Robust Tracking for High Rise/High Speed Elevators

Jing Li David Niemann Hua O. Wang Department of Electrical and Computer Engineering Duke University, Durham, NC 27708, U.S.A Abstract This paper deals with control design for the motion control of high-rise/high-speed elevators. Two main problems, tracking and releveling, are treated in the framework of output regulation problem. By doing this, we design a single controller satisfying both performance objectives. This design procedure is based on a local linear model of the elevator dynamics. Since the elevator dynamics change as a function of hoistway position, we utilize the concept of PDC (parallel distributed compensation) to generate a gain-scheduled controller which works for all oors. Simulation results have shown that the resulting controller achieves good performance with robustness.