# NONLINEAR MODEL PREDICTIVE CONTROL OF OVERHEAD CRANE WITH SOFTEN STATE CONSTRAINTS

### Abstract

The paper presents the predictive control method with soft state constraints to increase the optimization of the nonlinear system. The method applied to a unactuated system as the crane system for precise position control and load anti-swing. Simulation results on Matlab is compared to PID control methods and have demonstrated the effectiveness of the method for multiple input - multiple output nonlinear systems.

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*UTEHY Journal of Science and Technology*,

*28*, 13-18. Retrieved from http://tapchi.utehy.edu.vn/index.php/jst/article/view/401