PID control of Ball on a Beam

This final project for ME439/L (Controls) uses a linear potentiometer to measure the position of the ball along a beam. The PID controller implemented by an Arduino UNO is tuned to maintain zero error (desired distance - actual distance). A servo and linkage serves to actuate the system (change the beam angle) automatically.

The video to the right demonstrates the project in action. Real-time data is plotted using the Arduino serial plotter.