本論文所探討的是將門型吊車系統模組化並予以簡化為二維吊車系統，如此便可以利用此模組做不同控制法則的控制器設計以及其可行性分析。然而本文是將AC馬達數學模組與二維門型吊車模組系統整合後的整體系統，然後基於負載擺動角度極小的假設下，將整合系統簡化之後，以順滑模態控制法則套用到此簡化系統中，將控制器設計出來後，以MATLAB做數值模擬，用模擬結果驗證此控制法則之穩定性以及準確性。

In this paper, modeling and control of a two dimensional crane system has been studied. The resulting complex nonlinear dynamic behaviour are linearized and rearranged for controller design purposes. In this study, the dynamics of AC motors are considered and included in the two dimensional crane system. Based on an assumption that the swing angle of the payload is small, the Sliding mode control law is applied for the system. Numerical results showed that the proposed controller proves the stability and required precision of two dimensional crane system.

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