Numerical and experimental study of a reliability measure for dynamic control of floating vessels

The first type of loss function considered is quadratic both with respect to thrusters force and (static) response:

L(r) = KTF2T + KFr2 (1)

where KT and KF are (positive) proportionality factors. This type of loss function is typically applied for derivation of LQG control schemes (on integral form), but can also be applied within a more general context.