A Virtual/Remote Laboratory to illustrate the Internal Model Principle for periodical signals.

Virtual laboratories provide an efficient tool for simulating systems of specific interest obtaining the characteristics of the system based on its model with the advantage of provide some basic settings saving simulation development time. On the other hand, remote laboratories provide the possibility of experimentation with real devices located remotely being accessible from local networks or internet. This paper presents an integrated virtual/remote laboratory designed to illustrate the concepts related to the internal model principle, IMP, applied in control systems. The laboratory features are oriented to show the limited performance of classic PID control to reject non constant disturbances illustrating the IMP by means of resonators and repetitive control for rejection of periodic disturbances in a mechatronic didactic plant.