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I have a 4-bar linkage arm (or similar design) for a telerobot used in the VEX Robotics Competition. I want to be able to press buttons on my PS3-style controller to have the arm raise to certain angles. I have a potentiometer to measure the 4-bar's angle.

The potentiometer measures the angle of one of the joints in the shoulder of the mechanism, which is similar to this:

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What type of control should I use to stabilize the arm at these angles?

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This sounds like a classic case for a PID controller. The "derivative" part of this controller will help prevent the arm from oscillating as you move to a new angle, and the "integral" part will help counteract the force of gravity acting on the arm.

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