State Variable Feedbaek Control of a Gantry Crane

The outcome of this project is to design a controller to meet the requirement of high
positioning accuracy and small swing angle, motion and stabilization control of gantry
crane. The dynamic of the gantry crane system has been modeled in state variable form
to obtain state feedback gain matrix and system parameters has been defined and
suitable desired poles has been specified to complete the dynamic modeling. The State
Variable Feedback Control is chosen to be implemented in gantry crane control system
because it can control multiple variables which are the gantry's position, speed, load
angle and angular velocity at the same time. Block diagram constructed using Simulink
which represents the controller has successfully achieved the objectives. An analytical
analysis is conducted to study on the effect of system parameter changes. The scopes of
studies involved will be on various types of gantry crane model, various control
technique, gantry crane system modeling and simulation using MATLAB Simulink