  The problem of feed-forward control of overhead crane system is discussed. By
combining the Kalman's controllability theory and Hartman-Grobman theorem from
dynamical system theory, a linear, continuous state feedback-based feed-forward
controller that stabilizes the crane system at the desired end position of
payload is designed. The efficacy of proposed controller is demonstrated by
comparing the simulation experiment results for overhead crane with/without
time-varying length of hoisting rope.
