Automatic Anti-Swing Gantry Crane Based on Gradient Descent Optimization Proportional Integrated Derivative (PID): A Comparison Simulation and Real Experiment. - Munzir Qadri; Danang Karuna Harjanto; Jonathan Miharja; Winda Astuti; Yosica Mariana; Sofyan Tan; Mahmud Iwan Solihin (ICEEI, 2023)