Lee E.A., Seshia S.A. Introduction to Embedded Systems - A Cyber-Physical Systems Approach

Second Edition. — MIT Press, 2017. — 564 p. — ISBN: 978-0-262-53381-2.The most visible use of computers and software is processing information for human consumption.
The vast majority of computers in use, however, are much less visible.
They run the engine, brakes, seatbelts, airbag, and audio system in your car.
They digitally encode your voice and construct a radio signal to send it from your cell phone to a base station.
They command robots on a factory floor, power generation in a power plant, processes in a chemical plant, and traffic lights in a city.
These less visible computers are called embedded systems, and the software they run is called embedded software.
The principal challenges in designing and analyzing embedded systems stem from their interaction with physical processes.
This book takes a cyber-physical approach to embedded systems, introducing the engineering concepts underlying embedded systems as a technology and as a subject of study.
The focus is on modeling, design, and analysis of cyber-physical systems, which integrate computation, networking, and physical processes.
The second edition offers two new chapters, several new exercises, and other improvements.
The book can be used as a textbook at the advanced undergraduate or introductory graduate level and as a professional reference for practicing engineers and computer scientists.
Readers should have some familiarity with machine structures, computer programming, basic discrete mathematics and algorithms, and signals and systems.Applications
Motivating Example
The Design ProcessModeling Dynamic Behaviors
Continuous Dynamics
Newtonian Mechanics
Actor Models
Properties of Systems
Feedback ControlExercises
Discrete Dynamics
Discrete Systems
The Notion of State
Finite-State Machines
Extended State Machines
Nondeterminism
Behaviors and TracesExercises
Hybrid Systems
Modal Models
Classes of Hybrid SystemsExercises
Composition of State Machines
Concurrent Composition
Hierarchical State MachinesExercises
Concurrent Models of Computation
Structure of Models
Synchronous-Reactive Models
Dataflow Models of Computation
Timed Models of ComputationExercisesDesign of Embedded Systems
Sensors and Actuators
Models of Sensors and Actuators
Common Sensors
ActuatorsExercises
Embedded Processors
Types of Processors
ParallelismExercises
Memory Architectures
Memory Technologies
Memory Hierarchy
Memory ModelsExercises
Input and Output
I/O Hardware
Sequential Software in a Concurrent WorldExercises
Multitasking
Imperative Programs
Threads
Processes and Message PassingExercises
Scheduling
Basics of Scheduling
Rate Monotonic Scheduling
Earliest Deadline First
Scheduling and Mutual Exclusion
Multiprocessor SchedulingExercisesAnalysis and Verification
Invariants and Temporal Logic
Invariants
Linear Temporal LogicExercises
Equivalence and Refinement
Models as Specifications
Type Equivalence and Refinement
Language Equivalence and Containment
Simulation
BisimulationExercises
Reachability Analysis and Model Checking
Open and Closed Systems
Reachability Analysis
Abstraction in Model Checking
Model Checking Liveness PropertiesExercises
Quantitative Analysis
Problems of Interest
Programs as Graphs
Factors Determining Execution Time
Basics of Execution Time Analysis
Other Quantitative Analysis ProblemsExercises
Security and Privacy
Cryptographic Primitives
Protocol and Network Security
Software Security
Information Flow
Advanced TopicsExercisesAppendices
Sets and Functions
Sets
Relations and Functions
Sequences
Exercises
Complexity and Computability
Effectiveness and Complexity of Algorithms
Problems, Algorithms, and Programs
Turing Machines and Undecidability
Intractability: P and NPExercisesNotation Index