LINEAR MATRIX INEQUALITY-BASED STATE FEEDBACK CONTROL OF A GANTRY CRANE SYSTEM
Publication Date : 01/08/2018
This paper presents a state feedback controller design for a gantry crane. The controller is designed via pole placement in a Linear Matrix Inequality (LMI) region. Firstly, a stabilization condition which constrains the closed-loop poles of the system to be located in an LMI region is formulated in form of linear matrix inequalities (LMIs). The stabilization conditions guaranteed the system stability and gives satisfied transient performance. Based on the formulated stabilization conditions, a state feedback tracking controller is proposed for trolley position tracking and swing angle control of the gantry crane system. The performance of the proposed controller was investigated via simulations. The simulation results showed the proposed control scheme reduces the maximum payload oscillation by 48.28% when compared to PID control Scheme.
No. of Downloads :