Explicit GPC Control Applied to an Approximated Linearized Crane System

Table 1

Gantry Crane model parameters.

Parameter	Value	Parameter	Value
Payload mass ()	Kg	Resistance ()
Trolley mass ()	Kg	Torque constant ()	Nm/A
Cable length ()	m	Electric constant ()	Vs/rad
Gravitational Acceleration ()		Radius of pulley ()	m
Damping coefficient ()	Ns/m	Gear ratio ()
DC Motor voltage limits		Horizontal track length	m