Asymmetric Information Theory and Nonlinear Robust PID Controller

Asymmetric information theory was introduced in this paper. For a nonlinear course keeping system for ships, the PID parameters were tuned using profound exact feedback linearization algorithm and closed-loop gain shaping algorithm. A nonlinear robust PID controller was designed; the information transmitting capacity was strengthened through simplifying the exact feedback linearization controller into two parts, i.e. the nonlinear items plus a linear robust PID controller. The algorithm is applicable in engineering and the simulation results show that the course-keeping performance is improved