The design of the Facade is directly related to the Commands to which it will delegate, including the various parameterization options that each type of Command exposes.

This article mainly elaborate how to enhanced the hoist crane design level, proposed the bridge type hoist crane parameterization model establishment as well as the realization.

First, a new type of parameterization equation is constructed based on matrix factorization and the certainty-equivalence adaptive control law is chosen.