@inbook{9630b5a4121e4e2f8495b1e48474f83e,
title = "Learning Multivariable Controller Design: a Hands-on Approach with a Lego Robotic Arm",
abstract = "In this paper we present the multivariable controller design of a Lego Mindstorms NXT robotic arm for educational purposes. System identification was performed to estimate the parameters of a coupled plant. Uncertainties and Bode plots of the coupled system were evaluated to determine that the system could be decoupled at the DC gain value. A Proportional-Integral-Derivative (PID) controller was designed for the system after it was decoupled. These steps conform one of the basic techniques to design the controller for a multivariable system. Therefore, it is a valuable model to learn multivariable controller design for undergraduate students. This provides a hands-on approach experience in controller design where some aspects of advanced controller theory are blended with implementation details.",
keywords = "Control Theory Class, Lego Brick, Multivariable System, Pseudo Random Binary Sequence, Step Response",
author = "Victoria Serrano and Michael Thompson and Konstantinos Tsakalis",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing AG 2017.",
year = "2017",
doi = "10.1007/978-3-319-54377-2_23",
language = "English (US)",
series = "Lecture Notes in Networks and Systems",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "271--278",
booktitle = "Lecture Notes in Networks and Systems",
address = "Germany",
}