Application of inverse system on ship motion simulation bench

In this paper, an internal model control method basing on inverse control theory is proposed to apply to a ship motion simulation bench, which suffers strong disturbances and highly nonlinearity. The nonlinear model of the bench is developed, and the internal model controller is designed by transforming the nonlinear system to a pseudo-linear system, based on the nonlinear inverse system method. At last, the performance of the system is analyzed by simulation, and the results show that the system has good control performance, high accuracy, high robustness, and good tracking capability in a wide range. The structure of the controller is also simple.