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This paper presents a new method to optimize the fuzzy control system for ship course-changing and course-keeping. In fuzzy control system, fuzzy rules optimization is a crucial step in the development of a fuzzy model. This work studies a new approach for fuzzy rule base optimization by means of extension method. The optimization solution especially solves the non-compatible problem in the generation process of fuzzy control rules. For the design study, the optimization model has been carried out in the MATILAB/Simulink environment. Simulation results show the effectiveness of the proposed algorithm.