Course syllabus


The overall aim is to introduce the principles of design, specification, modelling, analysis and implementation of embedded control systems. Embedded control systems consist of distributed computing devices that interact with each other and the physical world via sensors and actuators. Such systems are everywhere from vehicles to medical devices, to factories and smart houses. These systems are increasingly complex and structured approaches for developing these systems are needed. The systems are often safety-critical and thus it is highly important to establish that the system works correctly already in the design phases. A model-based approach is increasingly adopted by industry to catch errors as early as possible and consequently ensure higher reliability. In this course, we introduce a structured approach to design, specify, model and analyse based on mathematically well-defined models and algorithms. The course also covers realisation of control functions by using microprocessors and real-time operating systems.


Strict prerequisites: Modelling and Simulation (ESS101), and Linear Control System Design (SSY285). Recommended prerequisite: Discrete Event Systems (SSY165). If you are not a registered student at the master program in Systems, control, and mechatronics you have to show transcripts that you fulfil the prerequisites in order to join a project group.   


Prof. Knut Åkesson,, 031-7723717. 


Ze Zhang,
Zahra Ramezani,
Carl-Johan Heiker,

Course Literature

  • Principles of Cyber-Physical Systems, Rajeev Alur. MIT Press, 2015. Available as electronic version through Chalmers library.
  • Robotics, Vision and Control, Peter Corke. Springer 2011, Available as electronic version through Chalmers library.
  • Essential C, Nick Parlante, Technical Report.


An important part of the course is a project about the model-based development of a quadrotor. The project is solved in groups of four students where the group members need to have different backgrounds. More details about how to form the projects groups and the schedule for group meetings are available at the project group page .


A schedule with all the course activities is presented here. Note that the weekly meetings with the project groups are compulsory as well as the final project presentations.


Zoom will be used for meetings between students and teachers. Note, that students within a project group can also set up meetings in Zoom to interact with each other.


The grading of the project, the essay, the individual hand-ins and a final oral examination. At least grade pass is required on all individual parts in order to pass the course.


The final grade is decided based on the total number of points earned in the courses (i.e. 100 points).

The total points (TP) are calculated as

TP = (2*GPP + 3* IOP + 2*IAP + 1*GEP)/8

Fail: (GPP < 50) or (IOP < 50) or (IAP < 50) or (GEP < 50),
3: 50 <= TP < 75,
4: 75 <= TP < 90,
5: TP >= 90.

You can earn points as follows:

Project: You can earn 0-100 points on the project (GPP). A passed project requires at least 50 GPP .

Individual Assignments: You get 0-100 points (IAP). A passed individual assignment requires at least 50 IAP.

Ethics Essay: 0-100 points (GEP). A passing grade requires at least 50 GEP.

Oral Examination: 50-100 points (IOP).  Without signing up for the oral examination 50 IOP points will be awarded.

Apart from the final grade for the complete course, grades are reported for the individual parts of the course, as follows.

Project (Quadrotor: 4hp): If all parts of the course are passed the grade on this project is the same as the final grade for the full course. If you have passed this project part and not yet passed the other project or the individual assignment the reported grade will be 3.

Assignment (Individual assignments, 2hp): Reported as pass (G) or fail (U).

Project (Ethics, 1.5hp): Fail (U) < 50 GEP, 3: 50 <= GEP < 75, 4: 75 >= GEP < 90, 5: GEP >= 90.

Although you do the project work in groups you are examined individually. Every project member should be involved in all parts of the project and essay. Failing to actively contributing to all parts of the course might result in a failed grade, or that an individual with less activity might have their grade lowered.

Individual Responsibilities

Every member of a project group should take a full part in every aspect of the project and be ready to answer any question. It is every group members responsibility to make sure that every group member fully participates in the project. In case a group has a member that does not contribute and follow the project the group members should contact the teacher responsible for the group. Freeriders are not accepted and risk failing the project. Individual group evaluation at the end of the project. Members of the same group might get a different number of project points.

Academic work relies on respect for other people's knowledge and ideas. By representing someone else's work or ideas as your own you commit a serious offence and violate Chalmers rules. By violating the conditions stipulated in the document "Rules of Discipline" it is possible to be suspended or expelled from Chalmers. More information can be found in the documents below.

'Every group has a project meeting every week. Attendance is mandatory, but every student is allowed to not attend one project meeting without contacting the examiner (in order to handle for example that people get sick). All students should be present in the final project presentation. In case you get sick you have to contact the examiner. 

Student representatives

Alex Erixon   
Hariharan Gopinath     
Christoffer Hjalmarsson     
Ying Li     
Marthrage Supun Nadeeshka Perera     

Course summary:

Date Details Due