Low-Cost Take-Home Experiment on Classical Control Using Matlab/Simulink Real-Time Windows Target

This paper presents a low-cost hands-on experiment for a classical undergraduate controls course offered on behalf of non-electrical engineering majors.The setup consists of a small DC electrical motor attached to one of the ends of a light rod.The motor drives a 2-in propeller and allows the rod to swing.Angular position is measured by a potentiometer attached to the pivot point.A custom designed circuit board produces the controlled voltage input to the motor.The board communicates with the PC through its serial port using RS-232 protocol.A simple Matlab/Simulink module has been created to read the angle and send command signal to the motor.The module is based on Real-time Windows Target software allowing a sampling rate of 200Hz.Students are able to construct classical PID and phase lead-lag controllers, as well as modern controllers including state-space controller design and feedback linearization.The project was tested in a classical control systems design class offered to senior-level mechanical engineering students.Student feedback and survey data on the effectiveness of the module is also presented.