HIGHLIGHTS
- who: . and colleagues from the (UNIVERSITY) have published the Article: A robust offline precomputed optimal feedforward control action for the real time feedback/feedforward control of double pendulum gantry cranes, in the Journal: (JOURNAL)
- what: The present contribution situates in the category of 2DoF FF/FB, where the FF input is obtained through a dynamic inversion procedure - .
- how: Using Lagrange method the following equation is obtained the payload is allowed to take values over arbitrarily large intervals 3) the sway angle minimization problem is taken into account 4) the real time implementation of . . .
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