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Problem 10.18PP
Design and construct a device to keep a ball centered on a freely swinging beam. An example of 
such a device is shown in Fig. It uses colls surrounding permanent magnets as the actuator to 
move the beam, solar cells to sense the ball position, and a hall-effect device to sense the beam 
position. Research other possible actuators and sensors as part of your design effort.
Compare the quality of the control achievable for ball-position feedback only with that of multiple- 
loop feedback of both ball and beam position.
Figure Ball-balancer design example Source: Photo courtesy o f David Powell
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