这是一个桥式起重机集成控制的一个例子。附件是M文件，计算驾驶起重机的整体不确定电缆长度从某个初始配置任何所需的最终配置的输入，使用开环的总体控制框架。和马车的速度和摆角和角速度的位置（代表起重机载荷）作为国家。钟摆的长度是有界不确定。

还附有2个M文件，能够创建和回放电影的模拟起重机的动作，给用户更好的了解起重机的动力学。-This is an example of ensemble control on an overhead crane. Attached are m-files that will calculate the input to steer the ensemble of cranes with uncertain cable length　a certain initial configuration to any desired final configuration, using the open-loop ensemble control framework. The position and speed of the cart and the angle and angular speeds of the pendulums (representing the crane loads) are used as states. The length of the pendulums is uncertain but bounded.

Also attached are 2 m-files that are able to create and replay a movie of the simulated crane in action, to give the user a better understanding of the dynamics of the crane.