インターネット接続された複数倒立振子の同時安定化制御による複数大学での同時実験授業

抄録

This study discusses control engineering experiment classes and considers how we realize the same experiment together simultaneously in remote locations that are far apart from one another. This class operation approach may emphasize the importance of COVID-19 precautions or the rationalization of lab classes, considering an aging society with a low birth rate. We propose a system configuration that safely realizes high-education classes using a hierarchical optimal control method. In this paper, we report first simultaneous experimental classes in Nagoya and Gifu national Universities which are approximately 50km away on 21 November 2023 using simultaneous stabilizing control of Internet-connected multiple inverted pendulums. One lecturer in Nagoya University operated classes for both the universities. The real one-way communication delay from one side PC interface to the other was approximately 50ms on average. The effectiveness of the proposed system was mostly verified by the questionnaire survey results for 75 participating students in both the universities.