varsakelis and William S. Levine (Editors),
Birkhauser Boston, ISBN-13: 9780817632397
References:
Prerequisites: EE 308, EE 443 or equivalent, or
consent of instructor; senior or graduate student status.
Description: EE 554 (Embedded Control Systems) is
intended for advanced engineering students interested in the
application of control theory. While there are far too many
topics to be covered, the course will provide a broad
overview of control techniques, hardware and software. A specific
platform will be chosen for class projects.
Topics:
- Overview
- Control Techniques
- Continuous-time (frequency-domain and state-space)
- Discrete-time (sampling and Z-transform)
- Hardware (platforms, architectures and considerations)
- Software (operating systems, programming and considerations)
Grading:
- Homework: 25%
- Presentations and Projects: 60%
- Participation: 15%
Assignments:
- HW1 due W 09/03: Describe an embedded system you've
encountered to include its function, platform, I/O, operating
system, programming, etc.
- HW2 due W 09/17: Handout
- HW3 due W 09/24: Handout,
animation m-files drawpendulum.m
and drawmagneticball.m,
and example m-files pendulumCTPID.m
and pendulumDTPID.m
- HW4 due W 10/01: Handout
- HW5 due W 10/08: Handout
- HW6 due W 10/22: Handout
- HW7 due W 10/29: Write a short summary of each of the
following as related to embedded control on our SBC
and data acquisition board: kernal.org, Slackware, RTLinux, Xenomai, Windows CE.
- Final Project: Install operating system on SBC with
real-time capabilities. Characterize system (DC motor or
levitating ball) to be controlled and design PID and
state-space controllers for it. Implement controllers via
SBC and data acquisition board. Provide report and presentation
on all aspects.
Reading Assignments:
- Fundamentals of Dynamical Systems (09/03/2008)
- Control of Single-Input Single-Output Systems (09/03/2008)
- Basics of Sampling and Quantization (09/03/2008)
- Part II Hardware (10/08/2008)
- Part III Software (10/22/2008)
Links and Resources:
-
Digital Speed Controller using RTAI/Linux
by Sreejith N
- EE Times: Source of
news related to electrical engineering.
- Embedded.com:
Information on embedded systems for the
development community.
-
Essential C: Stanford CS document that summarizes
features of the C programming language.
- Free Electrons:
Company that provides support (development, training and
consulting) to those using or developing free software for
embedded systems. Their training material and articles are
great resources.
- kontron EPIC/CE 04001-0005-40-1
SBC
- Make -
a tutorial: Nice introduction to the make command
and Makefiles.
- Slackware:
distribution of the Linux operating system with
Slackware
Linux Essentials book.
- RTAI: the RealTime
Application Interface for Linux. Installation
instructions can be found as part of the
RTAILAB-Target-HowTo and
RTAI-Lab tutorial.
-
Real-Time Linux Introduction and Tutorial provided by NIST
- RTLinux:
Extends Linux to a real-time operating system
- Sensoray
Model 526: Multifunction I/O Data Acquisition Board
-
Stepper motor driver for your Linux Computer by
Sreejith N
- Xenomai:
Real-Time Framework for Linux