Anti-Sway Control for Crane using Fuzzy Controller

Hi everyone,

currently, I'm trying to simulate a fuzzy logic controlled crane with anti-swaying system.

Here's the crane system:

For the fuzzy controller, these are the membership functions: Input (Position):

Input (Swaying Angle):

Output (Force, normalized):

Rules:

Now the problem is, that this is not working at all. Either, it doesn't stop oscilating (with a very high amplitude) or it's just running forwards without braking at the target position.

Any help or hint is appreciated. If anyone has example models and will be willing to send it to me, that would be the greatest. I'm at a total loss with this.

Thank you!