Operational Performance Enhancement of Human Operated Flexible SystemsThis work is concerned with dynamic control of exible machines, and human machine interaction, especially as these areas relate to industrial crane control. In the area of dynamic control, strategies are developed that are specifically suited for use on machines with common actuator nonlinearities, like saturation, rate limiting, dead zone, and backlash. In the area of human machine interaction, this work investigates the e_ects of different interface