Ball and Beam

Ball and Beam

1 DOF Control Platform for Teaching and Research

ACROME Ball and Beam System is ideal to introduce students to the fundamental and intermediate principles of controls. Let's teach automatic control with Ball and Beam!


Apply control theory in real-life with ACROME Ball and Beam! The ball and beam system consists of a long beam together with a ball rolling back and forth on top of the beam. The long beam tilted by a servo. Our Ball and Beam System provides practicing the automatic control theory on a closed loop experiment. Controlling the position of a ball on a beam is one of the classical problems of control theory. Ball and Beam System can be used for a wide range of control system design implementations from basic linear controllers to advanced nonlinear methods. Students are able to understand system design approaches with Ball and Beam's learn-by-doing method. With the help of the courseware, they can distinguish effects of linearizations, assumptions and modeling errors due to the differences between simulations and real world experiments.

Ball and Beam overview


  • Assembled and ready to control plant with the integrated power unit
  • Implementation of advanced digital control techniques.
  • Fully compatible with MATLAB®/Simulink® and LabVIEW™
  • Fully documented system models and parameters provided for MATLAB®/Simulink®, LabVIEW™
  • Easy-connect cables and connectors
  • Actuating the table by RC servo motor, which is familiar to students
  • Ball position sensing by a linear potentiometer
  • Enables students to create their own real-time algorithms.
  • Open architecture with extensive courseware, suitable for undergraduate courses for engineering disciplines related to control systems


  • Components of Ball and Beam System
    • RC Servo Motor
    • Potentiometer Sensor
    • NI myRIO
    • Power Supply Box
    • Mechanics of the System
  • Fundamentals of PWM
    • PWM Signaling Theory
    • Generating PWM Signals with NI myRIO
    • Driving RC Servos with PWM Signals
  • ​Feedback in Control Systems
    • Reading Ball Position from Potentiometer Sensor
    • Derivative Filtering
  • System Modeling
    • System Identification Methods
    • Modeling of Actuator
    • Obtaining Transfer Function of Plant
  • Performance Measures
    • Time Domain Characteristics
    • Steady State Response and Steady State Error
  • Control System Design
    • Time Response Characteristics
    • PID Controller and Fuzzy Logic Controller
    • Step Response and Steady-State Error
  • Control System Verification
    • Frequency Response Analysis
    • Experimental Bode Diagrams
    • Cut-Off Frequency Determination


Ball and Beam spesifications

Calibrationed base dimensions 

Beam length

Lever arm length

Support arm length 

Potentiometer sensor length 

Motor arm length

Motor torque

Motor speed

450 x 160 mm

530 mm

143 mm

165 mm

500 mm

24 mm

4,8 V:0,5 N.m

4,8 V:0,20 sec/60 degree



Please request quote to learn recent pricing offers or contact us for more information.

Ball Balancing Table
Ball Balancing Table: 2 DOF Control Platform for Teaching and Research.
Ball and Beam
1 DOF Control Platform for Teaching and Research
Delta Robot
3 DOF Robotic Platform for Teaching and Research
Stewart Platform
6 DOF modular lab platform for robotics, mechatronics, and controls
1-DOF Copter
Flight simulation control unit for teaching and research.
Acrobot 6-DOF Robot Arm
6 DOF Robotic Arm for research and teaching