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Abstract
This paper presents the controller design of a dynamic positioning system for a FPSO-turret moored in deep water, using a H∞ methodology. The controller must counteract slow-drift oscillations due to waves and static offsets induced by current, wind and waves. The controller must not respond to zero mean high frequency motions caused by first order wave forces. To the controller synthesis, a linear model is used, but tests are carried out with a complete non-linear FPSO model. Simulations considering several environmental conditions and two distinct turret positions confirm the robustness of the control system.
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