This paper deals with FeedBack/ FeedForward (FB/FF) control of double pendulum gantry crane systems with payloads taking values over arbitrarily large intervals. The new proposed 2DoF control architecture is aimed at: 1) to speed up the horizontal payload transportation while minimizing the tracking error with respect to a desired trajectory; 2) to minimize the sway angles amplitude. ... https://cosmeticssquadets.shop/product-category/pillboxes/