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Intuition and importance of feedback control through laboratory experiences

Aldo Jonathan Munoz-Vazquez

TL;DR

The paper presents a laboratory-based approach to building intuition for feedback control in engineering education by combining a nonlinear pendulum model with hardware-in-the-loop via Arduino and MATLAB/Simulink. It systematically compares Bang-Bang, P, PD, PID, and FPID controllers under friction and disturbances, using open-loop experiments to illustrate instability at $\theta = \pi$ and closed-loop tracking of a user reference. Visualization through a 3D animated model and scope signals, along with student surveys, demonstrates how simulation, hardware, and intuitive explanations enhance understanding of control principles and their real-world limitations. The study contributes an actionable educational design that integrates theory, numerical methods, hardware interfacing, and advanced control concepts to motivate and prepare students for more rigorous control theory coursework.

Abstract

This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session, considering Matlab/Simulink simulations of the non-linear pendulum model. First, students attempt to make the pendulum stop at unstable equilibrium by controlling the torque input with a joystick connected to the computer via an Arduino board. Different friction scenarios are considered for students to explore the dissipation in the system response. Then, as a second task, the Arduino is used to introduce the position reference, while students implement different control strategies, such as Bang-Bang, PID (proportional-integral-derivative) and FPID (fractional PID) controllers, analyzing the system response by inspecting the signals in a scope and in a 3D animated model. The dynamic model results as an application of the laws of rotational motion, and the control methods are explained from an intuitive point of view, focusing on the meaning and motivation of the control actions, with the intention to develop intuition about PID and FPID control methods.

Intuition and importance of feedback control through laboratory experiences

TL;DR

The paper presents a laboratory-based approach to building intuition for feedback control in engineering education by combining a nonlinear pendulum model with hardware-in-the-loop via Arduino and MATLAB/Simulink. It systematically compares Bang-Bang, P, PD, PID, and FPID controllers under friction and disturbances, using open-loop experiments to illustrate instability at and closed-loop tracking of a user reference. Visualization through a 3D animated model and scope signals, along with student surveys, demonstrates how simulation, hardware, and intuitive explanations enhance understanding of control principles and their real-world limitations. The study contributes an actionable educational design that integrates theory, numerical methods, hardware interfacing, and advanced control concepts to motivate and prepare students for more rigorous control theory coursework.

Abstract

This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session, considering Matlab/Simulink simulations of the non-linear pendulum model. First, students attempt to make the pendulum stop at unstable equilibrium by controlling the torque input with a joystick connected to the computer via an Arduino board. Different friction scenarios are considered for students to explore the dissipation in the system response. Then, as a second task, the Arduino is used to introduce the position reference, while students implement different control strategies, such as Bang-Bang, PID (proportional-integral-derivative) and FPID (fractional PID) controllers, analyzing the system response by inspecting the signals in a scope and in a 3D animated model. The dynamic model results as an application of the laws of rotational motion, and the control methods are explained from an intuitive point of view, focusing on the meaning and motivation of the control actions, with the intention to develop intuition about PID and FPID control methods.
Paper Structure (12 sections, 22 equations, 4 figures)

This paper contains 12 sections, 22 equations, 4 figures.

Table of Contents

  1. Introduction
  2. Methodology
  3. Educational Goals
  4. Modeling and Open-loop Control
  5. Closed-loop Control
  6. Bang-Bang Control
  7. Proportional Control
  8. PD Control
  9. PID Control
  10. FPID Control
  11. Students Evaluations
  12. Discussions and Future Work

Figures (4)

  • Figure 1: Simple pendulum system.
  • Figure 2: Open-loop control.
  • Figure 3: Torque signal in the required range.
  • Figure 4: Open-loop control.