Application of constrained predictive control on a 3D crane systemDeng, J. M. and Becerra, V. M. (2004) Application of constrained predictive control on a 3D crane system. In: 2004 IEEE Conference on Robotics, Automation and Mechatronics, Vols 1 and 2. Ieee, New York, pp. 583-587. ISBN 0780386450 Full text not archived in this repository. It is advisable to refer to the publisher's version if you intend to cite from this work. See Guidance on citing. Abstract/SummaryThis 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.
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