“…Many control methods have been successfully utilized in gantry crane control systems, such as proportional-integral-derivative (PID) control, (5) fuzzy control, (6) geneticalgorithm-based linear-quadratic regulator (LQR), (7) model reference adaptive control, (8) nonlinear feedback control, (9) passivity-based control, (10) robust adaptive control, (11) sliding mode control, (12,13) neural network PID control, (14) and vision-based control. (5,6,9,15,16) Because of the simple structure and the convenience of adjustment, PID control was the first practical controller to be developed and is still widely used. Fuzzy control theory was first proposed by Zadeh in 1965 (17) and has been employed in many practical applications.…”