A cyber-physical system is a collection of interconnected computing devices interacting with the physical world. The computing devices together constitute a cyber system that regulates the behavior of the physical world. The cyber system closely monitors the physical world through sensors, computes required control laws based on the current state of the physical world, and applies the computed control law to the physical world through actuators. The sensors, the controllers, and the actuators are developed on top of an embedded platform. Thus, the cyber component of a cyber-physical system is often termed as an embedded control system.
Developing an embedded control system requires the understanding of the physical world with which the system has to interact. The understanding of the physical world is captured in a faithful model that is used for synthesizing feedback control laws using control theoretic methods. Implementing the feedback control law on the embedded computing platform requires addressing the challenges of embedded computing, for example, the availability of limited resources in terms of computing power and memory, stringent timing requirements, and so on. Moreover, most cyber-physical systems are safety-critical. Thus, it is essential that the correctness of such systems is established through the use of formal verification techniques.
The course will cover the modeling, implementation and verification issues related to developing a cyber-physical system. Through the discussion of the implementation of an embedded control system, the course will cover the basic design principles of an embedded system.
The course does not have any formal prerequisites. The students are expected to have mathematical maturity of the level of an undergraduate degree in engineering. However, some familiarity with finite state machines and ordinary differential equations, and programming experience will be helpful.
Quiz - 25%
Homework Assignments - 25%
Project - 25%
End-Semester Examination - 25%
Our department follows this anti-cheating policy strictly.
Homework
Homework 1 (Deadline: September 27, 2020)
Homework 2 (Deadline: October 11, 2020)
Homework 3 (Deadline: October 25, 2020)
Homework 4 (Deadline: November 8, 2020)
Homework 5 (Deadline: November 22, 2020)
Project
Project Proposal Submission (Deadline: September 28, 2018)
Final Project Presentation (Will be scheduled between November 16, 2020 and November 30, 2020)
Final Report Submission (Deadline: November 30, 2018)
Final Examination
December 16, 2020 (Wednesday) 4:00 pm to 7:00 pm Online
| Lecture | Date | Topic | References |
| 1 | Week 1 (August 31 - Sep 6) | Discussion 1 | |
| 2 | Introduction to the course | [LS15 - Ch 1] | |
| 2 | Modeling Dynamic Behaviors - Continuous Dynamics | [LS15 - Ch 2] | |
| -- | Week 2 (Sep 7 - Sep 13) | Discussion 2 | |
| 3 | Basics of Feedback Control Theory | [AM09] | |
| 4 | Modeling Dynamic Behaviors - Discrete Dynamics | [LS15 - Ch 3] | |
| -- | Week 3 (Sep 14 - Sep 20) | Discussion 3 | |
| 5 | Hybrid Systems | [LS15 - Ch 4] | |
| 7 | Composition of State Machines | [LS15 - Ch 5] | |
| -- | Week 4 (Sep 21 - Sep 27) | Discussion 4 | |
| 9 | Concurrent Models of Computation | [LS15 - Ch 6] | |
| 10 | Sensors and Actuators | LS15 - Ch 7] | |
| -- | Week 5 (Sep 28 - Oct 4) | Discussion 5 | |
| 11 | Embedded Processors | [LS15 - Ch 8] | |
| 12 | Memory Architectures | [LS15 - Ch 9] | |
| -- | Week 6 (Oct 5 - Oct 11) | Discussion 6 | |
| 13 | Input and Output | [LS15 - Ch 10] | |
| 14 | Multitasking | [LS15 - Ch 11] | |
| -- | Week 7 (Oct 12 - Oct 18) | Mid-Semester Examination | |
| -- | Week 7 (Oct 19 - Oct 25) | Discussion 7 | |
| 15 | Scheduling | [LS15 - Ch 12] | |
| 15 | Scheduling | [LS15 - Ch 12] | |
| -- | Week 8 (Oct 26 - Nov 1) | Discussion 8 | |
| 16 | Invariants and Temporal Logic | [LS15 - Ch 13] | |
| 17 | Equivalence and Refinement | [[LS15 - Ch 14] | |
| -- | Week 9 (Nov 2 - Nov 8) | Discussion 9 | |
| 18 | Reachability Analysis and Model Checking | [LS15 - Ch 15] | |
| 19 | Quantitative Analysis | [LS15 - Ch 16] | |
| -- | Week 10 (Nov 9 - Nov 15) | Discussion 10 | |
| -- | Student Presentation 1 (Nov 14, 2:00 - 3:30 pm) | ||
| -- | Week 11 (Nov 16 - Nov 22) | Student Presentation 2 (Nov 16, 2:00 - 3:00 pm) | |
| -- | Student Presentation 3 (Nov 21, 2:00 - 3:30 pm) | ||
| -- | Week 12 (Nov 23 - Nov 29) | Student Presentation 4 (Nov 23, 2:00 - 3:00 pm) | |
| -- | Student Presentation 5 (Nov 28, 2:00 - 3:00 pm) | ||
| -- | Week 13 (Nov 23 - Nov 29) | Student Presentation 6 (Nov 30, 2:00 - 3:00 pm) | |
[Alur15] Rajeev Alur. Principles of Cyber-Physical Systems. The MIT Press, 2015.
[AD94] Rajeev Alur, David L. Dill: A Theory of Timed Automata. Theor. Comput. Sci. 126(2): 183-235 (1994).
[AM09] K. J. Astrom and R. M. Murray. Feedback Systems: An Introduction for Scientists and Engineers. Prince- ton University Press, 2009. http://www.cds.caltech.edu/~murray/amwiki/index.php/Main_Page.
[ASK04] Aditya Agrawal, Gyula Simon, Gabor Karsai. mantic Translation of Simulink/Stateflow Models to Hybrid Automata Using Graph Transformations. Electronic Notes in Theoretical Computer Science 109 (2004) 43-56.
[BK08] C. Baier and J.-P. Katoen. Principles of Model Checking. The MIT Press, 2008.
[Harel87] D. Harel. Statecharts: A Visual Formalism for Complex Systems. Science of Computer Programming 8 (1987) 231-274.
[Lee08] Edward A. Lee. Cyber-Physical Systems: Design Challenges. IRORC 2008.
[LS15] Edward A. Lee and Sanjit A. Seshia, Introduction to Embedded Systems, A Cyber-Physical Systems Approach, Second Edition, http://LeeSeshia.org, ISBN 978-1-312-42740-2, 2015.
[OSS12] Sam Owre, Indranil Saha and Natarajan Shankar. Automatic Dimensional Analysis of Cyber-Physical Systems. FM 2012.
[Ras05] Jean-Francois Raskin. An Introduction to Hybrid Automata. Handbook of Networked and Embedded Control Systems, pages 491-517, 2005.