Ball balancing system: an educational device for demonstrating optimal control

The basic ideas of feedback and control are not difficult to understand. However it is an interesting challenge to demonstrate control techniques in an entertaining and attractive way. The ball balancing device presented in this paper was developed to be used as a research and exhibition device. The solution of the control design problem is based on the physical model of the process and modern control theory. Linear quadratic regulator is used to control the process and Kalman filter is used to estimate the state of the ball. Machine vision is applied in the position measurement of the ball and linear servo motors are used as actuators.