This paper investigates a control problem of a jib-crane to transfer a load from an initial position to an objective position:
1) suppressing a swing at the final time, and
2) making the traveling time as short as possible, under assumptions that:
a) the length of the rope is kept constant, and that
b) a control pattern is bang-bang type with two or four switchings.
A θ (angle of elevation)-control problem is investigated first and then, the results are extended to a θ-φ (angles of elevation and rotation)-control problem.
The control strategies can be realized by a use of microcomputer. A computer simulation and an experimental study using a crane simulator and micro-computer are included to illustrate the control strategies.