Study on closed-loop gain shaping control of floating dock control system

In this paper, the floating dock is studied, first presented a mathematical model, and then the closed-loop gain shaping algorithm of non-square matrix controlled object is analyzed, and then explore the theoretical and simulate the floating dock control system by this algorithm. The simulation result indicates that the MIMO non-square matrix closed-loop gain shaping algorithm has the advantages of obvious physical sense and simple procedure of design and solution, and it has good performance and robustness to control the vertical angle of the floating dock system.