Linear control of the non-linear model of the convey-crane

By using the Euler-Lagrange method, the non-linear mathematical model of the convey-crane is obtained. Using a tangential linearization, around the equilibrium point, the linear mathematical model is obtained in state space and transfer function forms. Using classical methods, a single-input single-output linear controller is designed for the output y = x + Lθ (translational projection of the pendulum position). Finally, the behavior of the nonlinear system, controlled through the linear controller, is simulated and satisfactory results are obtained.