In this paper, the performance improvement of a payload angle deflection of a gantry crane has been studied and simulated using Matlab/Simulink toolbox successfully. H 2 optimal and observer based controllers has been used to minimize the payload angular deflection by controlling the trolley position. The gantry crane has been compared with the proposed controllers to track the reference trolley position using step and sine wave signals and a promising results have been achieved.
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] School of Electrical and Computer Engineering
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