Implementation of the sliding-mode controller on overhead cranes via the deadbeat method

Abstract

This paper addresses the controller design for the overhead cranes. To this end, a nonlinear model of the overhead cranes is considered, and a continuous-time sliding-mode controller is designed for such a model, ensuring global robust stability. Subsequently, the deadbeat implementation method is employed to obtain a discrete-time equivalent of the designed controller, which is a crucial step to implement any continuous-time controller on digital processors. Comparative analyses based on numerical simulations show that the developed sliding-mode controller shows several advantages over the forward Euler discretization method, which is widely used in the literature.