H∞ robust tracking of vertical motions in high-rise elevator

This paper presents the design of vertical motion control systems for ultra-high rise/high speed elevator. We use a linear model to describe the real elevator system, and then utilize LMIs processing method to generate a H,, controller which is designed based on this model and both performance objectives, tracking and releveling. Additionally, the controller design must be robust to changes in system parameters due to component wear, variations in the dynamics of the elevator ropes. After that, simulation studies are carried out to evaluate the performance of the controller Simulation results have shown that the performance of this controller is also robust to the anticipated range of parameter uncertainty within the system.