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*1: Graduate School of Maritime Sciences, Kobe University, Japan 5-1-1, Fukae-Minami, Higashinada, Kobe, Hyogo 658-0022, Japan, E-mail taniguchi_y@port.kobe-u.ac.jp *2: Graduate School of Maritime Sciences, Kobe University, Japan 5-1-1, Fukae-Minami, Higashinada, Kobe, Hyogo 658-0022, Japan, E-mail yamamoto@maritime.kobe-u.ac.jp *3: Faculty of Engineering, Tokyo City University, Japan 1-28-1, Tamazutsumi, Setagaya, Tokyo, 158-8557, Japan,

Integrated Trolley Drive and Swaying Angle Control System for Linear Motor Driven Container Crane System