Robust control of rotary cranes based on pole placement approach

This paper deals with a simple design of robust control systems for rotary cranes. We firstly derive a simple linear model of the crane dynamics. It is then shown that, using the information on nominal natural frequencies of load-rope system, we can easily make the control system to be robustly stable to any rope length without iterative computation. We further propose a method of adding an integrator to the controller for reducing positional error of the crane boom. The effectiveness of the proposed method is experimentally confirmed