Development of controller and observer for 2D Crane System via State-space approach

This report actually presents researches and studies and progress that are being achieved for the chosen topic which is Development of controller and observer for 2D Crane Systems via State-space approach. This report contains an introduction and background studies about cranes and how does this topic it related to my studies as a final year & control system student all being represented in scope of studies section, in fact the main objectives of this research are getting the dynamic equation for the 2D crane systems and applies state-space approach to develop a controller and an observer for them. The dynamic equations for the systems are being obtained by using Euler-Langrange formulation for obtaining the state-space representation of the systems. Furthermore, control & observer canonical forms have been designed and then simulated using Matlab Simulink for testing the stability of the system before designing the controller and the observer for the system