Engaging students in control systems using a balancing robot in a mechatronics course

This paper describes hardware and activities used in a Mechatronics course to engage students in control systems. The course does not assume control systems prerequisites, but engages students in the use, coding, and tuning of multiple control loops in the completion of projects. The hardware used, a two-wheel robot kit purchased by the students, is described and models are developed for the two modes used in the course: line tracking mode and balancing mode. The models are provided to the students, but not used in control system design. Rather, the students are asked to complete tuning procedures. In addition to tuning, the students are required to write code implementing PID control and path generation that feeds commands to the control loops. Other course activities include soldering, construction, embedded systems programming, and debugging. The course climaxes with a light-hearted public competition and display at the University open house.