EE 554: Embedded Control Systems

Instructor: Kevin Wedeward, office: Workman 221, phone: 835-5708, e-mail:, web-page:

Class Time/Place: TR 08:00AM-09:15AM, Workman 109

Office Hours: M-F 09:30AM-10:30AM

Textbook: Control System Design Guide, 3rd Edition by George Ellis, ISBN: 978-0-12-237461-6. Additional information is available at author's website.

Prerequisites: EE 308, EE341, 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 (control systems and embedded systems are themselves large fields) to be covered, the course will provide an overview of techniques, hardware and software. A specific platform will be chosen for class projects.




  1. HW1 due Th 09/10/2009
  2. HW2 due Tu 09/22/2009
  3. HW3 due Th 10/01/2009
  4. HW4 due Tu 10/13/2009. Animation m-files are drawpendulum.m and drawmagneticball.m. Example m-files for simulation are pendulumCTPID.m and pendulumDTPID.m.
  5. HW5 due Tu 10/20/2009
  6. Project 1 due Th 10/29/2009
  7. Final Project:
    • Select a computational platform (SBC, microcontroller, FPGA, ...) and operating system (if applicible) with which you are not familiar, but about which you would like to learn. Set up this platform as best you can to achieve accurate updates of your control algorithm and characterize how close you come to a fixed sampling/update rate. This platform will serve as the embedded computer on which you will implement your controller.
    • Select a system to control that contains actuator(s) and sensor(s), and determine a control objective for it. Model and build the system, and compare the behavior predicted by the model to the actual behavior. Update your model as appropriate to improve its accuracy.
    • Design a controller using your model based upon design criteria you specify. Simulate your design using the system model.
    • Implement the controller on your hardware (computational platform and physical system). Tune your controller experimentally and also use gains determined via design. Compare actual performance to simulated performance.
    • Provide a 15 minute presentation summarizing all aspects of the process and results during class time on Th 12/10/2009.
    • Turn in a paper summarizing all aspects of the process and results on Mo 12/14/2009 (versus Th 12/10/2009).

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