Practical Algorithm for High Gain Observer: Application to a Mechanical System

High gain observers have made great progress over the last three decades, in both theoretical and algorithmic domains. In this note, we have demonstrated how these observers can be used in mechanical systems, specifically through an application on a gantry crane. We address the problem of estimating the vertical cable angle and angular velocity of a gantry crane, based on the measurements of the gantry position and the cable length.