“…A computer controller that takes the rope swing into account can generate time-optimal commands that result in zero residual vibration. Feedforward and feedback controllers, including optimal controllers (Sakawa and Shindo, 1982;Shirai et al, 1993;Murata et al, 1995), gain scheduling controllers (Kaneshige et al, 1998, Takagi et al, 1998, and feedforward controllers that consider the swing phase controller (Kurimoto and Yabuno, 2009), have been proposed for this purpose. Input shaping control (Singhose et al, 2000;Khalid et al, 2006) is another approach to crane control.…”