English

Every spring semester

The aim of the course is that the PhD student should learn how to design and implement computer-based control systems.

The course covers the following topics: Introduction, Real-time programming, Synchronization and mutual exclusion, Real-time kernels and operating systems, Periodic controller tasks, Computer implementation of control algorithms, Discretization of continuous-time controllers, Sampling of continuous-time systems, Input-output models of discrete-time systems, Sequence control using Grafcet, Scheduling theory, Integrated Control and Scheduling, Implementation aspects, Control over networks

be able to define the basic concepts of real-time systems
understand the advantages and disadvantages of different implementation techniques for real-time systems
understand how communication and synchronization is realized using semaphores, monitors, and messages
be able to describe the structure and workings of a real-time kernel
be able to design a computer-based control system using discretization of a continuous-time design and using sampling
be able to calculate the relations between discrete-time models on difference-equation form, transient responses, and pulse transfer functions
be able to calculate computer-based controllers on state-space form and PID form
understand how time-delays and jitter affect control performance
be familiar with how Grafcet, Petri nets, and state machines can be used in the analysis and implementation of event-based control systems
understand the problems associated with control over networks

be able to implement a computer-based control systems using concurrent programming techniques
be able to apply basic schedulability analysis for real-time systems
be able to develop a real-time systems within an area of relevance to the course, in project form
be able to present project results and experiences in oral and written form

understand the importance of formal methods in the design of safety-critical real-time systems
master teamwork and collaboration in the project and laboratory exercises

Lectures

Laboratory exercises

Exercises

Project

Written exam

Written report

Written exam, project, three laboratory exercises.

Failed, pass

Basic course in programming and FRT010 Automatic Control, Basic Course.

Wittenmark, B., Åström, K.J. & Årzén, K.-E-: Computer Control: An Overview. IFAC Professional Brief.
Årzén, K.: Real-Time Control Systems. Department of Automatic Control, LTH.

FRTN01F

 -10-27

Professor Thomas Johansson