Diseño de un controlador de ángulo en un balancín

英文摘要：

This document describes the design of a PID controller for a rotation pitch plant of a degree freedom. In the controller design, the tuning methods of Aströn Hägglund (AH), Kaiser Chaira (KC) and Kaiser Rajka (KR) will be used, verifying the performance in simulations and in the plant. Finally, the development for the implementation of an analog PID controller through circuits with operational amplifiers is described.