jiseJournal of Innovative Science and Engineering2602-4217Bursa Teknik ÜniversitesiImage-Based Control of 2-DOF Ball Balancing SystemGürsoyHüseyin Canhttps://orcid.org/0000-0003-2709-4345AdarNurettin GökhanBURSA TECHNICAL UNIVERSITYhttps://orcid.org/0000-0001-6888-575510.38088/jise.1091154EngineeringMühendislik12312022621601740327202206012022In this study, the Ball-Plate stabilization system is designed to control with image processing algorithms. The position of the ball is aimed to control by tilting the plate on which the ball is located at a certain position and velocity. The system has two rotational degrees of freedom and is unstable. In the system, two DC motors are used as an actuator, and a camera is used as a feedback sensor. The camera captures the position of the ball and image processing algorithm calculates the that position to blance the plate..PID control is selected for servo motors. Thus, the position of the ball can be controlled so that it converges to the desired point on the plate. Real-time tests are conducted, and Maximum Overshoot and Steady State Error are calculated for both the x and y-axis, and results are given in figures. For the setpoint (15 cm, 15 cm) the Maximum Overshoot and Steady State Error were measured at 40.6% - 8% on the x-axis and 48.6% - 8.6% on the y-axis, while for the setpoint (10 cm, 10 cm) The Maximum Overshoot and Steady State Error were measured at 40.6% - 8% on the x-axis and 48.6% - 8.6% on the y axis.Ball&Plate PID Control Image Processing[1] Kocaoğlu, S. (2013). Pıd Kontrollü Top Çubuk Sisteminin Tasarımı ve Kontrolü Üzerine Bir Araştırma.[2] Awtar, S., Bernard, C., Boklund, N., Master, A., Ueda, D., Craig K. (2002). Mechatronic Design Of A Ball-On-Plate Balancing System. Mechatronics, 12(2), 217-228 p.[3] Brezina, A., Tkacik, M., Tkacik, T., Jadlovska S. (2019). Upgrade of the Ball and Plate Laboratory Model. IFAC-PapersOnLine, 52(27), 277-282 p.[4] Itani, A. (2017). Ball Plate Balancing System Using Image Processing.[5] Chi-Cheng, C., Tsai, C. (2016). Visual Servo Control for Balancing a Ball-Plate System. International Journal of Mechanical Engineering and Robotics Research, 5(1).[6] Ho, M., Rizal, Y., Chu, L. (2013). Visual Servoing Tracking Control of a Ball and Plate System: Design, Implementation and Experimental Validation. International Journal of Advanced Robotic Systems, 10(7).[7] Taifour, A., Ahmed, A., Almahdi, H., Osama, A., Naseraldeen, A. (2017). Design and Implementation of Ball and Beam System Using PID Controller. Automatic Control and Information Sciences, 3(1), 1-4 p.[8] Chen, Z., Gao F.,Sun, Q., Tian, Y., Liu, J., Zhao, Y. (2019). Ball-on-plate motion planning for six-parallel-legged robots walking on irregular terrains using pure haptic information. Mechanism and Machine Theory, Volume 141, 136-150 p.[9] Fabregas, E., Chacón, J., Dormido-Canto, S., Farias, S., Dormido G. (2015). Virtual Laboratory of the Ball and Plate System. IFAC-PapersOnLine, 48(29), 152-157 p.[10] Park, J., Lee, Y. (2003). Robust Visual Servoing For Motion Control Of The Ball On A Plate. Mechatronics, 13(7), 723-738 p.[11] Fan, X., Zhang, N., Teng, S. (2004). Trajectory Planning And Tracking Of Ball And Plate System Using Hierarchical Fuzzy Control Scheme. Fuzzy Sets and Systems, 144(2), 297-312p.[12] Kassem, A., Haddad, H., Albıtar, C. (2015). Comparison Between Different Methods of Control of Ball and Plate System with 6DOF Stewart Platform. IFAC-PapersOnLine, 48(11), 47-52 p.[13] Gözde, H. (2019). Evolutionary Computation Based Control For Ball And Plate Stabilization System. Balkan Journal Of Electrıcal & Computer Engıneerıng, 7(1), 45-46 p.[14] Kuo, B. (1999). Otomatik Kontrol Sistemleri, Litaratür, 7th edition, 88-90 p. ISBN:975-8431-64-1.