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In this paper, the force control of a constrained onelink flexible arm is investigated using a feedback parallel compensation algorithm based on a linear distributed parameter model with internal damping of Kelvin-Voigt type. Generally, the non-collocation of the joint torque input and the tip contact force output comes along with the non-minimum phase in nature. To overcome this inherent limitation, a new input induced by the measurement of rootbending moment and its derivative, and a virtual contact force output generated by a parallel compensator are defined. Therefore, the transfer function from the new input to the virtual contact force output is proved not only strictly minimum phase but also in a stable condition. A PD controller then improves the performance of the overall closed-loop system. Furthermore, the perfect asymptotic tracking of a desired contact force trajectory with internal stability can be achieved accurately. The exact solutions of the infinite-dimensional system are obtained using the infinite product formulation. The proposed system promises stability robustness to parameter uncertainties, also free of spillover problems. Numerical simulations are provided to verify the effectiveness of the proposed approach.

With increasing applications in cloud service and Internet, learning about how to use such technologies is an important topic for engineering students in the automation discipline. Unfortunately, the current textbooks usually do not supply sufficient material for this purpose. Therefore, this paper aims to provide a practical case study for students to learn more about a cloud service and Internet technology. The case uses a remote automatic emergency lights checking system via Internet and cloud technique. Based on transmission control protocol/Internet protocol, the remote computer can connect with the Nearby Computer for carrying out a remote monitoring and control mechanism. All checked outcomes received by the Nearby Computer can be automatically uploaded to the cloud site. The content using “learn by doing” concept is integrated with a lab project for a specific course so that it can help students learn efficiently. The expected outcomes, practical improvement, impact on student learning, performance assessment, and course evaluation are provided and discussed for details in terms of its value in enhancing the students’ learning in automation engineering.

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