Dual-rate Robust Adaptive Control of a Cart-crane System

Abstract

In this paper, the application of the adaptive output feedback control based on ASPR conditions to a cart-crane system is considered. The multirate sampling and lifting technique and dual-rate control is adopted in order to apply the ASPR based adaptive control scheme. Further, for the obtained dual-rate discrete-time system, a robust adaptive output feedback control which can solve the causality problem is proposed and the boundedness of all the signals in the resulting closed loop control system is analyzed