Design and implementation of a Proportional Integral Derivative (PID) Control System for the Beam System-sphere

The Beam-Sphere system is a system in which the position of a sphere on a beam is controlled by his inclination. lt is used in the teaching of dynamic control systems in universities. The present article focuses on the analytical calculations in the design of control systems. First, it focuses on obtaining the transfer function, the mechanical limitations that are presented in the implementation, the design and tuning of the Proportional-lntegral-Derivative (PID) compensator using MATLAB, the elements used (sensor, actuator-servomotor, and microcontroller-ARDUINO), and finaly the implementation of the program in the microcontroller.