Nonlinear Anti-Sway Crane Controller

The system is an Overhead Crane (cart + suspended load) with a known nonlinear model and parameters. I need a freelancer who can: Develop the nonlinear control law directly in MATLAB/Simulink, adapted to this system. Ensure that the controller: Minimizes or eliminates payload swing (anti-sway), Is robust to external disturbances, Takes into account actuator input saturation. Explain and document the control design in a short LaTeX report with clear mathematical reasoning. Once the material is ready, we will schedule a 30-minute online screen-share where you guide me through the Simulink implementation, show how each block maps to the equations in the report.