Optimal Manoeuvres of Underactuated Linear Mechanical Systems: The Case of Controlling Gantry Crane Operations

Table 1

Weightings for five different performance indices in form (33).

Index #	𝑄𝑑11	𝑄𝑑22	𝑄𝑣11	𝑄𝑣22	𝑅11	𝑅22
P0	0.01	0.01	0	0	1	1
P1	6	0.01	0	0	1	1
P2	6	50	0	0	1	1
P3	6	50	4	0	1	1
P4	6	50	4	50	1	1