CDM Based Servo State Feedback Controller with Minimum-order Observer for Crane System

In this paper, the design of servo state feedback controller with minimum-order observer by using the concept of coefficient diagram method (CDM) for crane system is presented. An integrator is augmented to the system so that the system will exhibit no steady-state error in the response to step input. In order to apply the CDM method, the mathematical model of the crane system must be firstly linearized and converted into controllable canonical form by transformation matrix. Then feedback gain matrix, integral gain and observer gain matrix in sense of CDM can be obtained. The satisfied performances of the crane system controlled by the proposed controller are shown in simulation results