# Control of pendulum (crane trolley)

I need to control crane trolley (pendulum), I have state space representation as:

$A=\begin{bmatrix} 0 & 1 & 0 & 0 \\ 0 & 0 & \frac{m_b}{m_j}g & 0 \\ 0 & 0 & 0 & 1 \\ 0 & 0 & \frac{m_b+m_j}{m_j L}g & 0 \\ \end{bmatrix}$

$B=\begin{bmatrix} 0 \\ \frac{1}{m_j} \\ 0 \\ -\frac{1}{m_j L} \end{bmatrix}$

$C=\begin{bmatrix} 1 & 0 & 0 & 0 \end{bmatrix}$

$D=\begin{bmatrix} 0 \end{bmatrix}$

I have been told that if I want to use state feedback, I need to extend this system with integrator. Why?

(I could provide any other possible information, just ask in comment)

• you probably wanna track the error between reference and measured signal, that's why you'd need an integral action. At the end, your step response is gonna show zero-error in steady conditions. – fpe Feb 24 '16 at 10:35
• It is obvious now, that you are correct! You can create answer, I will accept it. – matousc Feb 23 '17 at 8:13