ABSTRACT

As compared with the previous literature, a simpler approach is presented for the design of regulators for heading and speed since a reduced number of parameters such as PID (proportional, integral, and derivative) controllers is imposed as a strict requirement to facilitate the tuning during sea tests. However, a novelty with respect to the state-of-art is proposed as the controllers synthesis is obtained by using Linear Matrix Inequalities (LMIs). LMI techniques allow one to solve a large number of control problems, estimation, and stability analysis that may be formulated as convex problems (Boyd, El Ghaoui, Feron, & Balakrishnan 1994). In particular, an LMI solution of the gain assignment for feedback linear time-invariant systems is considered here that is well-suited to designing PID controllers for the autopilot and speed pilot.