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Ball on beam balancer controls project. See for more details.
C Makefile C++ MATLAB
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Ball on beam balancer

This repository contains code and tools for my DIY ball-on-beam balancer.


  • /excel folder contains a PID model for the system as well as a spreadsheet to explore kalman filters
  • /matlab_octave contains some .m files for determining the parameters for the controller
  • /source/ contains common files for the build based on ATMega328
  • /source/pid contains pid-specific main.c
  • /source/state-space contains main.c for both the kalman and pole-placement approaches to the state-space observer
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