Abstract
PID course controllers for common ships with yaw-dynamic stability can be carried out designed with the help of an analysis of the pole-zero-configuration. All poles and zeros are real and negative or zero. In this relation it is rather simple to find out the quantities of the controller parameters by means of the characteristic pole pair. Towing vessels have a more complicated yawing behaviour. They tend to oscillate in their yawing motion. The present paper gives a survey of the change of pole and zero configurations in the complex plane as a consequence of the impact of the towing force. It shows the demands to a controller of towing or dragging ships.
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