Carnegie Mellon University

Electrical and Computer Engineering

College of Engineering

Course Information

18-474: Embedded Control Systems




This course introduces principles for design of embedded controllers. In applications ranging from airplanes, to automobiles, to manufacturing systems, embedded computers now close feedback loops that were previously closed by mechanical devices or by humans in the loop. This course emphasizes practical insight into the tools for modeling and simulating these dynamic physical systems, and methods for designing the real-time software for embedded computers to control them. Lectures cover relevant theory and background from real-time systems and control engineering, including event-based and clock-based sampling, switching control, PWM (pulse-width modulation), PID (proportional-integral-derivative) design, state-variable feedback, state estimation, and methods for setpoint control and trajectory tracking. Basic embedded computing, sensor, and actuator technologies are reviewed, including microcontrollers, DC motors and optical encoders. In the laboratory, students use commercial tools for simulation and automatic code generation to design and implement embedded control system experiments.
3 hrs. lec., 3 hrs. lab

Prerequisites: 18-213 and 1837

Last Modified: 2021-12-06 11:09AM

Semesters offered:

  • Spring 2022
  • Spring 2021
  • Spring 2018
  • Spring 2017
  • Spring 2016
  • Spring 2015
  • Spring 2014
  • Spring 2013
  • Spring 2012
  • Spring 2011
  • Spring 2010
  • Spring 2009
  • Spring 2008
  • Spring 2007
  • Spring 2006
  • Spring 2005
  • Fall 2003
  • Spring 1998
  • Spring 1997