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

Table 4

Quantified results under condition .

Control method	The maximum value of tracking error [deg]	The maximum value of tracking error [deg]
Proposed controller	3.36	3.81
Conventional controller	3.10	3.75
	The maximum value of hook sway angle [deg]	The maximum value of hook sway angle [deg]
Proposed controller	2.40	2.31
Conventional controller	3.01	3.00
	The maximum value of load sway angle [deg]	The maximum value of load sway angle [deg]
Proposed controller	2.76	2.81
Conventional controller	4.21	5.14