Motion control of a single-beam gantry crane trolley

The paper presents the motion control of a single-beam gantry crane trolley. Nonlinear mathematical model deduction of the gantry-crane, followed by linearization of the gantry-crane trolley mathematical model in order to integrate a linear state-feedback controller by using Ackermann formula have been shown. In order to obtain a zero-steady state error an adequate pre-filter has been designed. The simulation results demonstrates that the system can successfully be handled by using state-feedback controller type, combined with the designed reference filter in order to obtain a zero steady state error.