Don't take this wrong, please. If I were you I would do some more research on controllers, both MPPT & PWM. Like others here have already said, closest to the battery is the absolute best location. Also, think of harvesting sunlight just like fishing. You could have an amazing lure (the panel) but if you don't have a good reel (the controller) to get the fish back to the boat, that's a missed opportunity. Regardless of system size, an MPPT controller with 3 step charging will perform better in shaded conditions and be a better choice for the long-term health of your battery, especially with an AGM application. Cheap out on the panel if you gotta, being that it is the arm. But remember that the controller is the heart and the brain.