This work is concerned with dynamic control of ßexible machines, and human/machine interaction, especially as these areas relate to industrial crane control. In the area of dynamic control, strategies are developed that are specifically suited for use on machines with common actuator nonlinearities, like saturation, rate limiting, dead-zone, and backlash. In the area of human/machine interaction, this work investigates the e_ects of different interface devices on the efficiency of cranes.