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The main objective of this research work is to develop Software 1A in C/C++ programming language, which is obtained from the Matlab code. This developed Software 1A should be able to be interfaced with the Code Composer Studio of the Texas Instruments along with the dasa5 system which able to run the algorithm. The goals of this research can be divided into mainly three parts. Firstly, we should develop the lab testing environments at dasa Control systems AB; Vaxjo;Sweden; and verify the results using the Visual studio C++.Secondly, we need to verify the developed algorithm in the crane lab in the practical environment. Lastly, we need to design the parameters which could suite the real crane environment with a suitable forwarder. The forwarder will then be used for the tests of the implemented algorithm.