Using a HaViMo3.0 and two Dynamixel AX12 Servomotors we could successfully stabilise a ball and plate scenario. The controller used in the demo is a CM530 and the control code is written in RoboPlus. See the video below.
The control code task file can be downloaded here. The control code uses IDs 1 and 2 for vertical and horizontal movements. You can simply change the orientation of the HaViMo or the signs of the variables in the code to cope it with your hardware design.
Enjoy the Demo!