“…The P1-TS fuzzy system was used to approximate the parameters of controllers and pendulum model based on the two scheduling variables, rope length l and mass of a payload m. The planar model of a crane (Fig. 5) transferring a payload, which is assumed to be a point-mass suspended at the end of a massless rigid cable, is simplified to the first and second-order discrete-time transfer functions, which describe the relation between crane speed and input function (18), and sway angle of a payload and crane speed (19), where model's parameters vary in relation to the rope length l and mass of a payload m. The closed-loop control scheme (Fig. 6) is assumed as a set of linear controllers for crane position, speed and firstorder discrete-time controller of payload sway angle with parameters denoted k 1 , k 2 , q 0 , q 1 and s 0 .…”