Lyapunov-Based Control of the Sway Dynamics for Elevator Ropes with Time-Varying Lengths

In this work we study the problem of rope sway dynamics control for elevator systems, with time-varying rope lengths. We formulate this problem as a nonlinear control problem and propose nonlinear controllers based on Lyapunov theory for time-varying systems. We study the stability of the proposed controllers, and test their performances on a numerical example.