Optimal control-based integral servo controller for an overhead crane system

This paper presents an integral servo controller design in order to eliminate the steady-state tracking error of an overhead crane system according to the servo problem. The design technique uses optimal control approach which encourages to achieve the better performance of the controller for overhead crane system. The simulation results show that the designed integral servo controller can eliminate the errors and reduce the settling time of the responses according to the weight for the integral time. How to select the weights for control is also suggested.