I Introduction

Cranes are widely used in industry to transport a heavy suspended load to the point of interest. However, its operational efficiency, safety and application are often limited by the undesirable swing motion of the load. To reduce the swing motion of the load, the crane requires a special control scheme. Furthermore, the anti-swing controller should be able to handle very large payload change which could range from 100 Kg to 10,000 Kg in industrial crane systems.