Ball Balancing Table

Ball Balancing Table

2 DOF Control Platform for Teaching and Research

ACROME Ball Balancing Table is an innovatively designed experiment system suitable for controls and mechatronics education and advanced research topics.


Ball Balancing Table, with its easily accessible and user-friendly components, is a hands-on experiment, closing the gap between real industrial systems and DIY-approach. Open source software makes it possible that students and researchers can modify and test their own developed algorithms. Students can understand the effects of different controller types on the system and easily cover controller design concepts with control system experiments. With the extensive control system courseware and controllers, such as NI myRIO, Arduino they have the opportunity to learn the essential aspects of control theory by experimenting. The system is also suitable for graduate studies for designing advanced controller types such as robust control, adaptive control, and so on. 

Ball Balancing Table overview


  • Assembled and ready to control plant with the integrated power unit
  • Getting Started Program with rich Graphical User Interface for out-of-the-box user experience
  • Implementation of advanced digital control techniques.
  • Fully compatible with MATLAB®/Simulink® and LabVIEW™
  • Fully documented system models and parameters provided for MATLAB®/Simulink®, LabVIEW™
  • Ball position feedback using a high precision touch surface (camera based feedback optional) Actuating the table by RC servo motors, which are familiar to students
  • Rectangular and circular path options are integrated in the software
  • 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 Balancing Table
    • RC Servo Motors
    • Touch Sensor
    • Controller
    • Acrome Power Distribution BoxMechanics of the System
  • Fundamentals of PWM
    • PWM Signaling Theory
    • Generating PWM Signals Driving RC Servos with PWM Signals
  • System Modeling
    • Lagrangian Method
    • Newton’s Law of Motion
    • Modeling of Actuator
    • Obtaining Transfer Function
  • Feedback in Control Systems
    • Reading Ball Position from Touch Sensor
    • Derivative Filtering
  • Performance Measures
    • Time Domain Characteristics
    • Steady State Response and Steady State Error
  • Control System Design
    • Design of Linear Controllers
    • PID controller and Fuzzy Logic Controller
    • Comparing the Simulation and Real System Responses for Different Controllers
  • Control System Verification
    • Frequency response analysis
    • Experimental Bode Diagram
    • Cut-Off Frequency Determination


Ball Balancing Table spesifications

Calibrated base dimensions 

Table dimensions 

Touch surface dimensions 

Motor torque 

Motor speed 






 350 mm x 410 mm

 288 mm x 355 mm


 4.8 V:0,5 N.m

 4.8V: 0.17 sec/60°


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