Application of constrained predictive control on a 3D crane system

J. M. Deng, V. M. Becerra

    Research output: Chapter in Book/Report/Conference proceedingConference contribution


    This paper describes the SIMULINK implementation of a constrained predictive control algorithm based on quadratic programming and linear state space models, and its application to a laboratory-scale 3D crane system. The algorithm is compatible with Real Time. Windows Target and, in the case of the crane system, it can be executed with a sampling period of 0.01 s and a prediction horizon of up to 300 samples, using a linear state space model with 3 inputs, 5 outputs and 13 states.
    Original languageEnglish
    Title of host publication2004 IEEE Conference on Robotics, Automation and Mechatronics
    Place of PublicationNew York
    ISBN (Print)0780386450
    Publication statusPublished - 2004


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