@article{MAKHILLBRJ202013428659,
    title = {Portable Gantry Cranepayload Angle Limitation Control with the Presence of Trolley Position
Vibration using Optimal Control},
    journal = {Botany Research Journal},
    volume = {13},
    number = {4},
    pages = {25-28},
    year = {2020},
    issn = {1995-4751},
    doi = {brj.2020.25.28},
    url = {https://makhillpublications.co/view-article.php?issn=1995-4751&doi=brj.2020.25.28},
    author = {Mustefa,Messay and},
    keywords = {Portable gantry crane,H2 synthesis controller,μ-synthesis controller,payload,technique},
    abstract = {In this study, a portable gantry crane is
designed and controlled with the presence of trolley
vibration disturbance using robust control technique. In
the open loop system, the payload angle is not stable in
both the impulse and step input force signals. Comparison
of the system with H2 and μ-synthesis controllers have
been done for a step and impulse input force signal and a
promising results have been analyzed.}
    }