Experimental data: nonlinearity-compensating shapers for a damped overhead crane

Experimental records of 861 rest-to-rest moves of a gantry crane with a physical pendulum (lengths 0.22 and 0.32 m, damping ratio 0.011, sway up to 55°), comparing classical and DFOR (nonlinearity-compensating) versions of a damped zero-vibration shaper and a damped smooth-waveform command shaper over swept controller lengths. Includes the velocity commands sent to the drive, the logged trolley and pendulum records, and MATLAB scripts that rebuild the commands, simulate the nonlinear damped pendulum, and compute the residual-to-transient ratios and optimum controller lengths reported in the paper. See README.md.