For monorails there is a design procedure used by the Crane Manufacturer's Association (CMAA) and defines a procedure that covers the concentrated wheel loads for underslung cranes (both S (tapered flange shapes) and W (parallel flange shapes) are covered). This gives a combined stress level at the concentrated load and is an ASD procedure. This document is about 20 pages. In addition to this analysis, one must also do an overall beam bending analysis and a deflection analysis.
Another method which has been around for many years is a set of tables by a crane manufacturer called Wright for again underslung cranes. This is an excellent starting point. Given the load and span, the beam (A36) can be chosen in less than 5 minutes (one minute more likely) (deflection, overall bending, and concentrated stresses are considered). S, W, C+S built-up, and C+W built-up shapes are included.
Cantilevers should not exceed 25% of the maximum simple span. Curves should be analysed using a FE analysis.