Vibration Suppression Control of a Flexible Gantry Crane System with Varying Rope Length

<div>Control force <svg height="11.8174pt" id="M89" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -8.6359 13.7665 11.8174" width="13.7665pt" 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="M584 650H137L131 622C214 614 217 612 200 521L125 127C109 41 101 35 23 28L17 0H288L294 28C201 35 193 42 209 128L242 309H348C440 309 442 300 443 226H471L510 422H482C452 354 449 348 357 348H251L295 575C302 609 304 615 338 615H426C502 615 517 604 526 581C534 560 536 524 537 492L565 494C574 554 583 631 584 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.786,3.132)"><path d="M701 633L695 650H264C230 650 223 653 209 675H184C176 622 160 547 140 473L173 471C198 528 219 557 232 573C254 600 272 612 384 612H566L24 18L33 0H597C617 34 651 142 661 179L629 194C598 133 574 92 545 69C510 41 440 40 342 40C274 40 209 42 163 46L701 633Z"></path></g></svg> with vibration control.</div>

Journal of Control Science and Engineering

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Figure 13

Figure 13: Vibration Suppression Control of a Flexible Gantry Crane System with Varying Rope Length 