A real-time systems course focused on control systems

A real-time systems course focused on control system implementation is described. The course consists of three parts: real-time programming, computer implementation of control systems, and industrial control systems. The course contains a two week project where the students either implement a computer control system for some laboratory process, or do a project focused on real-time kernel implementation. In order to show the students all the levels in a real-time kernel, we use our own real-time kernel in the projects. The paper discusses the course contents, describes the real-time kernel used, and the organization of the projects.