PID controllers are widely used in industrial control systems since it could significantly improve the performance of the systems. It is a basic and important tool for an engineering student.An educational PID controller model using LEGO Mindstorms NXT kit as a line following robot was presented in this thesis. This robot could be controlled by a PC via Bluetooth. MATLAB was used for analyzing data and controlling the robot. A MATLAB Toolbox named “RWTH—Mindstorms NXT Toolbox” was utilized for remote controlling and gathering the feedback data from the robot in real-time via Bluetooth.The algorithm and tuning methods of PID controllers were studied in this thesis. Moreover, the effectiveness of each parameter would be studied by comparing t...
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