Disturbance Feedback Control (DFC) is a control concept in which an existing controller is augmented with an additional feedback in order to achieve better disturbance rejection performance. This paper proposes an anti-sway control scheme for crane systems using robust DFC designed to minimize the sway angle and trolley position errors via Linear Matrix Inequality optimization. The robust DFC is added to an existing crane control system composed of a feed forward and state feedback control. Simulation results for the gantry crane system show improvements in control performance when the gantry load is subjected to impulse force disturbances.
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