An LMI-Based Simple Robust Control for Load Sway Rejection of Rotary Cranes with Double-Pendulum Effect

Table 2

Quantified results under condition .

Control method	The maximum value of tracking error [deg]	The maximum value of tracking error [deg]
Proposed controller	3.25	3.84
Conventional controller	3.08	3.84
	The maximum value of hook sway angle [deg]	The maximum value of hook sway angle [deg]
Proposed controller	2.20	1.70
Conventional controller	1.92	1.82
	The maximum value of load sway angle [deg]	The maximum value of load sway angle [deg]
Proposed controller	2.49	2.14
Conventional controller	2.61	2.56