[en] Abstract: this project exposes the control of position of a ball through the programming in Arduino, for the analysis of different configurations of the PID controller. The practical case developed consists of a bar and ball system, which is a non-linear and unstable system. Different configurations of the PID controller have been implemented to observe its operation and draw conclusions about them. The main objective of this project is to use a microcontroller to control a model of ball position control, with the aim of bringing students who do not know control theory understand how to control a system in a way real. In this case, the model will be used as a teaching method. For this, all the control of the system has been carried out in the Arduino programming, obtaining an acceptable control of the model, since the position error of the ball is minimal. To achieve the aforementioned objective, a user interface has been implemented in the system, which uses a control panel designed to achieve an interactive communication between user and control of the model, in order to modify each of the actions of the controllers PID implemented and see what happens in the control, and so the user can draw conclusions from each of the parameters of the different implemented PIDs. It must be said that for the achievement of the project, one of the objectives was to obtain the different parameters of the controllers implemented in the programming, through the realization of a simulation of the system by means of Matlab, in which there was no success, due to the approximations and linearizations made when obtaining the model of the plant. For this reason, the constants used in the different controllers implemented in the system were obtained by the trial-error adjustment method, achieving good results. In general, it can be said that all the objectives imposed at the beginning have been met, and that different knowledge about different subjects that were previously unknown was acquired. Due to the study and design process, several conclusions are presented and some lines of improvement are proposed, such as implementing a graphical user interface that provides the behavior of the system in real time.

[eu] Laburpena: proiektu honek bola bateko posizioaren kontrola azaltzen du, Arduinoaren programazioaren bidez kontrolatzaile desberdin analizatzeko. Garatutako kasu praktikoa barra eta pilota sistema bat da, sistema hau sistema ez lineal eta ezegonkorra da. PID-a kontrolatzailearen konfigurazio desberdinak inplementatu dira bere funtzionamendua ikusteko eta ondorioak haiei buruz lortu ahal izateko. Proiektu honen helburu nagusia, mikrokontrolatzaile bat ondo erabiltzea da maketa baten kontrola kontrolatzeko, honekin kontrolaren teoria ezagutzen ez duten edo lehen aldiz sartzen diren ikasleei hurbiltzeko. Kasu honetan, maketa irakaskuntza metodo gisa erabiliko da. Horretarako, sistemaren kontrol guztia Arduino programazioan burutu da, maketaren kontrol onargarria lortuz, zeren eta, pilotaren posizio errorea oso txikia baita. Honen bidez, kontrol-teoria ezagutzen ez duen ikasle batek PID kontroladorea nola funtzionatzen duen ulertu ahal izango du, horretarako erabiltzaile-interfazea inplementatu da sisteman, erabiltzailearen eta maketa kontrolaren arteko komunikazio interaktiboa lortzeko aginte-panel bat diseinatu da, horrekin kontrolatzaileen akzioetako bakoitza aldatu ahal izateko esta zer gertatzen den kontrolean ikusteko. Proiektuaren lorpenerako esan behar da, helburuetako bat programan ezarritako kontrolagailuen parametroak lortzea izan zen, Matlab-en bidez sistemaren simulazio bat eginez, arrakasta gabe, sistema fisikoaren modeloa lortu ahal izateko egindako hurbilketak eta linealtasunak direla eta. Hori dela eta, sisteman ezarritako kontrolagailu desberdinetan erabiltzen diren konstanteak akats-doikuntza metodoaren bidez lortu ziren, emaitza onak lortuz. Oro har, hasieran ezarritako helburu guztiak bete direla esan daiteke, eta lehenago ezezagunak ziren hainbat gairi buruzko ezagutzak eskuratu direla esan daiteke. Azterketa eta diseinu prozesu osoari esker, hainbat ondorio aurkezten dira eta hobekuntza bide batzuk proposatzen dira, esate baterako, erabiltzaile-interfaze grafiko bat sisteman inplementatzea, sistemaren portaera denbora errealean ikusi ahal izateko.