The vast majority of control systems built today are embedded; that is, they rely on built-in, special-purpose digital computers to close their feedback loops. Embedded systems are common in aircraft, factories, chemical processing plants, and even in cars-a single high-end automobile may contain over eighty different computers. In such settings, controllers often use shared networks to communicate with each other and with large numbers of sensors and actuators scattered throughout the system. The design of embedded controllers and of the intricate, automated communication networks that support them raises many new questions-practical, as well as theoretical-about network protocols, compatibility of operating systems, and ways to maximize the effectiveness of the embedded hardware.

The vast majority of control systems built today are embedded; that is, they rely on built-in, special-purpose digital computers to close their feedback loops. Embedded systems are common in aircraft, factories, chemical processing plants, and even in cars-a single high-end automobile may contain over eighty different computers. The design of embedded controllers and of the intricate, automated communication networks that support them raises many new questions-practical, as well as theoretical-about network protocols, compatibility of operating systems, and ways to maximize the effectiveness of the embedded hardware.

Fundamentals.- Fundamentals of Dynamical Systems.- Control of Single-Input Single-Output Systems.- Basics of Sampling and Quantization.- Discrete-Event Systems.- to Hybrid Systems.- Finite Automata.- Basics of Computer Architecture.- Real-Time Scheduling for Embedded Systems.- Network Fundamentals.- Hardware.- Basics of Data Acquisition and Control.- Programmable Logic Controllers.- Digital Signal Processors.- Microcontrollers.- SOPCs: Systems on Programmable Chips.- Software.- Fundamentals of RTOS-Based Digital Controller Implementation.- Implementation-Aware Embedded Control Systems.- From Control Loops to Real-Time Programs.- Embedded Real-Time Control via MATLAB, Simulink, and xPC Target.- Lab VIEW Real-Time for Networked/Embedded Control.- Control Loops in RTLinux.- Theory.- An Introduction to Hybrid Automata.- An Overview of Hybrid Systems Control.- Temporal Logic Model Checking.- Switched Systems.- Feedback Control with Communication Constraints.- Networked Control Systems: A Model-Based Approach.- Control Issues in Systems with Loop Delays.- Networking.- Network Protocols for Networked Control Systems.- Control Using Feedback over Wireless Ethernet and Bluetooth.- Bluetooth in Control.- Embedded Sensor Networks.- Applications.- Vehicle Applications of Controller Area Network.- Control of Autonomous Mobile Robots.- Wireless Control with Bluetooth.- The Cornell RoboCup Robot Soccer Team: 1999-2003.