Switched Two-Level 𝐻_∞ and Robust Fuzzy Learning Control of an Overhead Crane

Figure 3

Comparative simulation for the proposed control strategy and the AFCM. (a) Position of payload, 𝑦(𝑡); (b) control input, 𝑢(𝑡), and the external disturbance, 𝑤₄(𝑡).

(a)

(b)