Course Material 2012
The following list contains all the written material in the Real-Time Systems course during 2012. The list will be extended as the course proceeds and the material becomes ready. The course material list for 2011 is available. The majority of the material is the same this year.
General Material
- Real-Time Control Systems" by K-E Årzén. 2011 or 2012 Edition. Sold by KF-Sigma.
- B. Wittenmark, K.J. Åström, K-E Årzén: "Computer Control: An Overview", 2012 Edition. Sold by KF-Sigma.
- "Exercises in Real-Time Systems". Sold by KF-Sigma.
- Formula Sheet. May be used during the exam.
- Course requirements 2012
Lecture Notes
- L0: Introductory notes. Handed out at Lecture 1. Slides
- L1: Real-Time Systems. Handed out at Lecture 1. Slides
- LX: Java Intro. Handed out at extra Java lecture. 6 slides/page PDF
- Java example presented at the extra Java lecture: A Sinus Swing example.
- L2: Concurrent Programming. Handed out at Lecture 2. 6 slides/page PDF
- L3: Process Communication 1. Handed out at Lecture 3. 6 slides/page PDF
- L4: Process Communication 2. Handed out at Lecture 4. 6 slides/page PDF
- L5: Interrupts and Time. Handed out at Lecture 5. 6 slides/page PDF
- L6: Sampling of Linear Systems. Handed out at Lecture 6. 6 slides/page PDF
- L7: Input-Output Models. Handed out at Lecture 7. 6 slides/page PDF
- L8: From Analog to Digital Controllers, PID Control. Handed out at Lecture 8. 6 slides/page PDF
- L9: State Feedback and Observers. Handed out at Lecture 9. 6 slides/page PDF
- L10: Reference Generation. Handed out at Lecture 10. 6 slides/page PDF
- The Matlab script for the torpedo example.
- The Simulink model for the torpedo example.
- L11: Implementation Aspects. Handed out at Lecture 11. 6 slides/page PDF
- Matlab script for playing with aliasing: alias.zip
- L12: Scheduling Theory. Handed out at Lecture 12. 6 slides/page PDF
- L13: Project specifications (see below) were handed out. No additional slides.
- L14: Discrete Control. Handed out at Lecture 14. 6 slides/page PDF
- L15: Integrated Control and Scheduling. Handed out at Lecture 15. 6 slides/page PDF.
- L16: Real-Time Networks & Networked Control Handed out at Lecture 16. 6 slides/page PDF.
- L17: Course summary. 6 slides/page PDF.
Exercise Material
Computer exercises
- Exercise 0 (extra exercise): Object-orientation in Java
- Exercise 1: Tools & Threads with Solutions
- Exercise 2: Synchronization & Program Decomposition with Solutions
- Exercise 3: Controller Implementation with Solutions
- Exercise 4: Graphical Operator Interfaces with Solutions
Problem-Solving Exercises
Laboratories
Laboratory 1:
Laboratory 2:
Laboratory 3:
Projects
Computer and Language Links
- Java SE 6 will be used during the course. Download from Java.com.
- Compilation instructions
- Teach Yourself Java in 21 Minutes. Short Java guide for those who already are familiar with object-oriented programming. Used in the Real-Time Programming course at the Computer Science dept. Written by Patrik Persson.
- Java snabbreferens from Computer Science (in Swedish)
- Java Documentation
- Documentation of local Java classes (se.lth.control.*)
- virtualsimulator.jar. The SimEnvironment package used in the exercises 2 and 3. Documentation for SimEnvironment (in Swedish).
- Documentation of local Java classes at Computer Science (se.lth.cs.realtime.*) version 2001
- Java archive regler.jar Contains the classes in .se.lth.control.* Should be added to <java_root>/jre/lib/ext if you want to use these classes on a machine that does not mount them, e.g., your home computer.
- Java archive csrt.jar Contains the classes in se.lth.cs.realtime.* Should be added to <java_root>/jre/lib/ext if you want to use these classes on a machine that does not mount them, e.g., your home computer.
- Debugging hints
- Furuta pendulum Java3D example (tarball)