Time-delay algorithms for damping oscillations of suspended payload by adjusting the cable length
The paper  deals with damping the oscillations of a suspended payload by adjusting the length of the cable. After revising existing approaches, nonlinear time-delay feedback is proposed to handle efficiently the given task. Alike the existing approaches, the Coriolis force is generated by synchronizing translational and rotational motion so that the pendulum oscillations are damped. The main benefits of the proposed method are the low complexity of the feedback scheme and improved synchronization properties resulting from the feedback nature of the algorithm.
Fig. 1: Design scheme of the suspended payload with the adjustment of a cable length by controlling position of a cart
 Vyhlídal, T., Anderle, M., Bušek, J., & Niculescu, S. I. (2017). Time delay algorithms for damping oscillations of suspended payload by adjusting the cable length. IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2017.2736942