Discrete-time designs for load swing control of an overhead crane

Abstract

This paper proposed a controller design method for controlling the load swing of an overhead crane. By the addition of the quadratic derivative of state variables term in the usual standard performance index for Discrete Linear Quadratic Gaussian (DLQG) optimal control as an extra weighting to play the role in this task. The results revealed that the swing of the load can be decreased at numerous requirements with excellence. How to select the suitable weights for control is also suggested. © 2011 ISSN 2185-2766.