Name of the Micro-Specialization: Embedded Control and Software:

Modeling and Design

1. School/Center: Advanced Technology Development Centre
2. Brief Description: Our world is increasingly becoming automated, through the ubiquitous
presence and coordinated involvement of embedded systems, controls and software. From
medical devices to transportation (ships, railways, cars, aerospace, etc) or security systems
to process industries, which affect our daily lives, rapid automation of these systems is
taking place thanks to the incorporation and advancement of embedded systems, controls
and software. For example, in an automated chemical process plant, the right amount of flow
rates at the right time (achieved through control commands) are essential for its operation
and are realized based on the calculations of required mixtures of various chemicals,

senses the actual condition through sensors. Hence, it is evident that the requirements of the
global industry are clearly shifting towards a large demand in advanced and skilled
workforce who have the combined expertise in these areas, resulting in a more complex and
multidisciplinary field.
The present curriculum of relevant individual [Link] courses such as CSE, EE, ECE,
QEDM, ME, CH, AE, CE, AG though might contain related subjects but they do not teach
all three in a combined and coordinated manner as per the present industrial requirements.

control logic is mostly incorporated in an embedded systems which further operates through
interfaces with sensors and actuators, which have associated design and development
challenges due to this integration and require detailed simultaneous understanding of multi-
disciplinary concepts, generally not covered in the existing courses.
Hence by studying in details about the integrated embedded systems with controls and
software one will be equipped to tackle the real industrial world by solving the software
challenges along with the embedded design to execute the control algorithm, prevalent in the
practical systems such as automated medical devices and automotive systems. Moreover, in
practical systems the complexities are such that several embedded systems of similar or
different types might interact with each other ([Link] Aerospace, Automotive) in a well
coordinated manner to perform several tasks, requiring the study of their architectural
designs, communications and synchronizations among them towards meeting the objective.
This kind of multi-disciplinary course having the integrated essential aspects of all the three
fields of embedded systems, software and controls is expected to create competencies for the
new generations of BTech students particularly in the streams of EE, ECE, CSE, QEDM,
ME, CH, AE, CE, AG who can actively contribute to the design, development and testing of
automated embedded products in various disciplines of the industry.
3. Number of Subjects needed to earn the Micro-Specialization: 3 Subjects + 1 Project or 4
Subjects
4. Credits needed to earn the Micro-Specialization: 13-14 credits
5. Structure: Component I: One Subject (3-0-0)
Component II: Two Subjects (4-0-0/3-1-0/ 3-0-0)
Component III: Project (0-0-6) or One subject taken from Component II

A. COMPONENT I: MANDATORY REQUIREMENT: (3 credit FOUNDATION COURSE)

TABLE-I

Sub no. Sub Name LTP Credits Offering Pre-

Semester Requisite
(if any)
AT4XXXX Fundamentals of Embedded Control 3-0-0 3 Autumn None
and Software (TBP)

B. COMPONENT- II: ANY TWO SUBJECTS (3/4 credits each) FROM TABLE-II
TABLE-II

Sub no. Sub Name LTP Credits Offering Pre-

Semester Requisite
(if any)
AT60001 Embedded Control System 4-0-0 Autumn

AT60002 Principles of Automotive Dynamics & 3-0-0 3 Spring

Control

AT60003 Embedded Software Design and 4-0-0 Autumn

Validation

AT60004 Security Aware IoT and CPS Design 3-0-0 Spring

AT60006 Embedded Sensing, Actuation and 4-0-0 Spring

Interfacing System

AT600XX Embedded Communication Networks 3-0-0 Spring

(P)

CS61063 Computational Foundations of Cyber 3-1-0 Autumn

Physical Systems
 C. COMPONENT- III: PROJECT (4 credits) OR ANY ONE (4 credits) SUBJECT FROM
TABLE-II
TABLE-III

Sub no. Sub Name LTP Credits Offering Pre-

Semester Requisite
(if any)
ATXXXXX Project 0-0-6 4 Both semesters

Detailed syllabus of the subjects:

1. Fundamentals of Embedded Control and Software (Core)

Objective: The purpose of this course is to provide an overview of the fundamental knowledge required
to understand and explore the design and development of an embedded control system considering its
hardware, software and control aspects. Using this knowledge the students are expected to gain interest
for expanding their depth by taking up more courses relevant to embedded control systems and software
which will further enhance their skills and expertise towards development of more elaborate and
customized embedded control systems in different applications of interest.

Syllabus: The overall syllabus is of 33 lectures

Module Description Lecture
Hours

1 Introduction to Embedded Systems and Embedded Control Systems [2]

a. What is an embedded system and real examples
b. Characteristics/ architecture of an Embedded system
c. Block Diagram(s), components and operations of embedded Control
System
d. Real time requirements and its issues
2 Basics of Microcontroller [5]
a. Architecture
b. Functionalities
c. Programming (Timers, I/Os, interrupts, etc) and examples
d. Serial and parallel interfaces for communications
3 Real world systems and their state space plant model & MATLAB modeling [5]
a. Controller Basics and implementation, PID and its applications & issues
b. Mass spring damper
c. Two tank interacting system (plant and controller)
d. Automotive Systems (Plant and controller)
4 Modeling to Implementation [4]
a. Introduction to different modeling techniques
b. MATLAB modeling to software implementation
 5 Analysis of Embedded Software [4]
a. Embedded Software Testing
b. Optimization techniques of software
c. Performance Analysis: WCET calculation
6 Embedded System Task Scheduling [3]
a. General scheduling and embedded requirements
b. Basic features of RTOS
7 Basics of Embedded Communication [3]
a. ECU communication protocols
b. Case Study: CAN overview
8 Sensors, actuators, their interfacing in Embedded Control Systems and numerical [5]
considerations
a. Types of sensors and as per application, e.g., LVDT, Hall effect, pressure,
temperature
b. Sensing mechanism
c. Signal conditioning (amplifiers, filters, etc), ADC/DAC, sampling and
issues
d. Fixed point, floating point, Quantization errors, etc
e. Actuators: Principles, motors, solenoids etc
f. Interfacing of sensors and actuators with embedded system
9 Embedded Motor Control System [2]
a. Dynamic Equations
b. Motor transfer function
c. PWM based operation
d. Inverters and their control
e. Closed loop motor control using microcontroller

Text Books/ References:

1. Peter Marwedel, Embedded System Design , Springer, 3rd ed. 2018.
2. Wayne Wolf, Computers as Components: Principles of Embedded Computing System Design ,
Morgan Kaufmann Series, 2008
3.
4.
, Wiley 2006.
5. Ali Mazid AVR Microcontroller and Embedded Systems entice Hall.
6. , Pearson, 2015.
7. Charles L. Phillips and H. Troy Nagle, Digital Control System Ana
edition): Prentice Hall.
8. Lee, Leung and Son, Handbook of Real-Time and Embedded Systems
9. Edward A. Lee and Sanjit Arunkumar Seshia, Introduction to Embedded Systems: A Cyber-
Physical Systems Approach, MIT Press.
Course Teachers:
1. Somnath Sengupta
2. Ayantika Chatterjee
3. Banibrata Mukherjee
4. Arnab Sarkar (To join, shortly)
Overlap:
Overlap % with Embedded Control System (AT60001): 40 %
Overlap % with Embedded Software Design and Validation (AT60003): 40 %

This proposed course will be primarily offered as a foundation course for Micro specialization. This
course has a good amount of overlap with two core courses of ATDC namely, (1) Embedded Control
System (AT60001) and (2) Embedded Software Design and Validation (AT60003). The reasons for
introducing this course in spite of good overlap with the existing core courses are as follows: As per the
structure of micro specialization, only one core/foundation course is allowed. However, the objectives and
requirements of proposed micro specialization cannot be fulfilled by choosing any one of the core
existing courses because the spectrum of this microspecialization essentially should cover both embedded
control aspects as well as embedded programming and software design aspects. Therefore, it necessitates
the overviews and partial combination of both the core courses. However, during formulating the syllabus
it has been ensured that the difficulty level is as per the targeted UG and requirements
for earning the microspecialization degree.

Detailed Syllabus of the elective subjects:

AT60001: Embedded Control System (L-T-P: -4-0-0, CRD-4)

1: Introduction: Mathematical modeling of physical systems: Review of differential equation, transfer

function and state variable representations; Examples of modeling different types of systems.

2: Control System Design: Closed loop control: Analysis of simple control loops; Stability; Time and
Frequency domain specifications of control system performance. Simple approaches for controller design;
Discretization. Practical realization of a control loop

3: Controller Implementation: Architecture of embedded controllers and description of various

components; Design and implementation of control loops : Choice of embedded computing platforms, i/o
and communication

4: Real-time Issues: Real-time issues in controller implementation: Scheduling algorithms and their
performance analysis; Constraints of the operating systems; Real-time operating systems; Validation
techniques for control systems. Performance assessment of control algorithms on the target
implementation architecture for the given application.

5: Applications: Case studies from automotive, aerospace, process control and other application domains.

AT60002: Principles of Automotive Dynamics & Control (L-T-P: -3-0-0, CRD-3)

1: Introduction to Automotive Systems

Overall Architecture, operation, Overall process, Driving Cycles, Challenges.
Brief overview of Powertrain Architecture, Embedded Systems Architecture, Communication Networks
(CAN, LIN, Flexray, etc)
2: Automotive Components and Their Models, Powertrain Components, Transmission, Drives, Battery,
Auxiliary and their effects in dynamics
3: Engine Basics and its control
4: Types of IC engines, Construction, Operation, Dynamics, Control, OBD-II Engine controls - Fuel
ed loop, EGR, Throttle, Knock.
5: Vehicle Dynamics Kinematic Models, Motion Analysis, electronic Stability Control, Control of Semi
active and active suspension
6: Revision of Control Basics Closed Loop system, transfer functions, poles and zeros, bode plots,
stability, Common control schemes like PID control and its application to vehicle dynamics
7: Control loops in various ECUs (Overview)
Engine Management System, Transmission Control Unit, Electric Power Assist System, Supervisory
Control Unit, Battery Management Systems
8: Automotive Sensors and Actuators
Sensors and actuators for significant components, their characteristics and basic modeling
9: Electric and Hybrid Vehicle System
Basics of EV and HEV system, types, modeling and energy management based supervisory control.
10: Introduction to Autonomous Vehicles
Control requirements of AV, AV sensors and actuators, Case study: L1-L2 level of AV.
11:Automotive standards :Autosar, Functional Safety Standard (ISO 26262)

AT60003: Embedded Software Design and Validation (L-T-P: -4-0-0, CRD-4)

AT60004: Security Aware CPS and IoT Design (L-T-P: -3-0-0 CRD-3)

1. Security Issues of Cyber Physical System: Types of attack models in CPS, Jamming attack in CPS and
Anti-jamming, Case Study:Jamming Attacks on Mobile CPS in Target Tracking Applications.

2. FSM based and Graph based Security Aware CPS design

3. Security aware CPS design methodologies: Security mechanisms for CAN, Security aware TDMA
Based Real Time System, Security mechanisms for V2V Communication

4. ICS/SCADA System and Embedded Systems Security for CPS

5. Security Requirements for Internet Of Things:Introduction to IoT, Relationship Between CPS and
IoT, Threats to Internet Of Things(IOT) Architectures.
6. IoT threats specific to Access Control and Privacy: Insufficient Authentication/Authorization, Threats
to Access Control, Privacy, and Availability.

7. Authentication/Authorization for Smart Devices:Transport Encryption, Secure Cloud/Web Interface,

Secure Software/Firmware, Physi-cal Layer Security.

8. IOT Node Authentication: Public-Key-Based Authentication, Identify-Based Authentication,

Lightweight Cryptography.

9. Security in Enabling Technologies: Security in Identification and Tracking Technologies, Security in

Integration of WirelessSensor Network and RFID

10. Security Challenges for cloud assisted IoT applications: Secure data sharing challenges, Encrypted
Computation. Case Studies: Security forIOT in Retail and Health-care.

AT60006: Embedded Sensing, Actuation and Interfacing System (L-T-P: -4-0-0, CRD-4)

1. Introduction: Overview of Embedded System, Architecture; Importance of advanced sensors,

actuators and interfacing circuits: Applications.

2. Embedded Sensors and Actuators: Various types of sensors, actuators, their descriptions and
applications: Thermal, Electrical, Magnetic, Mechanical, Pneumatic etc.

3. Interfacing of Sensors and actuators to embedded controller: Signal conditioning circuit, loading
effect, Op-Amp based circuit implementation, ADC, DAC, environmental effects, Driver circuits and
elements, Signal Processing: Sampling, Z-transform, Digital Filters.

4. Advanced Techniques for Direct Interfacing of Resistive Sensors to Embedded controller: Embedded
Processor Based Excitation System; Direct interfacing Resistive Sensors and its array to
Microcontrollers

5. Advanced Interfacing Techniques for the Capacitive Sensors to Embedded controller: Microcontroller
Compatible Oscillator Based Active Bridge Circuit for wide range measurement, Auto balancing
bridge for Lossy Capacitive Sensor.

6. Miniatuarized sensors, actuators and interface: Requirement of miniatuarization, Technology used,

Various types of miniaturized sensors and actuators, Working Principle, CMOS compatible
miniatuarization process, System-on-Chip integration, Applications.

7. Energy Harvesting and its applications in embedded network: Energy harvesting techniques:
Vibration: Piezoelectric, Electromagnetic,; Solar, RF; Interfacing circuits; Sensors and Actuators in
Wireless networks, Power sources to embedded system: battery, Supercapacitor, Power Management
circuits-Buck/boost/switched capacitor converter, Applications

8. Security aspects of cyber physical sensor system: System concepts and applications, Various attacks
on sensor systems and their remedies.

9. Case studies and Applications: Automotives applications: Smart remote pressure and temperature
sensor in vehicle tires, Integrated Hall Sensors, Accelerometers, Gyroscopes; Biomedical:
 Wearable/implantable Integrated Biomedical Sensors; Smart Home for Elder-People based
on Wireless Sensors; Tutorials and assignments on design of signal conditioning circuit,
interfacing circuits, and complete embedded system for various application.

AT600XX : Embedded Communication Networks (L-T-P: -3-0-0, CRD-3)

1. Introduction: Key Concepts, Event vs. State Based Communication, Finding the Best Real-Time
Protocol

2. Communication Protocols for Embedded Systems: Inter System Protocol and Intra System Protocol; -
Inter system protocol: USB Communication protocols, UART Com-munication protocols, USART
Communication protocols; -Intra System Communication Protocols: I2C Protocol, SPI Protocol, CAN
Protocol, CAN FD; Flexray, JTAG and Boundary Scan.
3. Advanced Topics: Industrial control network: Modbus, Smart Grid Communication Protocol
Standards, Time Sensitive Networking, Remote Upgrade of Firmware, Automotive Ethernet and
Time triggerred ethernet, Communication standards for IIoT.
4. Dependable I/O Systems: Redundancy, Dependable Individual Sensors and Actuators, Fieldbus,
Intelligent I/O
5. k Codes, CRC
Codes, Convolutional Codes, Data Error Detection and Recovery, Control Flow Error Detection,
Detecting and correcting I/O and memory errors.

6. Uncertainty in I/O: Robust Control Theory, Effects of Uncertainty

7. Basics of Fault Tolerance Computing: Faults and their manifestation, System Fault Response stages,
Reliability and Availability Techniques in Embedded System, Fault Injection , Basics of hardware
fault tolerance and software fault tolerance.

8. Fault Tolerance Analysis of Safety-Critical Embedded Systems : Fault tolerant net-work, Software
Defect Masquerade Faults in Distributed Embedded Systems, Critical Message Integrity Over a
Shared Network, Fault Tolerance Tradeoffs in Moving from Decentralized to Centralized Embedded
Systems.

CS61063: Computational Foundations of Cyber Physical Systems (L-T-P: -3-1-0, CRD-4)

1. What are Cyber-Physical Systems?

i. Cyber-Physical Systems (CPS) in the real world ii. What are the special design considerations for CPS?
iii. Basic principles of design and validation of CPS

2. Principles of Automated Control Design (basic control theory)

i. ODEs, Lipschitz continuity: existence of solutions, equilibria, Stability criteria ii. Eigenvalues, pole
placement, introduction to PID control iii. Stability Analysis: Lyapunov Functions (CLFs, MLFs),
stability under slow switching iv. Tutorial: Control Design using Simulink

3. Engineering Challenges in Implementing a CPS

i. From continuous control laws to software based control systems [1 hour] ii. Architectural Platforms for
implementing CPS [6 hours] A. ECU Architectures and Real Time Operating Systems B. Network (e.g.
WirelessHart) and Bus Protocols (e.g. Flexray) C. Sense and Actuation (fault tolerant algorithms for sense
and actuation) iii. Principles of CPS Implementation [6 hours] A. From features to software components
B. Mapping software components to ECUs: Real Time Scheduling strategies 1 C. Performance Analysis -
effect of scheduling, bus latency, sense and actuation faults on control performance D. Methods for
Robust CPS implementation iv. Tutorial: Control, Bus and Network Scheduling using Truetime

4. Safety and Security Assurance of Cyber-Physical Systems

i. Advanced Automata based modeling and analysis: [4] A. Basic introduction and examples B. Timed
and Hybrid Automata C. Definition of trajectories, zenoness D. Formal Analysis: Flowpipe construction,
reachability analysis ii. Analysis of CPS Software: [4] A. Weakest Pre-conditions, B. Bounded Model
checking iii. Tutorials [4] A. Control Verification using Matlab Toolbox S-Taliro B. Hybris Automata
Modeling : Flowpipe construction using Flowstar, SpaceX and Phaver tools C. CPS SW Verification:
Frama-C, CBMC iv. Secure Deployment of CPS [6] A. Attack models B. Secure Task mapping and
Partitioning C. State estimation for attack detection

5. CPS Case studies and Tutorials

i. Automotive and Avionics : SW controllers for ABS, ACC, Lane Departure Warning, Suspension
Control etc, Flight (pitch, yaw, roll) Control Systems ii. Heathcare : Artificial Pancreas iii. Mass
Transportation : European Train Control Systems (ETCS)

Component III. Project

For this project, one guide should be from the parent department of the student and other can be
from ATDC.

Possible area project/topic:

1) Embedded control for electrical and electronic devices

2) Developing plant models and controller logic for automotive systems
3) Evaluating performance of a developed algorithm in an actual real time environment with
various constraints, resource management and performance metrics
4) Developing xEV diagnostic algorithms for onboard application
5) Embedded Sensing System
6) Energy harvesting applications
7) Embedded applications in biomedical
8) Secure CPS framework design
9) Secure analytics on IoT sensor data
10) Encrypted computation on IoT sensor data