Explicit GPC Control Applied to an Approximated Linearized Crane System

<table class="fixed-width table-group" id="tab4"><tr><td><table class="table"><colgroup><col style="width:7.75em"/><col style="width:4.84em"/><col style="width:4.28em"/><col style="width:4.28em"/></colgroup><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left"><b>Procedure </b></td><td class="align_center"><b> UGPC </b></td><td class="align_center"><b> CGPC </b></td><td class="align_center"><b> EGPC </b></td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">Design</td><td class="align_center"><svg height="11.7782pt" id="M246" style="vertical-align:-3.42938pt" version="1.1" viewbox="-0.0498162 -8.34882 41.6337 11.7782" width="41.6337pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M249 635C141 635 70 555 70 471C70 401 114 353 179 316C143 294 106 267 90 252C68 231 45 202 45 157C45 50 130 -12 237 -12C322 -12 435 52 435 169C435 256 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<div>Design time and overall time simulation.</div>

Journal of Control Science and Engineering

tab4

Table 4

Table 4: Explicit GPC Control Applied to an Approximated Linearized Crane System 