Container crane controlled by a fuzzy system

This is an example of a fuzzy system to control a container crane .

What is a container crane

For the general description of a container crane, see Wikipedia.

The problem

You have to control the crane so that the load at the target position doesn't swing too much.

General structure

The whole system consists of a simulated container crane which current state is feed into a controller. Its result is then used to control the power/acceleration of the container crane.

To show off some features of pyfuzzy the controller is realized using a fuzzy system. (However, one can also realize other types of controller.)

Description of parts