‎"Behind every stack of books there is a flood of knowledge."

Embedded Control Systems


Block Course

This two-week block course is scheduled from September 9 to 13 and 16 to 20, 2013. Jim Freudenberg Professor and Director of Systems Laboratory at the University of Michigan will lecture.


This course provides a comprehensive overview of embedded control systems. The concepts introduced are implemented and verified on a microprocessor-controlled haptic device.


Familiarize students with main architectural principles and concepts of embedded control systems.


An embedded system is a microprocessor used as a component in another piece of technology, such as cell phones or automobiles. In this intensive two-week block course the students are presented the principles of embedded digital control systems using a haptic device as an example for a mechatronic system. A haptic interface allows for a human to interact with a computer through the sense of touch.

Subjects covered in lectures and practical lab exercises include:
• The application of C-programming on a microprocessor
• Digital I/O and serial communication
• Quadrature decoding for wheel position sensing
• Queued analog-to-digital conversion to interface with the analog world
• Pulse width modulation
• Timer interrupts to create sampling time intervals
• System dynamics and virtual worlds with haptic feedback
• Introduction to rapid prototyping


Everyday Time Schedule

Type Time Room
Lecture 8 – 10 a.m. HG G1
Assisted Pre-Lab 10 – 12 a.m. ML K 31
Assisted In-Lab 1 – 4 p.m. ML K 31
Assisted Post-Lab 4 – 5 p.m. ML K 31

Lecture materials

Exercises and additional notes

Lecture Materials


Embedded Control Systems


4 credit points

Start: 09.09.13 
End: 20.09.13

Frequency: Yearly Block Course



Jim Freudenberg, Professor and Director of Systems Laboratory at the University of Michigan



Marianne Schmid



Dates of 2013

Sept. 09 – 13, 2013
Sept. 16 – 20, 2013

8 am – 5 pm, daily



HG G1, ML K 31

See timetable for details.



This course is restricted to 33 students due to limited lab infrastructure.
Interested students please send an email including your name and ID number toMarianne Schmid. After your reservation has been confirmed please register online at myStudies, when the course catalogue is posted.



Control Systems I

Informatics I

Schedule and Topics of the Lectures and Labs 2012


Welcome to the block course Embedded Control Systems. This webpage will contain important announcements referring to the course and will also have course-related material for you to download.

Lecture Notes

Lecture 0 Introduction
Lecture 1 What is an Embedded System?
Lecture 2 Interfacing a Microprocessor to the Analog World
Lecture 3 Position and Velocity Measurements
Lecture 4 The World of Sensors
Lecture 5 Actuators
Lecture 6 Motor Control
Lecture 7 Feedback Systems
Lecture 8 Haptic Interfaces and Virtual Environments

Embedded Software Architecture

Wall Chatter

Notes on the Virtual Spring Mass System

Further Analysis of the Virtual Spring Inertia System

Simulink Models for Autocode Generation

Introduction to S-Functions

Controller Area Network (CAN)

Problem Sets

Here you can find additional course material that are not required for the course.

Problem Set 1
Problem Set 2
Problem Set 3
Problem Set 4
Problem Set 5
Problem Set 6
Problem Set 7

MPC Manuals

The microcontroller used for the hardware is the MPC5553. You will regularly use the reference manual provided below.

MPC5553 Reference Manual
MPC5553 Microcontroller Data Sheet
MPC5553 Product Brief

Related Articles & Documents


Reference Information from Kernighan and Ritchie on typedefs, unions, bit fields and conversions
Causes of Software Bugs


The Virtual Surgeon
Doc at a Distance
Fault-Tolerant Drive-by-Wire Systems

Automotive Software and Electronics

Trends in advanced chassis and engine control.
Computer Code an Increasingly Precious E.V. Commodity, a
Harvard Business Review, and Proceedings of the IEEE of Control, Computing and


TouchSense documentation on the virtual knob
Reference on textbook by David E. Simon “An Embedded Software Primer”
Hardware in the Loop (HIL)

Presentation of MathWorks: Model-Based Design of Embedded Applications
Code Generation of Embedded Systems and control algorithm modeling guidelines using MATLAB, Simulink and Stateflow.

Lab Introductions

Lab 1 Review on C
Lab 2 Quadrature Decoding using the eTPU
Lab 3 Queued AD Conversion (eQADC). Notes on the Software Oscilloscope for Lab 3
Lab 4 Pulse Width Modulation (PWM) and Introduction to Simple Virtual Worlds
Lab 5 Interrupts, Timing, and Frequency Analysis of PWM Signals
Lab 6 Virtual Worlds with Haptic Feedback
Lab 7 Automatic Code Generation
Lab 8 Controller Area Network


Lecture notes, lab instructions, supplemental material

Overview Haptic Device

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