ECE4803 Embedded Control Systems -- Spring 2003


Magnus Egerstedt

Phone
Email
Office
(404) 894-3484
magnus@ece.gatech.edu
E-378 Van Leer

Office hours: Tuesdays and Thursdays 3-5, or by appoinmtent



Final Exam: Thu, May 1, 8:00-10:50



Course Description:
The development of increasingly complex engineering systems (so called embedded control systems), found for example in aircrafts, cars, and manufacturing systems, where dedicated microcontrollers are combined according to a discrete switching logic, has provided new challenges in the areas of software development and control design. The objective of this course is to model, analyze, and control such systems, where continuous modes are linked together according to given transition rules. For this, a hybrid formalism will be introduced by combining ideas from computer science, such as automata theory, with control theory.

Readings
Since there are, as of yet, no textbooks in this emerging area, the course work will be centered around relevent research paper that will be distributed in class.

Workload
Your responsibilities in this class will fall into three main categories:
1. The homework sets (one problem set every second week) 50%. The credit will be devided equally between programming assignments, project assignments, and theoretical exercises.
2. Two in-class exams. (15% each = total of 30%.)
3. The final exam. It will cover all the material presented in the class. It will be a closed-book, closed-note exam, contributing to a total of 20%.

Location
The lectures will be held at 12-1 Mondays, Wednesdays, and Fridays in Van Leer: E261.

Prerequisites
Prerequisite: ECE3085 or ECE3884 or CS2130

Honor Code
Altough you are encouraged to work together to learn the course material, the exams and homeworks are expected to be completed individually. All conduct in this course will be governed by the Georgia Tech honor code.


SCHEDULE

 
Date Lecture subject Homework
Jan. 6 What is an embedded system?
Jan. 8 Key characteristics
Jan. 10 Introduction to modeling
Jan. 13 Finite state machines
Jan. 15 Example: Robotics
Jan. 17 Reachability
Jan. 20 School holiday - No class
Jan. 22 Verification algorithms (HW1)
Jan. 24 Software for verification
Jan. 27 Concurrency
Jan. 29 Example: Multi-agent systems
Jan. 31 Review 1
Feb. 3 Quiz 1
Feb. 5 Timing issues
Feb. 7 Timed automata
Feb. 10 Verification of TA
Feb. 12 Simulation of TA (HW2)
Feb. 14 Hybrid automata
Feb. 17 Some control theory
Feb. 19 Behavior-based robotics
Feb. 21 Hybrid verification
Feb. 24 Simulation of HA
Feb. 26 At the research frontier I (HW3)
Feb. 28 Example: PATH
March 3 Spring break - No class
March 5 Spring break - No class
March 7 Spring break - No class
March 10 Example: CBAR
March 12 Example: Multi-agent robotics
March 14 Review 2
March 17 Quiz 2
March 19 Implementation issues
March 21 Sampled control
March 24 Bounded and quantized control
March 26 Dynamic coding (HW4)
March 28 Real-time issues
March 31 Event signals
Apr. 2 No class
Apr. 4 No class
Apr. 7 Stuttering FSMs
Apr. 9 Sensor and actuator objects (HW5)
Apr. 11 Object-oriented programming in Matlab
Apr. 14 Object-oriented programming in C++
Apr. 16 Programmability
Apr. 18 Motion description languages
Apr. 21 Coding of control procedures
Apr. 23 At the research frontier II (HW6)
Apr. 25 Review 3