PID controller optimisation for fin roll stabilisation

The classical ship roll control PID design method is based on a single performance criterion. This paper extends this method to a nonlinear constrained optimisation, which includes all the controller performance and stability design criteria. The classic PID design method is first introduced before going on to discuss the set of controller design specifications. It is then shown how these specifications are incorporated into the optimised design. The optimal method is then applied to the design of controllers for three separate ships, which present particular problems for the classical design method. Conclusions are then drawn from the results obtained