Introduction to Embedded and Cyber-Physical Systems¶

Course Overview¶

• Institution: University of California, Berkeley
• Course code: EECS 149
• Track: Real-Time and Cyber-Physical Systems
• Tier: A
• Role: Mainline
• Level: Not standardized by provider (use prerequisites)
• Last reviewed: 2026-07-28

University of California, Berkeley's Introduction to Embedded and Cyber-Physical Systems connects embedded and cyber-physical systems through a strong open textbook, while its recordings, labs, hardware, and toolchains are dated.

Why choose this course

Mainline course. A reliable option that can serve as a main course or strong alternative.

Before you start

• Recommended foundation: Embedded Systems
• Recommended foundation: Signals and Systems

Verifiable learning outcomes

• Explain the core models in Real-Time and Cyber-Physical Systems, including their assumptions and limits
• Solve representative derivations and problems, checking units, limiting cases, or numerical results
• Complete a reproducible experiment or implementation with raw data, parameters, versions, and verification

Workload and pacing

12 weeks at 8 hours/week. This maintainer planning estimate is derived from course role and the density of public practice and labs; it is not a provider workload promise. Pilot two weeks while logging instruction, practice, lab, and review time, then adjust the remaining plan when actual effort differs by more than 25%.

Safety level

Low energy. Keep work isolated, current-limited, and low energy; verify ratings, grounding, short-circuit risk, and emergency shutdown before power-up.

Course Resources¶

Software, hardware, and cost

Software

• Maintainer-suggested open-source/free verification path: Zephyr or FreeRTOS source, GCC or LLVM, CMake, GDB, and Renode or QEMU
• The resource inventory lists public code coverage; pin interpreter, dependencies, toolchain, datasets, and PDK versions where applicable

Hardware

• The resource inventory lists lab coverage; prefer borrowing or sharing the following equipment: a course-supported real-time control board, USB debugger, logic analyzer, and low-voltage sensors/actuators. Verify ratings, authorization, and safety conditions only after the provider lab manual explicitly calls for them

Cost note

The suggested software stack is available open source or free; this is not a provider requirement or bill of materials. The actual boards, components, fabrication, and instruments—and their costs—depend on the provider lab manual, region, and local availability; prefer simulation, borrowing, or sharing before purchase.

Public resource coverage

Resources and access

“Listed by official page” means the link was discovered on a successfully fetched official source on the verification date; it does not guarantee that every region or account can open the target directly. Access does not grant redistribution rights. Re-check the provider page, target link, and third-party notices before downloading, adapting, or publishing material.

Practice and Verification¶

Practice loop

Introduction to Embedded and Cyber-Physical Systems · University of California, Berkeley EECS 149: Real-Time Closed-Loop Deadline Stress Test

This is a maintainer-suggested self-study project for Introduction to Embedded and Cyber-Physical Systems · University of California, Berkeley EECS 149, not an official course assignment. Build a discrete-event scheduler and simulated plant for Real-Time and Cyber-Physical Systems, quantifying how jitter, missed deadlines, and sensor loss affect closed-loop safety margin.

Origin: Maintainer-suggested project

Deliverables

• A task set with period, deadline, and WCET assumptions, scheduling policy, and plant model
• An executable scheduler, closed-loop simulation, fault injector, and monitoring assertions
• Raw response-time, jitter, miss, and state trajectories across multiple loads
• A report defining the schedulability boundary, control degradation, and safe degraded state

Verification

• Produce zero deadline misses at nominal load and keep analytic response-time bound within 10% of the simulated worst case
• Cover zero load, near-100% utilization, burst blocking, and clock-drift boundaries
• Cross-check schedulability with a second analysis or exhaustive enumeration over a short hyperperiod
• Increase WCET until the first miss and report miss rate and closed-loop error growth

Reproducibility

• Commit scheduler, plant, fault scenarios, assertions, and analysis sources
• Pin event ordering, random seeds, time units, solver, and dependency versions
• Preserve raw event and state logs and automatically generated timelines and report

Safety boundary: Simulation only — Inject deadlines and faults only into a simulated plant; do not connect unvalidated scheduling or degradation logic to real machinery, vehicles, medical, or power systems.

Risks, gaps, and boundaries

The open textbook is strong, but recorded course captures, laboratories, hardware, and toolchains are dated.

Completion evidence

• Weekly learning log with time, questions, corrected errors, decisions, next steps, and links to that week's reproducible artifacts
• Design-review package with requirements and constraints, trade-offs, editable sources, applicable ERC/DRC/timing/stability checks, exports, and a reproduction test
• Code repository with pinned dependencies and toolchain, a minimal run command, tests or waveform/benchmark checks, expected output, and license notes
• Experiment package with schematic/setup, calibration record, raw data, uncertainty, safety checks, failed runs, and steps to rebuild plots from raw data