Design of the State Feedback-Based Feed-Forward Controller Asymptotically Stabilizing the Overhead Crane at the Desired End Position

The problem of feed-forward control overhead crane system is discussed. By combining the Kalman's controllability theory and Hartman-Grobman theorem from dynamical theory, a linear, continuous state feedback-based controller that stabilizes at desired end position payload designed. efficacy proposed demonstrated by comparing simulation experiment results for with/without time-varying length hoisting rope.