Nonlinear control synthesis of ship roll by convex optimization

For nonlinear control of the ship roll, this paper presents a novel nonlinear controller design method using the sum of squares (SOS) technique combined with the dual of Lyapunov´s stability theorem based on density function. With this method, under fixed load condition and ship speed, nonlinear controller is designed for ship roll. The simulations are performed by taking ship roll model as an example.