Robust control with linear matrix inequality approach for ship steering problem

This paper presents a yaw control problem for ship steering using a complex fourth order Nomoto model. A linear matrix iinequality (LMI) based H robust control to deal with poles on imaginary axis is applied to solve the yaw control problem for ship steering. The model uncertainty of ship steering problem is tackled using μ-synthesis control approach. The tracking ability and robust stability of H∞ control with LMI are compared with μ-synthesis approach to show the robust performance of the control systems in the presence of disturbance and measurement noise. Both of the designed controllers trade off the two performances.