Modular approach to teaching PID control

This paper describes a blended learning approach in teaching "Constrained Time-Delayed Proportional-Integral-Derivative Control." It is based on the "learning by doing" paradigm supported by several e-learning tools: by the interactive electronic course materials in Moodle; by the laboratory of low-cost and easy-to-manipulate plants; and by the virtual laboratory WebLAB. These open the access to study and experiment on real systems via Internet for 24 h/day, seven days a week. Synergy of the newly structured theory developed to deal with real-world constraints with the interactive content delivery-and with active learning based on simulations, real-time experiments in laboratories, and tele-experiments via Internet offers stimulating and quasi-authentic learning environment. These give students multiple formative feedback, ranging from computer quizzes to plant reactions in a rich variety of authentic situations.