Mustefa  Jibril, Messay  Tadese, Reta  Degefa, 
    Design and Control of a Gantry Crane System with Limited Payload Angle using Robust and
State Feedback Controllers,
    Journal of Engineering and Applied Sciences,
    Volume 15,Issue 24,
    2020,
    Pages 3770-3777,
    ISSN 1816-949x,
    jeasci.2020.3770.3777,
    (https://makhillpublications.co/view-article.php?doi=jeasci.2020.3770.3777)
    Abstract: In this study, the performance improvement of
a payload angle deflection of a gantry crane has been
studied and simulated using MATLAB/Simulink toolbox
successfully. H2 optimal and observer based controllers
has been used to minimize the payload angular deflection
by controlling the trolley position. The gantry crane has
been compared with the proposed controllers to track the
reference trolley position using step and sine wave signals
and a promising results have been achieved.
    Keywords: Gantry crane;Trolley;Payload;H2 optimal;observer based controller