To provide a method of controlling the steady rest of a crane capable of permanently eliminating the cause of an error contained in signals to increase a control accuracy and shorten a control time by correcting a variation in reference position of a swing angle sensor in real time.

This method of controlling the steady reset of a cane comprises the steps of detecting the swing of a load G lifted from a crane with an accelerometer as a swing angle sensor and an inclinometer 7 and controlling the acceleration of the crane based on the detected swing angle so as to suppress the swing of the lifted load G. A swing detected with the swing angle sensors 6 and 7 is calculated as the route of a phase surface space for swing angle and swing angular velocity, an intersection coordinate of normal lines at the positions with the phase surface routes different from each other is detected and a variation in reference position of the swing angle sensors 6 and 7 is corrected from the intersection coordinate.