Course Material 2015
The following list contains all the written material in the Real-Time Systems course during 2015. The list will be extended as the course proceeds and the material becomes ready. The course material list for Course Material 2014 is available. The majority of the material is the same this year.
General Material
- Real-Time Control Systems" by K-E Årzén. 2014 Edition. Sold by KF-Sigma.
- B. Wittenmark, K.J. Åström, K-E Årzén: "Computer Control: An Overview", 2014 Edition. Sold by KF-Sigma.
- Exercises in Real-Time Systems. 2014 Edition Sold by KF-Sigma.
- Updated solutions to exercises 2.4, 4.1, and 6.1
- Formula Sheet. May be used during the exam.
- Course requirements 2015
Lecture Notes
- L0: Introductory notes. Handed out at Lecture 1. 6 slides/page, 1 slide/page
- L1: Real-Time Systems. Handed out at Lecture 1. 6 slides/page, 1 slide/page
- LX: Java Intro. Handed out at extra Java lecture. 6 slides/page, 1 slide/page
- Java example presented at the extra Java lecture: A Sinus Swing example
- L2: Concurrent Programming. Handed out at Lecture 2. 6 slides/page, 1 slide/page
- L3: Process Communication 1. Handed out at Lecture 3. 6 slides/page, 1 slide/page
- L4: Process Communication 2. Handed out at Lecture 4. 6 slides/page, 1 slide/page
- L5: Interrupts and Time. Handed out at Lecture 5. 6 slides/page, 1 slide/page
- L6: Sampling of Linear Systems. Handed out at Lecture 6. 6 slides/page, 1 slide/page
- L7: Input-Output Models. Handed out at Lecture 7.6 slides/page, 1 slide/page
- L8: From Analog to Digital Controllers, PID Control. Handed out at Lecture 8.6 slides/page, 1 slide/page
- L9: State Feedback and Observers. Handed out at Lecture 9. 6 slides/page, 1 slide/page - matlab source code
- L10: Reference Generation. Handed out at Lecture 10. 6 slides/page, 1 slide/page - matlab script for the torpedo example - Simulink model for the torpedo example
- L11: Implementation Aspects. Handed out at Lecture 11. 6 slides/page, 1 slide/page Matlab script for playing with aliasing alias.zip
- L12: Scheduling Theory. Handed out at Lecture 12. 6 slides/page, 1 slide/page
- L13: Project specifications (see below) were handed out. No additional slides.
- L14: Discrete Control. Handed out at Lecture 14. 6 slides/page, 1 slide/page
- L15: Integrated Control and Scheduling. Handed out at Lecture 15. 6 slides/page , 1 slide/page
- L16: Real-Time Networks and Networked Control Systems. Handed out at Lecture 16. 6 slides/page , 1 slide/page
- Repetition Lecture: Course summary. 6 slides/page PDF 1 slide/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
- Exercise 5: There is no new material for this exercise. The time should be spent on completing Exercises 3 and 4.
Problem-Solving Exercises
The material for the problem solving exercises are found in "Exercises in Real-Time Systems". 2014 Edition sold by KF-Sigma.
Laboratories
Laboratory 1:
Laboratory 2:
Laboratory 3:
Projects
Computer and Language Links
- Java 7 is used in the course. In order to use this on your own computer in this course you need to download and install a Java 7 JDK (a Java 7 run-time environment (jre) is not enough). If you run Linux you can download this from OpenJDK. If you run Linux, Mac or Windows you can download Oracle's Java 7. Both are free of charge.
- Eclipse download
- 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 for se.lth.control.* (and se.lth.cs.realtime.*)
- Documentation for se.lth.cs.realtime.* (at Computer Science)
- Documentation for SimEnvironment (in Swedish)
- virtualsimulator.jar. The SimEnvironment package used in the exercises 2 and 3.
- regler.jar (se.lth.control.*).
- csrt.jar (se.lth.cs.realtime.*)
- Debugging hints
- Furuta pendulum Java3D example (tarball)