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

Table 2

DOF responses and force histograms that optimize performance indices P0–P4.

Index #	𝑥 (m)	𝜃 (rad)	𝐹𝑎 (N)
P0
P1
P2
P3
P4