Teaching mechatronics principles using laboratory classes

Abstract

The introductory module of a new course in mechatronics is based on practical experiments in which the control is created entirely by the student. Concepts of control system design in the presence of sharp nonlinearities and of topology of the feedback structure are introduced and illustrated with the example of an inverted pendulum, the culmination of the first sequence of experiments. For a further experiment, a threewheeled variation on the mecanum mobile has been designed as the base of a pendulum to be balanced in both directions.