One embodiment of the present invention can be characterized as a method for controlling a multi-axis machine tool that includes obtaining a preliminary rotary actuator command (wherein the rotary actuator command has frequency content exceeding a bandwidth of a rotary actuator), generating a processed rotary actuator command based, at least in part, on the preliminary rotary actuator command, the processed rotary actuator command having frequency content within a bandwidth of the rotary actuator and generating a first linear actuator command and a second linear actuator command based, at least in part, on the processed rotary actuator command. The processed rotary actuator command can be output to the rotary actuator, the first linear actuator command can be output to a first linear actuator and the second linear actuator command can be output to a second linear actuator.

To be able to activate a smoothing filter for a setpoint, with which the movement of a drive axis (A, Ai) of a drive unit (AE) can also be controlled during the movement without a negative effect on the movement, it is provided that the smoothing filter (10) is initialized with a setpoint profile (S.sub.init) so that a current movement phase ((S.sub.0, {dot over (S)}.sub.0, . . . , S.sub.0.sup.(x))) is continued continuously and the repeated time derivative (S.sup.(x+1)) of the highest time derivative (S.sup.(x)) of the setpoint (S(t), S(k)) is limited.

A full-time anti-sway control method of a bridge crane system based on an inverter structure includes steps of: receiving a specified high frequency and a frequency change time, calculating a time setting range according to a plurality of system parameters and a rope length information of the bridge crane system, selecting a time setting value within the time setting range, dividing the frequency change time into a plurality of time intervals according to the time setting value, adjusting an operation frequency command to change between a low frequency and the specified high frequency within the plurality of time intervals to generate a frequency change curve, calculating a frequency correction amount according to the frequency change curve and the rope length information, and superimposing the frequency change curve and the frequency correction amount to generate an anti-sway frequency command to drive the at least one motor.