Robust tracking for high-rise/high-speed elevators

This paper discusses the design of vertical motion control systems for high-rise/high-speed elevators. Two main performance requirements, tracking and releveling, are incorporated into the framework of an output regulation problem. By doing this, we design a single controller which satisfies 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 floors. Simulation results have shown that the performance of this controller is also robust to the anticipated range of parameter uncertainty within the system.