Design of generalized minimum variance control for improving ship´s steering performance on low speed

Ship´s handling is difficult because the response of ship´s maneuver is slow with the big inertia. First, this study identifies the ship maneuverability, which is expressed as Auto-Regressive Moving Average (ARMA) model, by steering. Second, a time delay of the angular velocity is verified. Finally, this study design a ship´s steering control system. The angular velocity is controlled by applying Generalized Minimum Variance Control (GMVC) of predictive control method. Especially, GMVC´s control method is arranged by adding a operating limit for the ship´s steering control.