Discrete time systems: representation of discrete time signals, digital filters, simple difference equations and discrete time responses, computer representation of digital systems using object oriented programming, data abstraction. Hardware requirements for real time applications: systems model of the computer, process-related interfaces (digital, analog, clocks), scaling, data transfer (polling, interrupts). Software development: real-time specification standards, state machines. Simple real time kernels: state machine multi-tasking, co-routines, interrupts, foreground/background systems. Systems theory and controller design: differential equations, transfer functions, state-space, PID control, numerical methods.