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A nice feature of the LEGO system is that, although the mechanical, electrical, and structural construction is good enough for successful results, there are enough discrepancies between theory and practice to introduce the student to real-world problems of controller. This article concentrates on implementing the feedback controller within the RCX, with the host computer used for compiling, downloading, and data display. However, an interesting research project is to implement part of the controller on the host computer and communicate by means of the IR channel. The bandwidth restriction that this approach imposes can provide the basis for a research project on control through a restricted bandwidth channel.