ENVIRONMENTAL AUDIT ON THE WAY OF SOLVING ENVIRONMENTAL PROBLEMS IN THE OIL AND GAS SECTOR




A nonlilear controller for ship autopilots

Conventional ship autopilots are designed based Boxers on a linear ship model using pole - placement technique or linear optimal theory.However, in operation, the ship kinematical parameters can go out the linear limits.In this paper, a nonlinear optimal control law based on aggregated variables is presented.The criterion is chosen so that the dyna

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