Stabilized controller design for a flexible stacker crane

This paper presents a stabilized controller design of a flexible stacker crane. The equations of motions of the flexible stacker crane system and the boundary conditions are derived. Feedback control of the motion of the flexible stacker crane is derived by considering the time rate of change of the total energy of the system. This approach has the advantage over the conventional methods in the respect that it allows one to deal directly with the system´s partial differential equations without resorting to approximations.