Design of reduced order observer-based output feedback stabilizing controllers for dynamically positioned ships

The design of reduced order observers and reduced order observer-based output feedback stabilizing controllers for dynamically positioned ships are considered. Under the natural detectability assumption for ships given in [8], linear time-invariant reduced order observers for dynamically positioned ships are given by applying the design method of reduced-order observers for linear systems. Then using the backstepping based on the designed observer, output feedback stabilizing controllers are obtained. A numerical example is given to illustrate the proposed design method.