balancing ball beam is a common application on PID(proportional–integral–derivative) controllers that you could find many versions of this project on instructables too . the new in this project is the real time plot of the system response through matlab , which determine the stability state of system clearly .
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Step 1: Mechanical Design of Beams and Frame
You will find autocad file for laser cutting edges for the beam design , also the frame dimensions and video that show the mechanical mechanism after assembling it .