Anti-swing Control of Overhead Cranes

In this paper a controller is designed for the overhead cranes using the recently developed parallel differential (PD) eigenevalue assignment methodology. Using this theory, classical results for LTI control design carry over to the time-varying case. The main achievement of this paper is the first implementation of a controller designed using the PD eigenevalue theory in anti-swing control of overhead cranes, and the simulation results show the validity of this method.