GantryCraneController

A controller based on LQR and LQG techniques to obtain a suitable response with an optimal input for the gantry crane with two suspended masses. Controller design is validated by testing it against the non-linear model and simulating the response to initial conditions using Simulink

You need MATLAB & Simulink with SimMechanics workbench support. Preferrably a version later than 2015b.

Running on your system

1. git clone https://github.com/rishabh1b/GantryCraneController.git
2. Launch MATLAB
3. Change to the working directory
4. First load the parameters in param_final.mat using load('param_final.mat')
5. Then run the file finalProjectLQGwithIntegralAction.slx to see the SimMechanics model in action.