Modeling and Nonlinear Control of Gantry Crane Using Feedback   Linearization Method
  Due to the requirements of high positioning accuracy, small swing angle, short transportation time, and high safety, both motion and stabilization control for an gantry crane system becomes an interesting issue in the field of control technology development. In this paper, dynamic model of gantry crane is extracted using Lagrange method. This model has been linearized and weaknesses of state feedback control of this model is reviewed. To solve these problems, state feedback gain matrix is calculated using LQR method and results are fully investigated. Finally, a full nonlinear solution of problem using feedback linearization method is implemented and results are compared with previous works. 
Ehsan Omidi
cs.SY