Nonlinear Modeling and Feedback Control of Boom Barrier Automation

We address modeling and control of a gate access automation system. A model the mechatronic system is derived identified. Then, an approximate explicit feedback linearization scheme proposed, which ensures almost linear response between electronic driver duty cycle input delivered torque. nonlinear optimization problem solved offline to generate feasible trajectory associated with feedforward action, low-level controller designed track it. The gains can be conveniently tuned by solving set convex matrix inequalities, performing multiobjective tradeoff disturbance attenuation transient response. proposed strategy tested on industrial device. experiments show that it effectively meet requirements in terms robustness, load rejection, tracking performance.