Abstract A double-pendulum overhead crane system exhibits significant nonlinearity and is classified as an under-actuated system, making control more complex. This study focuses on designing a robust shaper to effectively mitigate oscillations in such systems. Two robust shapers, which are Zero Vibration Derivative (ZVD) and Negative Equal-Magnitude (NEM), are considered. These are obtained by convolving two input shapers that are designed based on the hook and payload oscillation frequencies.
