Using simulink, matlab, and LEGO mindstorms to teach a project-based control systems design course

Abstract

Teaching control systems design using theoretical design examples outlined in most textbooks has been found to be quite challenging for many engineering students. One major observation is the tendency for students to resort to a trial and error approach in the design process without realization of the adverse effects that such an approach can have in the real world. Computer simulations of analytical solutions do provide some insight but here limitations arise in interpreting the results correctly or in the visualization of the real system's dynamics. This paper gives an overview of an approach that (i) allows the student to create and analyze the mathematical model of a real system, (ii) build a practical emulation of the real system using LEGO Mindstorms, (iii) observe the behavior of the system in real-time, and (iv) apply feedback principles using Matlab and Simulink to design the system to meet desired specifications. The first part of the course is an introduction to control theory using the classical approach. In the second part, students work in teams of three or four to design, build, and program a LEGO Mindstorms system of their choice that must perform stipulated tasks. The original system must not have any type of controller and must show that the desired requirements are not met. This provides an opportunity for the students to see how design constraints are established. Based on my observations so far, as well as on student feedback, students become very highly motivated by the design component of the course, and many end up with a thorough grasp of the fundamental principles of control systems design. The open-ended approach allows for creativity and flexibility in the design process, with both the instructor and students benefitting from an array of designs. A few examples of actual student projects will be presented.