This paper proposes a control approach using a PID controller and Kalman filter for the Ball & Beam system, highlighting effectiveness despite noise.
The Ball & Beam system is one of the most comprehensive case studies in the field of control, as it is naturally unstable. This paper proposes a control approach for the Ball & Beam system composed of a PID controller and a Kalman filter, which are used to estimate system states and mitigate problems caused by the sensor’s high sensitivity to noise. The control is implemented using the Arduino software. Finally, the results of the simulation and implementation show that the control is effective despite the noisy signal, resulting in a low-cost prototype for educational purposes.
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Ruiz et al. (2025) studied this question.
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