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• Lund University
• Faculty of Engineering
• Automatic Control

Real-Time Systems - Course Program 2017

Real-time systems are characterized by the fact that it is not only the result of the calculation that is of importance but also the time when the result is available. A computer used for controlling a process is a good example of a real-time system. It must operate in a time-scale that is determined by the time scale of the process. At the same time it should be reactive to external events, often with time constraints on the reaction time. Two classes of computer control systems are generic industrial control systems and embedded control systems found in, e.g., aerospace applications, industrial robots, or autonomous vehicles.

The aim of the course is to study methods for design and implementation of computer control systems with focus on the application classes mentioned. The implementation part of the course is done in project form.

After the course the students should have sufficient knowledge to, on their own, implement smaller dedicated control systems and a thorough understanding of the system aspects of large industrial control systems.

Staff

Name	Role	Email	Phone
Karl-Erik Årzén	Course responsible & lecturer	karl-erik.arzen@control.lth.se	046-2228782
Martina Maggio	Course responsible & lecturer	martina.maggio@control.lth.se	046-2228777
Mika Nishimura	LADOK administrator	mika.nishimura@control.lth.se	046-2228785
Tommi Nylander	Teaching assistant	tommi.nylander@control.lth.se
Martin Heyden	Teaching assistant	martin.heyden@control.lth.se
Victor Millnert	Teaching assistant	victor.millnert@control.lth.se

 

Lectures

Lecture	Date	Time	Room	Topic	Lecturer
L1	Jan 17	8-10	M:E	Introduction	Both
LX	Jan 18	17-19	M:2112b	Extra: Introduction to Java	Martina
L2	Jan 19	10-12	M:D	Concurrent programming	Martina
L3	Jan 20	8-10	M:E	Process communication 1	Martina
L4	Jan 24	8-10	M:E	Process communication 2	Martina
L5	Jan 25	8-10	E:C	Interrupts and time	Martina
L6	Jan 27	8-10	M:E	Sampling of linear systems	Karl-Erik
L7	Jan 31	8-10	M:E	Input-output models	Karl-Erik
L8	Feb 2	10-12	M:E	Approx. of analog controllers, PID	Karl-Erik
L9	Feb 7	8-10	M:E	State feedback and observers	Karl-Erik
L10	Feb 9	10-12	M:E	Feedforward design	Karl-Erik
L11	Feb 14	8-10	M:E	Implementation aspects	Martina
L12	Feb 16	10-12	M:E	Scheduling theory	Martina
L13	Feb 21	8-10	M:E	Project Specifications	Both
L14	Mar 2	10-12	M2112B	Discrete-event control	Karl-Erik
L15	Mar 23	15-17	M:E	Real-Time Networks	Anton Cervin
L16	Mar 30	15-17	M:E	Hot research topics	Karl-Erik
LY	Apr 6	15-17	M2112B	Extra: Repetition lecture	Both
L17	May 16	15-17	M:E	Project demos & oral presentations	-

 

Slides are available on the Lectures page and are also handed out at the lectures.

 

Exercises

There are two parallel exercise tracks: five computer exercises (C), starting in study week 2, and sex problem-solving exercises (P), starting in study week 3. All exercises are held in study period 3 except the two last problem-solving exercises which are held in the beginning of study period 4. In addtion there are two extra exercises: one on basic Java programming on Fri Jan 20, 10-12 and one basic Matlab exercise on Fri Jan 27, 10-12.

For the ordinary computer exercises there are three exercise groups on Tuesdays 10-12, 13-15, and 15-17. Similarly there are three exercise groups for the problem-solving exercises, held in study period 3 on Wed 8-10, Thu 8-10, and Fri 10-12.

In order for us to balance the load in the exercise groups you must pre-register for the exercise groups. The link for doing this will be made available on Friday Jan 20.

All exercises are held in Automatic Control Lab A on the first floor of the M-building.

Exercise	Dates	Topic
C0	Jan 20, 10-12	Extra: Introduction to Java
C1	Jan 24	Threads
P0	Jan 27, 10-12	Extra: Introduction to Matlab
C2	Jan 31	Synchronization
P1	Feb 1-3	Sampling of systems
C3	Feb 7	Controller implementation
P2	Feb 8-10	Input-output models
C4	Feb 14	Graphical user interface
P3	Feb 15-17	State feedback and observers
C5	Feb 21	Prepare Lab 1
P4	Feb 22-24	Discrete approximation, PID
P5	Mar 21-23	Fixed-point implementation
P6	Mar 28-30	Scheduling theory

 

The Problem-Solving Exercises are in the book sold at KF-Sigma. The Computer Exercises and related material are available on the Exercises page.

Laboratory sessions

The course contains three 4-hour laboratory sessions. Lab 1 will take place during weeks 6 and 7 of study period 3. Students who have previously taken the course EDA040 (Concurrent and Real-Time Programming) will do a special version of Lab 1 in which the LJRT Java to C framework will be used. Labs 2 and 3 will take place during weeks 8 of study period 3 and weeks 1 and 2 of study period 4. Electronic sign-up lists will be posted approximatively two weeks before each lab starts. 

Lab	Approx. dates	Topic	Sign-up opens	Responsible
1	Feb 22–Mar 3	Control of the ball and beam process	TBD	Victor Millnert
2	Mar 6-22	Sequence control of a bead sorter process	TBD	Martin Heyden
3	Mar 20 – 31	Embedded control of a rotating DC servo	TBD	Tommi Nylander

 

Project

Literature

• K.-E. Årzén, "Real-Time Control Systems" (2015 edition)
• B. Wittenmark, K.J. Åström, K.-E. Årzén, "Computer Control: An Overview", Educational Version 2016
• Exercises with solutions (2015 Version)

All material is sold by KF-Sigma. The 2014 versions of the books are very similar and also possible to use.

Examination

Mandatory parts: Three laboratory sessions, project, written exam (5 hours).

The exam consists of 25 points and gives the grade Fail, 3, 4, or 5. Accepted aid: The textbooks Real-Time Control Systems and Computer Control: An Overview - Educational Version; standard mathematical tables, authorized "Real-Time Systems Formula Sheet”, authorized "Reglerteknik AK Formelsamling"; pocket calculator. Slides copies are not allowed.

The coming exams are

• Friday April 21, 14:00 -19:00, Sparta C,D
• Saturday June 3. 8:00 - 13:00, Sparta D
• Monday August 14, 8:00 - 13:00, MA 9A

 

(Lectures 2–17 and the exercise sessions are not mandatory.)

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