Rudder roll stabilization with nonlinear GMV control

P.M. Majecki, M.R. Katebi, M.J. Grimble

Research output: Contribution to conferencePaper


Application of Nonlinear Generalized Minimum Variance control to ship roll stabilization using rudder input command is considered in this paper. The dynamic weightings in the cost criterion are used to reject the wave disturbance at a specified frequency band while maintaining relatively low controller gain in low and high frequencies to account for rudder angle and rate limits. Moreover, the use of a nonlinear weighting function in the NGMV control law formulation ensures the nonlinearities in the rudder are dealt with in a natural and systematic way. The effectiveness of the approach is demonstrated on a simulated ship model.
Original languageEnglish
Number of pages1
Publication statusPublished - 2006
EventInternational Control Conference 2006 - Glasgow, UK
Duration: 30 Aug 20061 Sept 2006


ConferenceInternational Control Conference 2006
Abbreviated titleICC2006
CityGlasgow, UK
OtherThe Conference covers Methods, Technology, Applications and Education in Control Engineering. UKACC seeks to act as an effective link between the UK and the international control communities, and to provide a focus for International Federation of Automatic Control (IFAC) related activities. UKACC has three constituent members: The Institution of Engineering and Technology (IET), The Institute of Measurement and Control (IMC), and The Institution of Mechanical Engineers (IMechE).
Internet address


  • nonlinear generalized minimum variance
  • ship roll
  • rudder roll


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