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Ball Balancing Controls Project

This school project was a lab for ECE 481. We designed and implemented a controller used to position the ball at different positions along the beam. The process involved:

1. Modelling the servo motor as a transfer function (voltage to gear angle).
2. Designing, discretizing, and implementing the "inner loop controller" to control the gear position via voltage to the servo motor.
3. Modelling the beam and ball position via geometric approximations and characterization experiments.
4. Designing, discretizing, and implementing the "outer loop controller" to control the position of the beam by choosing the gear angle.

We did not build or design the apparatus.