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In this paper two modern controllers are presented. These controllers should eliminate disturbance effect, handle process variations and process uncertainties. First controller that is considered is conventional Proportional - Integral (PI) controller and second one is Fractional PI (FOPI) controller. After testing both controllers on a series of simulations, performance of both control algorithms were applied on a real 3D crane system. [Projects of the Serbian Ministry of Education, Science and Technological Development, Grant no. TR32018 and Grant no. TR33013]

This paper presents a new approach to architecture and urban design that results in an increase of the energy efficiency of buildings set close to each other, which is set as the optimization problem. The main goal is to maximize the sunlight impact on objects, in a way to minimize inter-object shading on each building. The problem is solved by the PSO (Particle Swarm Optimization) algorithm and its modifications, as well as the application of PSO algorithm with niches, which makes it possible to find a large number of local optima. It turned out that the PSO algorithm with niches is especially suitable for solving the described problems. The proposed methodology is illustrated by a few examples.