Negative imaginary theorem with an application to robust control of a crane system

• Main Authors: Abdullahi, A. M., Mohamed, Z., Abidin, M. S. Z., Akmeliawati, R., Husain, A. R., Bature, A. A., Haruna, A.
• Format: Article
• Language: English
• Published: Penerbit UTM Press 2016
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/70049/1/AuwaluMAbdullahi2016_NegativeImaginaryTheoremWithanApplication.pdf; http://eprints.utm.my/id/eprint/70049/; https://www.scopus.com

This paper presents an integral sliding mode (ISM) control for a case of negative imaginary (NI) systems. A gantry crane system (GCS) is considered in this work. ISM is a nonlinear control method introducing significant properties of precision, robustness, stress-free tuning and implementation. The...