Overhead crane control through LQ singular surface design MATLAB Toolbox

The experimental application of LQ Singular Optimal surface design methodology through a MATLAB Toolbox to an overhead crane is presented. Based on the properties of a given performance index, it is possible to apply all the cases of Higher-Order Sliding Mode Controllers, from conventional Sliding Mode Controller up to Higher-Order Sliding Mode Controller of order n, for a specified system. Moreover, it is illustrated how the MATLAB Toolbox can be a helpful tool to select a better performance option. The experimental results confirm the advantages of the proposed control design methodology.