CD Feedback controller VI for ball balancing

[PSong]

Hello

I need Help.

I still working on ball balancing project.

i use myrio controller with IR sensor and potentiometer and derivative the signal to get speed and angular velocity. Bcoz my system is 4th order. so it needed 4 state of input.

i can deploy this program but it is not working as i expect.

the signal of sensor give me unsteady signal.

if anyone can check it, please tell me what i should fix to make it controllable correctly.

Thank in advance 

[wiebe@CARYA]

If a signal of a sensor is unsteady, it seems like a hardware problem.

Of course filtering can be applied, but fixing the hardware is better.