BLOCK DIAGRAM OF THE SYSTEM

Hoist Cable
Length Encoder
IIR Filter and
Operator Input Operator Crane
PI Feedback
Device Input Device
Controller
Cable Angle
Sensor

Figure : A block diagram of the overall crane shipping system including IIR filter and PI
feedback controller, a hoist cable length encoder, and a cable angle sensor in accordance
with the present invention

Operator IIR Filter Crane Crane & Payload

Input F(z) Controller Dynamics
DeviceC

Figure : A block diagram of an open-loop model of the overall crane control system including
an IR filter in accordance with the present invention

sX(s) External
IIR Filter Disturbance

V(s) θ(s)
Estimate PI Feedback Crane &
S
θ(s) Controller Angle Sensor
E(s)

Figure : A block diagram of a closed-loop model of the overall crane control system including
an IR filter and a PI feedback controller in accordance with the present invention.

Input Unit CPU SRAM

Display ROM

Figure : A block diagram of the computer apparatus used to implement the IR filter and PI
feedback controller in accordance with the present invention.