Feedback Linearization Design Of A Ship Steering Autopilot With Saturating And Slew Rate Limiting Actuator

A full non-linear model including sea-state modelling is used in the design for a ship steering autopilot. This has been done before. However, rather than a conservative design to avoid amplitude and slew rate limit in the rudder, we show how these limits can be accommodated without otherwise compromising the performance. Thus, saturation and slew rate limiting are accepted as inevitable consequence of high performance rather than something to be avoided at all cost. Copyright (C) 1999 John Wiley & Sons, Ltd.