Manipulation with Tower Cranes Exhibiting Double-Pendulum Oscillations. - William E. Singhose; Dooroo Kim (ICRA, 2007)

Comparison of residual-vibration and energy-minimizing control methods for command generation. - William E. Singhose; Adan Vela; Dooroo Kim (CDC, 2009)

Control of Tower Cranes With Double-Pendulum Payload Dynamics. - Joshua Vaughan; Dooroo Kim; William E. Singhose (IEEE Trans. Control. Syst. Technol., 2010)