The opening-and-closing speed control of an elevator door by frequency-shaping ILQ design method

In this paper we present a modeling and design for robust speed control of an elevator door using ILQ design method with frequency-shaping. We have applied the design results to actual equipment, and performed experiments. By proper shaping of the frequency response of the closed loop transfer function from noise to output, an unnecessary vibration of speed generated by uncertainty was confirmed to be suppressed. As a result, the proposed method has been verified to show robustness against the change of weight of door panels