Discrete-time flatness-based control of a gantry crane

This article addresses the design of a discrete-time flatness-based tracking control for gantry crane and demonstrates practical applicability approach by measurement results. The required sampled-data model is derived an Euler-discretization with prior state transformation in such way that flatness continuous-time system preserved. Like case, controller performed two steps. First, exactly linearized quasi-static feedback. Subsequently, further feedback enforces stable linear error dynamics. To underline its relevance, performance novel compared to classical results from laboratory setup. In particular, it turns out significantly more robust respect large sampling times. Moreover, shown how facilitates optimal reference trajectories, are presented.