A low-cost microcontroller-in-the-loop platform for controls education

This paper presents a novel, low-cost microcontroller-in-the-loop system for performing real-time feedback control experiments. This system can be used to include experimental projects and in-class demonstrations in any controls course. A prototype of an embedded feedback control system can be developed entirely in a higherlevel language on the PC without reprogramming the microcontroller. All control calculations are performed on the PC while the microcontroller handles analog-to-digital and digital-to-analog conversion and enforces the real-time execution of the control law (there is no need for a real-time operating system on the PC). Besides the microcontroller, no specialized hardware is needed. The system depends on real-time communication between the PC and the microcontroller. Survey and assessment results are presented from using the system in two courses.