TL;DR
EduBal is an open-source, low-cost balancing robot platform designed for educational purposes, enabling students to learn control theory through hands-on experiments with real-time tuning and analysis.
Contribution
The paper introduces EduBal, a novel open-source hardware and software platform that facilitates control education with practical experiments and live tuning capabilities.
Findings
High student engagement and motivation observed in control classes.
Successful implementation of control algorithms on the robot using Simulink.
Wide adoption with 28 units built and used in university courses.
Abstract
In this work we present EduBal, an educational open-source hardware and software platform for a balancing robot. The robot is designed to be low-cost, safe and easy to use by students for control education. Along with the robot we present example tasks from system identification as well as SISO and MIMO control. Using Simulink, students can quickly implement their control algorithms on the robot. Individual control parameters can be tuned online while analyzing the resulting behavior in live signal plots. At RWTH Aachen University and ETH Zurich 28 units have so far been built and used in control classes. In first laboratory experiences students show high intrinsic motivation and creativity to apply the studied concepts of control theory to the real system.
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