  In this work we present EduBal, an educational open-source hardware and
software platform for a balancing robot. The robot is designed to be low-cost,
safe and easy to use by students for control education. Along with the robot we
present example tasks from system identification as well as SISO and MIMO
control. Using Simulink, students can quickly implement their control
algorithms on the robot. Individual control parameters can be tuned online
while analyzing the resulting behavior in live signal plots. At RWTH Aachen
University and ETH Zurich 28 units have so far been built and used in control
classes. In first laboratory experiences students show high intrinsic
motivation and creativity to apply the studied concepts of control theory to
the real system.
