Large load swing of a gantry crane, due to cable
　　flexibility and rapid movement, needs to be
　　controlled. Herein, a
　　wave-based approach interprets the cable motion as
　　two superposed traveling waves. To combine position
　　and active swing control,
　　the trolley motion and load hoisting are carefully
　　designed here, and a practical approach is adopted to
　　design hoisting motions in the
　　upward and downward manoeuvres, counteracting their
　　reverse effects on the load swing. A robust control
　　algorithm, based on the
　　model of the crane system, is proposed to realize the
　　trolley and hoisting motions, allowing for load
　　variations and parameter
　　uncertainties. This new solution to motion control of
　　a gantry crane works very well, and is stable and
　　adaptive to large load
　　variations. As demonstrated in the simulation
　　experiments, it lands the load rapidly and exactly at
　　target and stops it dead, with nearly
　　zero swing.