A PID Tuning Method for Tracking Control of an Underactuated Gantry

Abstract By the current research, a PID tuning procedure is developed to control of an overhead crane. To enable the crane to reach a desired position, a controller design strategy must be used. This work presents a simple and efficient enough approach to control of the overhead crane based on designing a PID controller. Ziegler-Nichols method is used to initiate gains setting for PID controller and a tuning procedure is developed to obtain better results. Tuning design of the PID controller is considered for tracking the response of trolley and minimum oscillation of pendulum. Finally, some simulations are performed to illustrate the capability of the presented method for control of the overhead crane.

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