engleski

Tensor Product Transformation based Control and Sway Angle Observer Design of Rotary Crane

In this paper method of controller and observer design for a model of rotary crane, is proposed. Rotary crane is non-linear system that can be represented as a linear system with variable parameters. Such systems can be sampled and transformed into the corresponding polytopic model by using Tensor Product Transformation. Since system is non-linear it is not possible to use the principle of separability, but observer design is dependent on controller design. Linear matrix inequalities controller and observer design are combined with pole placement constraints to impose performance requirements on close loop system. Obtained results are experimentally verified on scaled laboratory model of rotary crane.

tensor product; sway angle; observer design; Rotary Crane

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