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The problem of crane control system is addressed in the paper to gain scheduling system created using the fuzzy controller with Takagi-Sugeno-Kang (TSK) fuzzy implications. The method of fuzzy robust crane control system designing was based on closed-loop crane control systems with conventional proportional-derivative (PD) controllers of crane position and the load swing derived for fixed rope length and mass of a load values, which are used as key-scheduling variables. The set of controllers, scheduled by fuzzy system, are determined using the pole placement method (PPM). The problem of selecting the minimal set of fuzzy system operating points was solved and described as well in the paper.