GA optimized signal based mixed sensitivity controller design for ship heading changing

A signal based S/KS/T mixed sensitivity robust control algorithm is designed with two degrees-of-freedom control structure for ship heading changing control with plant model perturbation and environmental disturbances. Weight function parameters are optimized with genetic algorithm in the worst conditions by closed-loop simulation optimization. Simulation demonstrates the closed-loop system is robust stable and good robust performance is achieved under various speed and sea conditions.