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

Table 3

Quantified results under condition .

Control method	The maximum value of tracking error [deg]	The maximum value of tracking error [deg]
Proposed controller	3.31	3.82
Conventional controller	3.12	3.82
	The maximum value of hook sway angle [deg]	The maximum value of hook sway angle [deg]
Proposed controller	2.31	2.01
Conventional controller	2.10	2.10
	The maximum value of load sway angle [deg]	The maximum value of load sway angle [deg]
Proposed controller	2.64	2.53
Conventional controller	2.75	2.94