gPBL: Control System Design with Arduino and MATLAB

This repository contains all project files, source code, experiment data, and reports for the 2025 Online global Project Based-Learning (gPBL) program on Power System Control Training , hosted by Shibaura Institute of Technology (SIT).

This project involves practical experiments based on the textbook "Control System Design: Getting Started with Arduino and MATLAB". The primary goal is to bridge control theory with hands-on application using Model-Based Design (MBD).

Partner Universities:

• Shibaura Institute of Technology (SIT), Japan
• Ho Chi Minh City University of Technology (HCMUT), Vietnam
• Hanoi University of Science and Technology (HUST), Vietnam
• Institut Teknologi Bandung (ITB), Indonesia
• Thai-Nichi Institute of Technology (TNI), Thailand

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Repository Structure

This repository is organized to separate code, data, and documentation clearly.

├── .gitignore # Files for Git to ignore (MATLAB temp files, etc.) 
├── LICENSE # Project license (MIT) 
├── README.md # This file 
├── docs/ # Setup guides, hardware diagrams, and datasheets 
├── data/ # Raw and processed data from experiments 
├── src/ # All MATLAB (.m) and Simulink (.mdl) source code 
└── reports/ # Weekly reports and final presentations

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🚀 Getting Started

Follow these steps to set up the project environment on your local machine.

Prerequisites

Hardware:

• Arduino Mega 2560 R3
• Custom Motor/Servo Kit (for Chapters 4, 5)
• Ball & Beam Kit (for Chapters 6, 7)

Software:

• MATLAB/Simulink (R2021b or newer)
• Required Toolboxes:
  • Control System Toolbox
  • Simulink
  • MATLAB Coder / Simulink Coder (for RoTH)
• Arduino IDE (for drivers and setup)
• ArduinoIO Library (for communication with Simulink)

Installation

1. Clone the repository:

   git clone [https://github.com/your-username/gPBL-Control-System-Design-Arduino-MATLAB.git](https://github.com/your-username/gPBL-Control-System-Design-Arduino-MATLAB.git)
   cd gPBL-Control-System-Design-Arduino-MATLAB

2. Set up the Environment:
   • Follow the detailed instructions in docs/setup_guide.md.
   • Install the required MATLAB Toolboxes.
   • Install the ArduinoIO library and upload the adiosrv.pde sketch to your Arduino.
3. Set MATLAB Path:
   • Open MATLAB.
   • Add the src/ directory and all its subfolders to the MATLAB path.
   • Run src/lib/sim_init.m to initialize workspace variables and parameters.

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🔬 How to Use

Each chapter's experiments are self-contained in the src/ folder.

1. Navigate to the desired chapter, e.g., src/chapter_05_motor_position_control/.
2. Ensure your hardware is connected as shown in docs/hardware_setup.md.
3. Open the corresponding Simulink model (e.g., pos_pid_mbd_s1.mdl).
4. Run the simulation. Experimental data will be saved to the corresponding data/ folder.

Key Project Files

• src/chapter_05_motor_position_control/pos_pid_mbd_s1.mdl: PID control design for motor position using Pole Assignment.
• src/chapter_07_modern_control_theory/bb_lqr_hg_s1.mdl: Optimal State Feedback (LQR) control for the Ball & Beam system.
• src/chapter_08_run_on_target_hardware/bbt_pid_hg_s1.mdl: Real-time PID controller running directly on the Arduino Mega (RoTH).

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License

This project is licensed under the MIT License. See the LICENSE file for details.

Acknowledgments

• Prof. Goro Fujita and the Power System Lab at SIT.
• Co-organizer: Elysa Nensy Irawan.
• TA: Castillo Efrain.
• All fellow participants and faculty from HCMUT, HUST, ITB, and TNI.

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Notes for SIT Partners (SITの皆様へ)

Click here to read the project description in Japanese (日本語でのプロジェクト概要はこちらをクリックしてください)

プロジェクト概要

このリポジトリは、芝浦工業大学（SIT）主催のオンラインgPBL「電力系統制御トレーニング」のプロジェクトファイルです。

ホーチミン市工科大学（HCMUT）の学生として、教科書「ArduinoとMATLABで始める制御システム設計」に基づき、MATLAB/SimulinkとArduinoを用いたモデルベースデザイン（MBD）の実践に取り組んでいます。

ご指導のほど、よろしくお願いいたします。