This note presents a controller design for overhead cranes that provides robustness with respect to changes in rope length and transported mass. Elsewhere it has been recommended that the rope angular velocity feedback gain should be assigned to zero in linear quadratic (LQ) controller design. In this study, the gain is assigned to zero from another viewpoint, and hence the proposed controller is a partial state feedback controller. The proposed method provides a robust controller design without iterative computations. Simulation results demonstrate the effectiveness of the proposed design.
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