Abstract
Ship roll damping by the rudder (RRD) is a single input - multi output problem. Several controller structures can be used for RRD design and implementation. While equivalent in a linear setting, different structures of RRD control have different control properties in the real, nonlinear case. In this paper, three linear H∞ controllers are compared using different architectures for controller design using performance and robustness specifications for ship model uncertainty that appears natural for each of the design procedures. A comparison is presented using a detailed sea-wave simulation and a large, nonlinear ship model.
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