New tools are brought about to facilitate industrial applications by ever increasing human science. Cranes are widely used in industrial applications like steel plants, paper miles, petrochemical industries, cargo and quays. In application such as overhead crane, container crane, tower crane, rotary crane and etc, the suspended load is subject to swings. These swings may be caused by unskilled operators or disturbances like the motor drive transients, wind and collision with an object. Load swing during traortation and target load placing is one of the main concerns in crane applications. These sway put the personals safety at risk, corrupts the mechanical structures and lower load positioning accuracy, so swing should confined in a definite range that ensure enough accuracy. In the recently decades extensive research has been conducted in order to solve and optimize crane operation. To damp the swing angle during movement and at stop points, several methods have been presented in the literature. Some of them are based on open loop control strategies, such as programmed acceleration profiles, feed forward technique of input shaping controller and optimal control theory to generate a target speed pattern. However, since these methods are based on open loop control, unpredicted disturbances may cause uncompensated considerable swing. The other methods use real time swing angle values to damp the sway. Since these methods are closed loop control, their sway damping is less sensitive to unpredicted disturbances. Some of presented researches in this area employ fuzzy logic control, neural network, optimal control, and observer-controller. The performances of these methods are proper, but they all need real time swing angle values to damp the sway. Conventional methods employ vision sensors (camera) which is complicated and expensive especially for small industries. Moreover, these methods efficiency and their equipment performance can be distorted by mist, rain, sunlight, air pollution and equipment, for outdoor cranes. In other methods mechanical sensors such as accelerator sensor or velocity senors or load-cells are used to estimate swing angle. In this methods relasheship between mechanical quantities (accelerate or force or velocity) and swing angle used to estimation this sway. ut these methods are sensitive to industrial noises and expensive. At first section of this thesis a model of cranes under real working conditions will be presented. This model consists of model of trolley and bridge with linear motion in x and y direction and oscilation of the suspended load, model of wheel motion by considering slip of Wheel on rail and model of driver motors crane. Keywords Crane, Swing Angle, Accelerator Sensor, Load cell, Speed Estimator, Torque Estimator, Damping Signal, Vector Control