An overhead crane consists of a horizontally moving trolley of mass m T dragging a load of

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An overhead crane consists of a horizontally moving trolley of mass mT dragging a load of mass mL, which dangles from its bottom surface at the end of a rope of fixed length, L. The position of the trolley is controlled in the feedback configuration shown in Figure 10.20. Here, G(s) = KP(s); H = 1, and

The input is fT (t), the input force applied to the trolley. The output is xT (t), the trolley displacement. Also, ω0 = √8/L and a = (mL + mT)/mT (Marttinen, 1990) Make a qualitative Bode plot of the system assuming a > 1.

                                       

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