Closed-Loop Control and Sensor Noise Reduction in a Low-Cost Aerodynamic Pendulum Using Digital PID and Kalman Filtering on Arduino Mega
DOI:
https://doi.org/10.61467/2007.1558.2026.v17i1.1137Keywords:
Modular Design, Precision Potentiometer, Mathematical Model, Educational Prototype, ReplicabilityAbstract
This work presents the design, construction, and validation of a cost-effective aerodynamic pendulum as an alternative to commercial systems. The system employs a digital PID controller for real-time regulation of angular position, together with a Kalman filter to attenuate sensor noise. Its modular architecture is intended to facilitate the integration of hardware and software components, thereby supporting replication and experimentation without compromising measurement accuracy.
The prototype incorporates low-cost components, including an Arduino Mega 2560, a DC motor, a precision potentiometer, and an L298N H-bridge. A closed-loop configuration based on PID control is used to reduce the error with respect to a 90° reference angle, while the Kalman filter contributes to improved reliability of angular measurements. The mechanical structure, constructed from plywood and plastic materials, provides adequate stability for experimental operation. Motor voltage is regulated through a pulse-width modulation (PWM) signal.
The results indicate a rapid dynamic response and a degree of robustness to external disturbances. Overall, the project supports the feasibility of developing effective low-cost alternatives for control systems, particularly in educational and experimental contexts.
Smart citations: https://scite.ai/reports/10.61467/2007.1558.2026.v17i1.1137
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