TORONTO METROPOLITAN UNIVERSITY

Course Outline (W2024)

ELE709: Real-Time Computer Control Systems

Instructor(s)Meranda Salem [Coordinator]
Office: ENG449
Phone: TBA
Email: meranda.salem@torontomu.ca
Office Hours: Thursdays 1 - 3pm
Calendar DescriptionThis course deals with practical techniques for the specification, design and implementation of real-time computer control systems. Topics include: overview of computer control strategies; introduction to real-time systems; hardware and software requirements; implementation of digital control algorithms; design of real-time computer control systems; design analysis; considerations for fault detection and fault tolerance. The lab work and project require solid background in C programming.
PrerequisitesELE 639 or MEC 830
Antirequisites

None

Corerequisites

None

Compulsory Text(s):
  1. ELE709 Course Slides,
  2. ELE709 Laboratory Manual,
Reference Text(s):
  1. Real-Time Concepts for Embedded Systems, Q. Li and C. Yao, CMP Books, 2003.
  2. Advanced Linux Programming, M. Mitchell, J. Oldham and A. Samuel, New Riders Publishing, 2001.
Learning Objectives (Indicators)  

At the end of this course, the successful student will be able to:

  1. Use engineering knowledge to solve real-world control problems. (1c)
  2. Use real-time system concepts to understand and design real-time control systems. (1d)
  3. Generate solutions for more complex real-time control problems. (4b)
  4. Design and develop a real-time computer controller to control a DC motor. (5a)
  5. Laboratory and project performance. (6b)

NOTE:Numbers in parentheses refer to the graduate attributes required by the Canadian Engineering Accreditation Board (CEAB).

Course Organization

3.0 hours of lecture per week for 13 weeks
1.0 hours of lab per week for 12 weeks
0.0 hours of tutorial per week for 12 weeks

Teaching AssistantsTAs are to provide help with Lab materials during lab time.
 Any concerns with Lab work or marks, please reach out to TAs first, and to Course professor after if concern is not addressed by TAs.
 Extra help for lab materials can be provided during office hours.
Course Evaluation
Theory
Midterm Exam 25 %
Final exam (theory questions) 40 %
Laboratory
Lab work + Project 25 %
Final exam (lab questions) 10 %
TOTAL:100 %

Note: In order for a student to pass a course, a minimum overall course mark of 50% must be obtained. In addition, for courses that have both "Theory and Laboratory" components, the student must pass the Laboratory and Theory portions separately by achieving a minimum of 50% in the combined Laboratory components and 50% in the combined Theory components. Please refer to the "Course Evaluation" section above for details on the Theory and Laboratory components (if applicable).


ExaminationsMidterm exam in Week 9 during your lecture time.
 Final exam during exam period.
Other Evaluation InformationLab materials will be tested during your Lab project work and Lab test.
 One week will be given for each lab submission.
 Lab time is to work during your lab materials with TAs assistant.
Teaching MethodsAll lectures are delivered in-person, no online lectures or recordings will be available.
 Lectures slides cover all theory materials that will be tested in term test and final exam.
 Review sessions as well as practice questions similar to what will come in term test and final exam will be provided.
 No lab work will be tested in term test or final exam, only in lab test.
 Professor office hours for assisting with lecture materials and lab materials and any concerns.
Other InformationMidterm exam covers materials from Week 1 till Week 6.
 Final Exam covers materials from week 7 till week 12.
 Lab test covers Lab 1 to Lab 5 work.

Course Content

Week

Hours

Chapters /
Section

Topic, description

1

1

Lecture Notes

Concepts of Computer Control
 Introduction classes of industrial process control systems sequence
 control loop control supervisory control.
 Jan 12


1

2

Chapter 1 and Lecture Notes

Introduction to Real-Time Systems
 Classification of real-time systems time constraints classification of computer programs.
 Jan 12


2 - 3

5

Chapter 4 and Lecture Notes

Hardware and Software Requirements
 General-purpose computer specialized processors external interfaces
 A/D and D/A conversion data transfer techniques data communications techniques. Real-time operating systems computer languages for real-time applications.
 Jan 19 & Jan 26


3 - 5

6

Chapters 5 - 8 & 15

Concurrent Programming
 Process and threads process/thread life cycle multi-threaded programming with POSIX threads (Pthreads) thread synchronization and communication: semaphores mutexes and condition variables.
 Jan 26 Feb 2 & Feb 9


5 - 6

8

Lecture Notes

Digital Controllers: Design and Implementation
 Review of discrete-time signal sampling difference equation discrete transfer function z-transform PID controller design and digital implementation saturation and integrator wind-up discretization of continuous-time controllers control loop synchronization choice of sampling period effects of latency and timing jitters on control performance quantization effects.
 Feb 9 & Feb 16
 


7

0

Reading week

Reading Week, no Lecture on Feb 23


8 - 9

6

Chapter 16

Scheduling of Real-Time Control Tasks
 Basic concepts cyclic executives basic rate monotonic scheduling earliest deadline first scheduling basic response-time analysis task blocking transitive blocking priority inversion priority inheritance priority ceiling and immediate priority ceiling protocols extended rate monotonic scheduling response-time analysis with blocking starvation deadlock.
 Term test on March 8 for the first 1 hour & a half, Lecture materials will resume after term test.
 Mar 1st & Mar 8


10

2

Lecture Notes

Real-Time Application Interface Programming
 Real-time task creation periodic and aperiodic tasks interrupt service routine scheduling policies.
 March 15


10 - 12

5

Lecture Notes

Design of Real-Time Computer Control Systems
 Software life cycle planning analysis and specifications different approaches to real-time software design tasking design.
 Mar 15, Mar 22 & March 29
 


13

2

Lecture Notes

Introduction to Reliability and Fault Tolerance in Computer Control Systems
 Reliability types of faults failure modes fault prevention: avoidance and removal fault tolerance: hardware and software redundancy.
 Review session
 April 5
 


Laboratory(L)/Tutorials(T)/Activity(A) Schedule

Week

L/T/A

Description

2

Lab 1

C - Review
 Jan 15 - Jan 19

3

Lab 2

Time and Clocks
 Jan 22 - Jan 26

4-5

Lab 3

POSIX Threads and Concurrent Programming
 Jan 29 - Feb 2
 Feb 5 - Feb 9

6

Lab 4

Resource Sharing and Coordination
 Feb 12 - Feb 16

7

No Lab

Reading week
 Feb 19 - Feb 23

8 - 9

Lab 5

Task Synchronization and Communication
 Feb 26 - Mar 1
 Mar 4 - Mar 8
 

9 - 13

Project

Real-Time Digital PID Controller Design and Implementation
 Mar 4 - Mar 8
 Mar 11 - Mar 15
 Mar 18 - Mar 22
 Mar 25 - Mar 29
 Apr 1 - Apr 5

University Policies & Important Information

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Refer to the Departmental FAQ page for furhter information on common questions.

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