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This paper presents two Web-based training approaches carried out at the Control Laboratory of Grenoble on a classical "ball and beam" experiment. This experiment allows comparing the effects of different digital controllers (PD, PID, RST) either with respect to set point changes or to disturbances. It shows, in special cases, an interesting feature due to a negative zero cancellation, giving rise to an oscillatory control signal. This experiment is simulated within a highly interactive Web-based workshop. It is also accessible remotely thanks to an Wincon-assisted Simulink-based real-time controller. The first part of the paper presents the complementary pedagogical aspects and the user possibilities of the two Web-training tools: the simulation workshop and the remote access system. The second part describes the software/hardware design of the two environments. Finally, examples of practical use of the two network-based training tools at the National Polytechnic Institute of Grenoble are presented and future developments are discussed.
Exel et al. (Sat,) studied this question.