Improved LQG Steering Control of a Containership through Application of Full-Loop Transfer Recovery

This paper presents results in the application of recent developments in multivariable control theory to the problem of steering regulator design for open-seas coursekeeping of a containership. Specifically, a need for improved LQG stability margins is demonstrated, and application of Doyle and Stein´s full-loop transfer recovery procedure is shown to provide improved stability margins without significant loss of propulsive efficiency.