Mustefa  Jibril, Messay  Tadese, Reta  Degefa, 
    Portable Gantry Cranepayload Angle Limitation Control with the Presence of Trolley Position
Vibration using Optimal Control,
    Botany Research Journal,
    Volume 13,Issue 4,
    2020,
    Pages 25-28,
    ISSN 1995-4751,
    brj.2020.25.28,
    (https://makhillpublications.co/view-article.php?doi=brj.2020.25.28)
    Abstract: In this study, a portable gantry crane is
designed and controlled with the presence of trolley
vibration disturbance using robust control technique. In
the open loop system, the payload angle is not stable in
both the impulse and step input force signals. Comparison
of the system with H2 and μ-synthesis controllers have
been done for a step and impulse input force signal and a
promising results have been analyzed.
    Keywords: Portable gantry crane;H2 synthesis controller;μ-synthesis controller;payload;technique