Nonlinear decoupling and immersion techniques applied to a single point mooring of a tanker

In this paper nonlinear decoupling and immersion techniques are applied to a single point mooring of a large scale ship. The tanker´s movements, which are slow and of large amplitude, are described by a non-linear model. Since these can yield some disastrous effects in bad weather conditions, it is necessary to compensate them via well chosen controls. The use of nonlinear techniques permits a new approach to the problem.