Fuzzy Controllers for a Gantry Crane System with Experimental Verifications

Table 7

Summary of the simulation and the experimental results when using the heuristic fuzzy controller.

⁢Desired position, , in (cm)
Settling time for in (sec)	Simulation	2.34	2.11	2.33
	Experimental	3.10	5.20	2.80
Max.% overshoot for	Simulation	0%	0%	0%
	Experimental	0%	0%	0%
Max. swing angle in (deg)	Simulation	3.56	6.23	3.56
	Experimental	1	1	2