Enhancing linear system theory curriculum with an inverted pendulum robot

Abstract

The demands on both delivery methodology and content of control curriculum continue to evolve as more applications in our world incorporate control theory and the need for continuing education increases. Not only has the content evolved, but the application of social-behavioral science research has resulted in cooperative and active learning practices by faculty. In response to these shifts in education, an open-source inverted pendulum robot was used in a linear systems theory (LST) class taught as part of a professional master's program (PMP). The robot had to have a low cost, and enough capability to enable the students to explore and test the ideas presented in lecture and to engage in collaborative learning experiences. This paper discusses the robot, describes the key control theory experiments, and reviews the lessons learned from this experience.